Instruction Autopilot PT70

Manual Manual

IM 80B20P-01E

IM 80B20P-01E
Provisional
 Index
INTRODUCTION ................................................................................................................ i

SECTION 1. GENERAL ........................................................................................ 1-1

1.1 Introduction ..................................................................................................... 1-1
1.2 Standard model ................................................................................................ 1-1

SECTION 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) ........................................................ 2-5
2.2.3 STEERING REPEATER COMPASS (PR109) ...................................... 2-6
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) ................................................................... 2-9

SECTION 3. OPERATION ................................................................................... 3-1

3.l Operation ......................................................................................................... 3-1
3.1.1 Preparation ............................................................................................... 3-1
3.2 Hand steering ................................................................................................... 3-1
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 auto steering ............................................................ 3-6
3.4 Remote steering: RC (optional) ...................................................................... 3-7
3.5 Non-follow-up steering ................................................................................... 3-7

SECTION 4. KEY OPERATION ......................................................................... 4-1

4.l Switching the display ...................................................................................... 4-1
4.2 Setting the rudder angle limit .......................................................................... 4-2
4.3 Setting the off-course alarm ............................................................................ 4-3
4.4 Course change control mode selection ........................................................... 4-5
4.5 Setting parameters ........................................................................................... 4-7
4.5.1 Setting the dimmer and contrast .............................................................. 4-8
4.5.2 Setting the ship speed .............................................................................. 4-9
4.5.3 Setting the operation mode .................................................................... 4-10
4.5.4 Setting the draft mode ........................................................................... 4-11
4.5.5 Setting the course deviation alarm ........................................................ 4-12
4.5.6 Alarm cause display ............................................................................... 4-14
4.5.7 Setting control items .............................................................................. 4-15
4.5.7.1 Item switching ................................................................................ 4-15
4.5.7.2 Release of midship command ........................................................ 4-16

IM 80B20P-01E 1
 4.5.7.3 Release of counter rudder angle limit ......................................... 4-17
4.5.7.4 Setting the rough-seas steering mode .......................................... 4-19
4.5.7.5 Helm adjustment in steering mode switching ............................. 4-20
4.5.7.6 Number of rudders ...................................................................... 4-22
4.5.7.7 Course deviation limit function ................................................... 4-23
4.5.7.8 Steering gear deadband compensation ........................................ 4-24
4.5.7.9 Ship speed pulse rate ................................................................. 4-25
4.5.7.10 Exponential smoothing time for ship speed .............................. 4-26
4.5.7.11 Gyrocompass moving average time ........................................... 4-27
4.5.7.12 Auxiliary compass moving average time ................................... 4-28
4.5.7.13 Type of rudder angle display ..................................................... 4-29
4.5.7.14 Self-testing command ................................................................. 4-30
4.5.8 Initial setting of control parameters ...................................................... 4-31
4.5.8.1 Item switching ............................................................................. 4-31
4.5.8.2 Setting the cruising speed ........................................................... 4-32
4.5.8.3 Setting the hull length ................................................................. 4-33
4.5.8..4 Initial setting value of static gain ................................................ 4-34
4.5.8.5 Setting value of time constant ..................................................... 4-35
4.5.8.6 Setting value of static gain .......................................................... 4-36
4.5.8.7 Setting the Karman filter noise covariance matrix multiplier .... 4-37
4.5.8.8 Setting differential gain multiplier .............................................. 4-38
4.5.8.9 Setting the proportional gain multiplier ...................................... 4-39
4.5.8.10 Setting the results computed from ship particulars
(stable ship/unstable ship) ........................................................... 4-40
4.5.8.11 Setting the parameter updated state (updated/not updated) ........ 4-41
4.5.8.12 Setting the updated result (stable ship/unstable ship) ................. 4-42
4.5.8..13 Presetting parameters .................................................................. 4-43
4.5.9 Automatic setting of control parameters for each draft mode .............. 4-44
4.5.10 Average value display ........................................................................... 4-46

SECTION 5. ALARMS .......................................................................................... 5-1

5.l Alarm types ..................................................................................................... 5-1
5.2 Annunciator pattern ......................................................................................... 5-2
5.3 Types of alarm displays .................................................................................. 5-3
5.3.1 Emergency alarms .................................................................................... 5-3
5.3.2 Caution alarms ......................................................................................... 5-4

SECTION 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

SECTION 7. MAINTENANCE AND INSPECTION ......................................... 7-1

SECTION 8. ATTACHED FIGURES .................................................................. 8-1

2 IM 80B20P-01E
INTRODUCTION
This manual describes the PT70's functions and their operations. Read this manual carefully, and
become fully familiarized with the instrument before using them.

About this manual

lThe contents of this manual are subject to change without prior notice.
lIf you have any questions or find any errors or information missing in this manual, please
inform Yokogawa Denshikiki or our sales office listed on the back cover of this manual.
lAll rights reserved. No part of this manual may be reproduced in any form without
Yokogawa's written permission.

Revised record
l October 1999 provisional

IM80B20P-01E i
l FOR SAFE OPERATION
This manual uses the following symbols to ensure safe operation:

WARNING:
Indicates that the operator should take special care to avoid danger that may result in injury or the
loss of life, or critical conditions in steering.

CAUTION:
Indicates that the operator should be aware of actions which could cause damage to the instrument
or lead to difficulties in steering.

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
• If an Emergency alarm occurs, the control output is
set to the midship position, except for the case of a
SERVO LOOP FAILURE. Change the control
system or select manual steering or non-follow-up
steering to restart steering.

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

■ If the rudder angle indicator reads 30 degrees,

immediately return the steering lever back to the center
position. Otherwise, the rudder will turn all the way to the
mechanical stopper.

■ 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.

ii IM80B20P-01E
 1. Overview

1. GENERAL

1.1 Introduction
The PT70 Autopilot is a digitally controlled automatic steering unit which has been developed on
the basis of the Model PT500 Autopilot; the PT500 Autopilot has been highly evaluated by many
customers.

The PT70 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
actuators are available to ensure combination with all steering gears.

1.2 Standard model

PT 70 (TWIN RUDDER)

Twin-rudder system

Type of steering gear

Style of control stand

S: Stand
H: Stand with built-in gyrocompass
P: Built-in panel

IM80B20P-01E 1-1
2. CONFIGURATION

2.1 Control Stand

The control stand of the PT70 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 (MPB351)

STEERING REPEATER COMPASS (MKR051)
ANNUNCIATOR UNIT (MPH617)
SWITCH UNIT (MPH732)
SWITCH UNIT (MPH731)
HAND STEERING UNIT (MPB345)

Units inside stand DISTRIBUTION UNIT (MPC145)

MASTER COMPASS (MKMxxx-x)

STEERING REPEATER COMPASS (MKR051)

ANNUNCIATOR UNIT (PH617)

AUTO STEERING
UNIT (MPB351)

SWITCH UNIT (MPH731)

SWITCH UNIT (MPH732)

HAND STEERING
UNIT (MPB354)

Figure 2-1

IM80B20P-01E 2-1
2.2 Individual units and their functions
2.2.1 AUTO STEERING UNIT (MPB351) .... See Figure 2-2.
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
supports setting and display functions.

Figure 2-2

2-2 IM80B20P-01E
 1 Data display
The display of various set data and alarm 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.

2 Gyrocompass selection key

This key is used to select the gyrocompass.

3 Auxiliary compass selection key

This key is used to select the auxiliary compass. If the auxiliary compass is not connected, it
cannot be selected.

4 Buzzer stop key

Pressing the buzzer stop key stops the buzzer in the event of an alarm and allows the alarm item
to be checked.

5 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 “LIMI T “ appears on the data indicator.

6 Off-course alarm setting key

This key is used to set the deviation angle to detect an off-course alarm.
Off-course alarm will be disabled if the Aux. compass is not connected.

7 Parameter setting key

This key is used to set the dimmer contrast, pilot control, hull parameter and so forth.

8 Data up/down key

Pressing this key allows switching of items and adjustment of values for setting.

9 Data definition key

This is used to define the set items and values.

10 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 turning 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.)

11 Heading read key

The heading entered by pressing the key is read as a set course.

12 Set course display unit

This displays the current set course.
13 Course change control mode selection key

This key is used to select the automatic course change control mode.

IM80B20P-01E 2-3
2.2.2 HAND STEERING UNIT (MPB354) .... See Figure 2-3.
The hand steering unit commands rudder angle and indicates command rudder angle and steering
direction during hand steering.

UPPER PANEL

STEERING REPEATER COMPASS

(MKR051)
ANNUNCIATOR UNIT
(MPH617)
DC

SWITCH UNIT
AUTO STEERING UNIT (MPH731)
(MPB351)

GYRO

AUX
COMPASS

AUTO HAND
ALARM OFF CRS ADJUST
ALARM
NAVI RC
RUDDER RATE H/S

SWITCH UNIT
LIMIT RADIUS ENTER

MODE
(MPH732)
P S
NON FOLLOW - UP
STEERING LEVER

OFF
FU-2 FU-1

NFU NFU SYSTEM SELECTOR

SWITCH

HAND STEERING UNIT

(MPB354)
STEERING ANGLE INDICATOR
STEERING HANDLE
STEERING DIRECTION
INDICATOR LAMP

Figure 2-3

(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 angle 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.

2-4 IM80B20P-01E
2.2.3 STEERING REPEATER COMPASS (MKR051) .... See Figure 2-3.
The steering repeater compass indicates the course of the vessel in response to the heading angle
from the gyrocompass. The compass is provided with a vernier card to read in increments of 1/10
degree.

(1) Repeater card

The steering repeater compass is driven by a synchro compass motor. The repeater card is
composed of a 360-degree/revolution outer card and a 10-degree/revolution inner card.

(2) Dimmer
The dimmer adjusts the brightness of the repeater card.

(3) Compass correction

If the gyrocompass and steering repeater compass headings are out of alignment, perform the
following correction procedures:

a) Remove the cover from the center of the card.

b) Fit the tip of a flat-blade screwdriver to the card shaft slit, and turn the screwdriver to get
the desired heading.

c) After the card compass correction, insert the cover into the center of the card and fix it in
position.

2.2.4 SWITCH UNIT (MPH731) .... See Figure 2-3.

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:

NAVI ....Steering controlled by external computer, etc.

AUTO ...Automatic steering

HAND ...Manual steering

RC .........Remote control steering

These symbols are displayed on LEDs. The dimmer is used also by the MPH732.

2.2.5 SWITCH UNIT (MPH732) .... See Figure 2-3.

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 following steering control lines are
provided:

OFF : Power off position

FU-1 : System No.1
FU-2 : System No.2
NFU : Non-follow-up steering system

IM80B20P-01E 2-5
(2) Non-follow-up steering lever
This self-returning lever switch is used for non-follow-up steering. Throwing this lever to the
right or left starts steering. When it is released, the rubber stops at the present position. Non-
follow-up steering can be used when the system switch is set to the NFU position.

(3) Dimmer
The dimmer adjusts the brightness of the LEDs which display the symbols on the plate. It is used
for both the MPH731 and MPH732.

2.2.7 ANNUNCIATOR UNIT (MPH617) .... See Figure 2-4.

This unit indicates the operation status of the power supply, steering unit and auto steering unit,
and issues an alarm in the event of a failure. The alarm 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. The labeling and meanings of the indicators normally used are
as follows:

DC : 24 VDC (battery) power indicator lamp (green)

This lamp goes off if there is no 24 VDC power supply.

PWR ON : 100 VAC power indicator lamp (green)

PWR FAIL : 100 VAC no-voltage alarm lamp (red)

ACT RUN : Actuator run indicator lamp (green)

ACT FAIL : Actuator failure alarm lamp (red)

Factors causing this alarm differ depending on the type of steering gear. For
details, refer to the instruction manual for the equipment installed in the steering
gear room.

AUTO FAIL : auto steering unit failure alarm (red)

Lights up if the CPU of the auto steering unit has become faulty.

EMRG ALM : Emergency alarm lamp (red)

This alarm requires that the control system or steering mode be switched over as
soon as the alarm has occurred. See SECTION 5 for details on the causes of
these alarms.

CAUT ALM : Caution alarm lamp (red)

This alarm is designed to have marginal time to allow corrective action to be

taken when the alarm has occurred. See SECTION 5 for details on the cause of
these alarms.

OFF CRS : Off-course alarm (red) (if the magnetic compass is connected)

This alarm is issued if the preset course and heading based on the magnet
compass have exceeded the set limit for longer than a specified time. However,
this alarm function is released during a course change.

2-6 IM80B20P-01E
 Figure 2-4

(2) Buzzer stop key

The buzzer is stopped by pressing this key when an alarm has occurred. At the same time, the
flickering alarm 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 decreases it.
Simultaneous pressing of the two and keys will start the lamp test function; the indicator will
flicker and the buzzer will sound.

IM80B20P-01E 2-7
2.2.7 DISTRIBUTION UNIT (MPC145) .... See Figure 2-5.
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 θ from the automatic steering unit into current, and
sends it to the control power box.

(2) It converts the rudder angle feedback signal µ from the control and power box, and sends it to
the auto steering unit.

Figure 2-5

WARNING CAUTION
RISK OF ELECTRICAL SHOCK • No megger tests except for the on-board power
• Turn off the power supply before starting the wiring. supply terminals. The megger test may damage the
instrument.

2-8 IM80B20P-01E
3. OPERATION

3.l Operation
3.1.1 Preparation
Prior to start-up, do the following:

(l) 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 indicator lamps are lit.
(4) Check that the steering repeater compass gives a correct heading. After a prelimi-
nary inspection has been completed, the switch can be operated from the control
stand.
(5) Set the mode switch to the “HAND “ position.
(6) Set the steering handle to the midship position.
(7) Set the system switch to FU-1 (NO.1 SYSTEM) or FU-2 (NO.2 SYSTEM).
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.

denotes the program version.

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:

vessel speed (indicated only when connected)

vessel heading a... =G:Gyropcompass heading

=M:Magnetic compass
heading

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

3.2 Hand steering

If the mode switch is in the “HAND” position, follow-up steering can be done with the
steering handle 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.

IM 80B20P-01E 3-1
3.3 Auto steering
3.3.1 Preparation for auto steering
In the hand steering mode, take the following procedure to prepare for auto steering:

(l) Defining the operation mode

Select the operation mode according to the cruising area, weather and oceanographic
conditions.

(a) The data display presents a display for waiting for thye selecttion of the adjustment
mode if the ADJUST key is pressed in the normal display.

(b) Every time the + key or – key is pressed, the item display switches.
Press the ENTER key when the data display indicates the following.

(c) If the ENTER key is pressed, the presently set operation mode appears in the
data display as shown below.

“a......a” denotes the currently set operation mode.

ECONOMY: For auto steering to ensure fuel saving during ocean

navigation

PRECISION 1: When seas become somewhat rough and yawing is

excessive in “ECONOMY” mode during ocean travel.

PRECISION 2:For auto steering with emphasis on course keeping in

cruising area where ships are converging, or in passage
through narrow channels

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

“a......a” denotes the operation mode to be set.

The displayed operation mode changes as below every time the + or – key is
pressed.

ECONOMY PRECISION 1 PRECISION 2 ECONOMY

3-2 IM 80B20P-01E
 When the operation mode to be set is displayed, press the ENTER key to define the
data. In this case, the data are displayed on the display unit as shown in (c).

(2) Defining the draft mode

Select the draft condition:

(a) The data display presents a display for waiting for the selection of the adjustment
mode if the ADJUST key is pressed in the normal display.

(b) Every time the + key or – key is pressed, the item display switches.
Press the ENTER key when the data display indicates the following.

(c) If the ENTER key is pressed, the presently set draft mode appears in the data
display as shown below.
“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)

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

“a.....a” denotes the draft mode to be set. The displayed draft mode
changes between full, middle and ballast in this order every time the
+ or – key is pressed.

When the draft mode to be set is displayed, press the ENTER key to define the data.
In this case, the data are displayed on the display as shown in (c) .

IM 80B20P-01E 3-3
(3) Set course entry
There are three methods for setting the course. Use any of the appropriate methods
according to the particular situation.

(a) 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. (One dial
rotation changes the setting 25 degrees.)
Pressing and turning the dial while pressing the ENTER key during normal display
allows updating of the set course, including the numer als below the decimal point.
(One dial rotation changes it by 2.5 degrees.)
(b) Entering the course via the heading set key ( H/S )
Pressing the H/S key 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 hand
steering. The set course angle on the set course display is retained even if the
power supply is turned off. This completes the preparation for auto steering. Set the
mode switch to “AUTO”.
(4) Confirming the course in the AUTO mode
When the steering mode is switched from “HAND” to “AUTO”, the auto steering unit
performs auto steering to maintain the current course. Press the ENTER key to
ensure that the course set in step (3) is defined as the set course.

(a) When the steering mode is changed from “HAND” to “AUTO”, the course display
flashes.
(b) Flashing of the course display is stopped by pressing the ENTER key, and auto
steering starts according to the displayed course setting.

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 param-
eters 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.
RATE
The course change mode is selected by pressing the RADIUS key switch. (See

section 4.7.)

3.3.3 NAVI steering (optional)

The system receives the set course signal from integrated navigation system and starts
auto steering. NAVI steering is started immediately by setting the MODE switch to the
NAVI position when the course signal is output from the integrated navigation system. If
the faulty course signal is maintained uncorrected for 30 seconds, an alarm will be
issued.

3-4 IM 80B20P-01E
3.3.4 AUTO 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.

The data are displayed on the display unit as shown

on 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.

The data are displayed on the display unit as shown

on 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. To get back to the original course
before 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.

IM 80B20P-01E 3-5
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:

When the rudder limit on the starboard side has

been reached:

When the rudder limit on the port side has been

reached:

Rudder angle limit function

• P-D controlled course change

RUDDER
The rudder limit function is operated by the limit value set on the key.
LIMIT
• Constant rate of turn course change

RUDDER
The rudder limit function is operated by the limit value set on the key or the
LIMIT
RATE
rate of turn value set on the RADIUS key, whichever is greater.

(2) Course deviation alarm cancel

When a course change of more than l 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).

3-6 IM 80B20P-01E
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 shuould be checked carefulluy.

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

Settting the system switch to the NF position selects non-follow-up steering. The steering
lever is on the right side of the hand steering unit. The steeirng 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.

CAUTION
If the rudder angle indication reaches 30 degrees, immediately return the lever to its center
position. Otherwise the rudder will push the mechanical stopper.

IM 80B20P-01E 3-7
4. KEY OPERATION

4.l Switching the display

Display item

(a) Display of ship speed and heading

Display of automatically entered ship speed

Display of gyroscope heading

Ship speed manual entry

Display of magnetic compass

Ship not displayed if log is not connected

Display of heading not entered

(b) Display of rudder angle

Bar graph display of rudder angle command

Display of rudder angle command

Bar graph display of µ angle

Display of µ angle

Display of rudder angle not entered

(c) Display of rate of turn

Bar graph display of rate of turn

Display of µ rate of turn

Display of rate of turn not entered

(d) Display of course deviation

Bar graph display of course deviation

Display of course deviation

Bar graph display of course deviation

Display of course deviation not entered

The above items are switched every time you press + or – .

IM 80B20P-01E 4-1
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:
When the rudder limit on the port side has been When the rudder limit on the starboard side has
reached: been reached:

It should be noted, however, that the limit function does not work for the integral control
volume of the command rudder angle.

RUDDER
(1) Press the key, and the data display unit will indicate the following:
LIMIT

Currently set rudder limit value

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

Indicates the data wait state.

(3) To change this value, press the + or – key to adjust the display of the
rudder angle limit.

(4) If the displayed rudder angle limit is satisfactory, press the key. The data display
unit will indicate the rudder angle limit set in (1).

RUDDER RUDDER
LIMIT LIMIT

4-2 IM 80B20P-01E
4.3 Setting the off-course alarm
Note:
The off-course alarm 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 alarm can be detected by the magnetic compass heading during auto
steering. The magnetic compass detects whether the gyrocompass is faulty or the ship is
not running on the set course, and an alarm is issued. Set the limit angle and detection
time for this off-course alarm.

Off-course alarm limit angle

Course
Set course (magnetic compass
heading)

OFF CRS
(1) Press the ALARM , and the following display will be given on the data display

unit:

Currently set course deviation alarm limit

Currently set off-course alarm detection time

(2) Press the + or – key, and the following display will be given on the data
display unit:
(3) Changing the off-course alarm limit
(3-1) To change the off-course alarm limit, press the ENTER key when the limit is
displayed; the data change wait state will then be displayed.

Off-course alarm limit to be set

(3-2) The limit will be adjusted by pressing the + or – key. When the limit to
be set is displayed, press the ENTER key. The data display will indicate the off-
course alarm limit angle set in (1).

IM 80B20P-01E 4-3
 (4) Changing the off-course detection time
(4-1) To change the off-course detection time, press the ENTER key when the
detection time is displayed; the data change wait state will then be displayed.

Off-course alarm detection time to be set

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

4-4 IM 80B20P-01E
4.4 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
effectively 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.

RATE
(1) Operate the RADIUS key in the standard display, and the currently selected

course change control mode will appear on the data display.

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° /τ ]: Constant rate of turn course change control

mode (XX: current set value)

RADIUS[XX.Xnm]: Constant radius course change control (XX:

current set value)

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

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 ENTER key when the course change control mode to be selected is
displayed.

(3) Select the P-D, and the display will read as given in (1).
(4) Select the RATE-M, and the mode select wait state will appear.

The rate of turn will change every time the + or – key is pressed. Press the
ENTER key when the turn rate to be set is displayed. The data display will read as
given in item (4).

IM 80B20P-01E 4-5
 (5) Select the RATE-T, and the mode select wait state will appear.

The rate of turn will change every time the + or – key is pressed. Press the
ENTER key when the rate of turn to be set is displayed. The data display will read as
given in item (5).

(6) Select the RADIUS and the mode select wait state will appear.
The turning radius will change every time the + or – key is pressed. Press
the ENTER key when the turning radius to be set is displayed. The data display will
read as given in item (6).

º º

º º

º º

º º

4-6 IM 80B20P-01E
4.5 Setting parameters
Set and display all the parameters as shown below except for those in sections 4.1
through 4.7.
1 Setting the dimmer and contrast
2 Setting the ship speed
3 Setting the operation mode
4 Setting the draft mode
5 Setting the course deviation alarm limit angle and detection time
6 Display of alarm causes
7 Setting the control function
8 Setting the additional control function
9 Initial setting of control parameters
10 Display of average value
11 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 press-
ing the key during normal display.
(2) Display will be switched every time the + or – key is pressed.

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

IM 80B20P-01E 4-7
4.5.1 Setting the dimmer and contrast
This is used to adjust the brightness of the auto steering unit and the contrast of the
data display.

(1) Press the ENTER key when adjust mode 1 is indicated on the data display, and
the currently set brightness control value is displayed on the data display as shown
below:

Currently set brightness control value

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

Currently set contrast control value

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

Brightness control value to be set

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 ENTER key when (2) is displayed.

Contrast control value to be set

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
contrast brightness adjustment value will then be indicated on the data display as shown
in (2).

4-8 IM 80B20P-01E
4.5.2 Setting the ship speed
Set the speed manually if the ship speed signal cannot be entered from the speed log.

(1) Press the ENTER key when adjust mode 2 is indicated on the data display, and
the present input mode and ship speed will be displayed on the data display as
shown below:

a ... a : present input mode

AUTO: 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.

a ... a:input mode to be set

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

(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)

IM 80B20P-01E 4-9
4.5.3 Setting the operation mode
Select the operation mode according to the cruising area, weather and oceanographic
conditions during navigation.

(1) Press the ENTER key when adjust mode 3 is indicated on the data display, and
the currently set operation mode will be displayed on the data display as follows:

“a......a” denotes the currently set operation mode.

ECONOMY: For auto steering to ensure fuel saving during ocean

navigation

PRECISION 1: When seas become somewhat rough and yawing

is excessive in “ECONOMY” mode during ocean
travel.

PRECISION 2: For auto steering with emphasis on course keeping

in cruising area where ships are converging, or in
passage through narrow channels

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

“a......a” denotes the operation mode to be set.

The displayed operation mode changes as below every time the + or – key
is pressed.
ECONOMY PRECISION1 PRECISION2 ECONOMY
When the operation mode to be set is displayed, press the ENTER key to define the
data. In this case, the data are displayed on the display as shown in (1).

4-10 IM 80B20P-01E
4.5.4 Setting the draft mode
Select a draft condition of the ship.

(1) Press the key when adjust mode 4 is indicated on the data display, and the currently
set draft mode will be displayed on the data display as follows:

“a.....a” denotes the currently set draft mode.

FULL: Full-load mode (80 to 100% of designed full load draft)

MIDDLE: Meddle 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 ADJUST key again to get
back to the normal display.
(3) To change the draft mode, press the ENTER key so that the change wait state is
displayed.

“a......a” denotes the draft mode to be set.

The displayed draft mode changes between full, meddle and ballast every time the
+ or – key is pressed.

FULL MIDDLE BALLAST FULL

When the draft mode to be set is displayed, press the ENTER key to define the data.
In this case, the data are displayed on the display as shown in (1).

the data. In this case, the data are displayed on the display as shown in (1).

IM 80B20P-01E 4-11
4.5.5 Setting the course deviation alarm
Set the limit angle and detection time for a “course deviation alarm” which sends an alert
of a course deviation from the course settings during auto steering.

Course Course deviation alarm limit angle

Set course

(1) Press the ENTER key when adjust mode 5 is indicated on the data display, and
the currently set limit angle is displayed on the data display as shown below:

Currently set course deviation alarm limit angle

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

Currently set detection time for course deviation

alarm

(3) Changing the course dev iation alarm limit

(3-1) To change the course deviation alarm limit, press the ENTER key when the
limit is displayed. The data change wait state will then be indicated on the data
display.

Course deviation alarm limit to be set

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

(4) Changing the course deviation alarm detection time

(4-1) To change the course deviation alarm detection time, press the ENTER key
when the detection time is displayed. The data change wait state will then be
indicated on the data display.

Course deviation alarm detection time to be set

(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 ENTER
key. The course deviation alarm detection time will then be indicated on the data
display unit as shown in (2).

4-12 IM 80B20P-01E
 ˚

’
°

’ ’
°
’

’ ’
°

’ ’
°

’ ’
°

IM 80B20P-01E 4-13
4.5.6 Alarm cause display
When an alarm has occurred, this function is used to display the cause of the alarm on
the data display.

Note:

If a new alarm occurs while the cause for an alarm is displayed, the display is automati-
cally updated to indicate the cause of the new alarm.

(1) Press the ENTER key when adjust mode 6 is indicated on the data display, and
the following alarm will be displayed on the data display:

Cause for alarm

“a..a” denotes the type of alarm.

EMG: Emergency alarm
CAUT: Cautionary alarm
XX: error code
If the error continues to be present, the following display will be given to distinguish it
from the already recovered one.

For details on the causes of alarms and the symbols, see SECTION 5.

Cause for alarm

(2) New causes for alarm will be indicated one after another every time the + or
– key is pressed.
(3) Already recovered causes of alarms can be erased by pressing the ENTER key.
(4) If there is no display at all, the following will be indicated on the data display unit:

4-14 IM 80B20P-01E
4.5.7 Setting control items
This function is used to set control items. The following shows the items which can be
set:

1 Release of midship command

2 Release of counter rudder angle limit
3 Setting the rough-seas steering mode
4 Helm adjustment in steering mode switching
5 Number of rudders
6 Course deviation limit function
7 Steering gear deadband compensation
8 Ship speed pulse rate
9 Exponential smoothing time for ship speed
10 Gyrocompass moving average time
11 Auxiliary compass moving average time
12 Type of rudder angle display
13 Self-test command

4.5.7.1 Item switching

(1) Press the ENTER key when adjust mode 7 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.

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

IM 80B20P-01E 4-15
4.5.7.2 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 ENTER key.
The following condition change wait state will then be displayed on the data display:

“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 ENTER key to define the condition.

4-16 IM 80B20P-01E
4.5.7.3 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.

Heading

Counter rudder angle when

rudder limit function is released

Rudder angle limit

Rudder angle
Rudder angle limit

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

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 ENTER
key to define the condition.

IM 80B20P-01E 4-17
4-18 IM 80B20P-01E
4.5.7.4 Setting the rough-seas steering mode
When the sea is very rough and the ship’s speed must be reduced, ship control may
become difficult 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 ENTER key when ROUGH SEA appears on the data display. The
condition change wait state will appear on the data display as follows:

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 ENTER
key to define the condition.

IM 80B20P-01E 4-19
4.5.7.5 Helm adjustment in steering mode switching
A dig course deviation may occur momentarily if the hand steering mode is switched
over to the auto steering mode when there is a tidal current or wind from a certain
direction during cruising. This is the result of ignoring meeting the rudder before the
auto steering mode is selected, as illustrated below. This setting function is used to
adjust a big course deviation which may occur when selecting the auto steering mode.
MANUAL and AUTO adjustment methods are available.

This must be avoided.

Course

Rudder angle

Hand steering mode Auto steering mode

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

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 ENTER key
to define the mode.
(3) AUTO mode adjustment
Press the ENTER key when AUTO is displayed on the data display. The system
then automatically computes the adjustment of the course deviation based on the rudder
angle immediately before the hand steering mode is changed over to the auto steering
mode.

(4) MANUAL mode adjustment

Press the ENTER key when hand appears on the data display. Then the rudder
angle adjustment change wait state will appear on the data display.

a: Direction for adjustment

P: Adjustment on the port side
S: Adjustment on the starboard side

4-20 IM 80B20P-01E
 (5) The rudder adjustment angle will change every time the + or – key is
pressed. When the data to be set appears, press the ENTER key to define the
data. The set value is automatically input into the CPU by switching from the hand
over to auto steering mode.

IM 80B20P-01E 4-21
4.5.7.6 Number of rudders
This function is used to set a single- or twin-rudder ship.

(1) Press the ENTER key when the number of rudders is indicated on the data
display, and the following data change wait state will be indicated on the data
display:

“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
ENTER key to define it.

4-22 IM 80B20P-01E
4.5.7.7 Course deviation limit function
(1) Press the ENTER 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:

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 ENTER
key to define the condition.

IM 80B20P-01E 4-23
4.5.7.8 Steering gear deadband compensation
(1) Press the ENTER key when “GEAR DEADBAND COMPENSAT.=” is displayed on
the data display. Then the condition change wait state will appear on the data
display.

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 ENTER
key to define the condition.

4-24 IM 80B20P-01E
4.5.7.9 Ship speed pulse rate
Set the ship speed pulse rate (pulse/n mile).

(1) Press the ENTER 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:

(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
ENTER key to define it.

IM 80B20P-01E 4-25
4.5.7.10 Exponential smoothing time for ship speed
This function is used to set exponential smoothing time constant for speed data.

(1) Press the ENTER key when “SPD EXP. SMOOTH” is indicated on the data
display, and the following data change wait state will be indicated on the data
display:

(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 ENTER key to define it.

4-26 IM 80B20P-01E
4.5.7.11 Gyrocompass moving average time
This function is used to set the moving averaging time constant for gyrocompass
heading data.

(1) Press the ENTER key when “GYRO MOVING AVE.” is indicated on the data
display, and the following data change wait state will be indicated on the data
display:

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

IM 80B20P-01E 4-27
4.5.7.12 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 ENTER 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:

(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 ENTER
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.

4-28 IM 80B20P-01E
4.5.7.13 Type of rudder angle display
This function is used to set either the rudder command or rudder feedback as the rudder
angle indicated on the data display. The rudder command becomes the rudder com-
mand of the auto steering unit, while the rudder feedback becomes the rotary angle of
the µ transmitter.

(1) Press the ENTER key when the “ANGLE DISPLAY” is indicated on the data
display, and the following condition change wait state will be indicated on the data
display:

“a...a” denotes the condition to be set.

COMMAND: Rudder command
FEEDBACK: Rudder feedback
(2) The displayed condition changes between “RUDD-COM.” and “RUDD-ANG.” every
time the + or – key is pressed. When the condition you want to set is
displayed, press the ENTER key to define it.

IM 80B20P-01E 4-29
4.5.7.14 Self-testing command
Self-testing monitoring is automatic. Command can be given by this setting.

(1) Press the ENTER key when the “SELF TEST” is indicated on the data display,
and the following data change wait state will be indicated on the data display:

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

Display by flashing

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

4-30 IM 80B20P-01E
4.5.8 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 4.8.5.13, “Presetting parameters.” This will enable parameter setting.
1 Cruising speed
2 Hull length
3 Initial setting value of static gain
4 Setting value of time constant
5 Setting value of static gain
6 Karman filter noise covariance matrix multiplier
7 Differential gain multiplier
8 Proportional gain multiplier
9 Stable/unstable results computed from ship particulars
10 Parameter updated state (updated/not updated)
11 Stable/unstable updated result
12 Preset switch

4.5.8.1 Item switching

(1) Press the ENTER key when “ADJUST MODE 5” 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.

When the item you want to set is displayed, press the ENTER key. Each item will
then be set and displayed.
IM 80B20P-01E 4-31
4.5.8.2 Setting the cruising speed
Set the cruising speed.

(1) Press the ENTER key when “Vs=” is displayed on the data display. Then the data
change wait state will appear on the data display as follows:

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

4-32 IM 80B20P-01E
4.5.8.3 Setting the hull length
Set the hull length.

(1) Press the ENTER key when “Lpp=” is displayed on the data display. Then the
data change wait state will appear on the data display as follows:

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

IM 80B20P-01E 4-33
4.5.8.4 Initial setting value of static gain
(1) Press the ENTER key when “Ki=” is displayed on the data display. Then the data
change wait state will appear on the data display as follows:

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

4-34 IM 80B20P-01E
4.5.8.5 Setting value of time constant
(1) Press the ENTER key when “TV=” is displayed on the data display. Then the
data change wait state will appear on the data display as follows:

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

IM 80B20P-01E 4-35
4.5.8.6 Setting value of static gain
(1) Press the ENTER key when “KV=” is displayed on the data display. Then the
data change wait state will appear on the data display as follows:

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

4-36 IM 80B20P-01E
4.5.8.7 Setting the Karman filter noise covariance matrix multiplier
(1) Press the ENTER key when “MQ=” is displayed on the data display. Then the
data change wait state will appear on the data display as follows:

(2) The data changes every time the + or – key is pressed. When the noise
covariance matrix multiplier to be set appears, press the ENTER key to define the
data.

IM 80B20P-01E 4-37
4.5.8.8 Setting differential gain multiplier
Set the differential gain multiplier.

(1) Press the ENTER key when “G1=” is indicated on the data display, and the
following data change wait state will be displayed on the data display:

(2) The displayed data change every time the + or – key is pressed. When
the differential gain multiplier you want to set is displayed, press the ENTER key
to define it.

4-38 IM 80B20P-01E
4.5.8.9 Setting the proportional gain multiplier
(1) Press the ENTER key when “G2=” is displayed on the data display. Then the
data change wait state will appear on the data display as follows:

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

IM 80B20P-01E 4-39
4.5.8.10 Setting the results computed from ship particulars (stable ship/unstable ship)
(1) Press the ENTER key when “INIT.=” is displayed on the data display. Then the
data change wait state will appear on the data display as follows:

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 ENTER key
to define the result.

4-40 IM 80B20P-01E
4.5.8.11 Setting the parameter updated state (updated/not updated)
(1) Press the ENTER key when “IDENT=” is displayed on the data display. Then the
data change wait state will appear on the data display as follows:

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 ENTER key
to define the state.

IM 80B20P-01E 4-41
4.5.8.12 Setting the updated result (stable ship/unstable ship)
(1) Press the ENTER key when “RESULT=” is displayed on the data display. Then
the data change wait state will appear on the data display as follows:

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 ENTER key
to define the result.

4-42 IM 80B20P-01E
4.5.8.13 Presetting parameters
The parameters must be preset to enable the initial setting of control parameters.

(1) Press the ENTER key when “PRESET SW” is indicated on the data display, and
the following will be displayed on the data display:

(2) Displayed data changes between

PRESET: [ENTER] and PRESET: [EXIT] every time the + or – key is
pressed.

The set parameter will be preset by pressing the ENTER key when PRESET:
[ENTER] is displayed

IM 80B20P-01E 4-43
4.5.9 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 characteristics (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
optimum control. The optimum control parameters must be selected 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 recommended that you proceed with the work by keeping in close contact with the
manufacturer.

(1) Press the ENTER key when ADJUST MODE 6 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.

or

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

(3) Setting the parameter for each draft mode

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

a.....a : Draft mode to be set

FULL, MIDDLE, BALLAST

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

a.....a : Draft mode to be set

FULL, MIDDLE, BALLAST

(4) Clearing the set parameter

Press the ENTER key when SW IN NVRAM CLEAR is displayed on the data display.
Then the parameters for each draft mode will be cleared, and the data will appear on the
data display as follows:

4-44 IM 80B20P-01E
IM 80B20P-01E 4-45
4.5.10 Average value display
Each of the evaluation indices (J= Dj2+ ld2) to evaluate controllability during steering can
be displayed. The following describes the items to be displayed:
1 Average course deviation (for one minute)
2 Average rudder angle (for one minute)
3 Average evaluation index (for one minute)
4 Average evaluation index (for 30 minutes)
(1) Press the ENTER key when ADJUST MODE 7 is displayed on the data display.
Then the average course deviation (for one minute) will appear on the data display
as follows:

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

’ ˚

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

4-46 IM 80B20P-01E
5. ALARMS
The PT500A autopilot is provided with many monitoring functions to ensure steering safety.

5.l Alarm types

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

(l) Individual alarms

These alarms 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) Emergency alarms

These alarms require an immediate switchover to the control system, hand steering or non-follow-
EMRG
up steering when they have been issued. When an emergency alarm occurs, the lamp
ALM
on the ANNUNCIATOR UNIT begins to flash and the buzzer sounds. At the same time, the
cause of the alarm is shown on the data display of the AUTO steering unit. (See Section 5.3.1.
for details on the alarm.) When an alarm except for a servo-loop failure has occurred, control
output goes to the midship position. Press the ALARM key on AUTO STEERING UNIT,
and check the alarm type.

WARNING
■ Emergency alarm
If an emergency alarm occurs, control output is set to the midship position except for the case of
a servo-loop failure. Change the control system or select hand steering or non-follow-up
steering to restart steering.

(3) Caution alarms

These alarms are designed to have marginal time to allow corrective actions to be taken when an
CAUT
alarm has occurred. When a caution alarm occurs, the alarm lamp of the ANNUN-
ALM
CIATOR UNIT begins to flash and the buzzer sounds. At the same time, the cause of the alarm
will be indicated on the data display of AUTO STEERING UNIT. (For details on the display, see
Section 5.3.2.)

Press the ALARM key on the AUTO STEERING UNIT and check all the alarm types. Then
the data on the display go back to normal display. Switch the control mode or steering mode
according to the display.

IM80B20P-01E 5-1
5.2 Annunciator pattern
(1) The buzzer period differs depending on the type of alarm.

Type of alarm Buzzer characteristics Alarm lamp flashing rate

Individual alarm Continuous 1 Hz
Intermittent
Emergency alarm 1 Hz
Short interval, 10 Hz
Intermittent
Caution alarm 1 Hz
Long interval, 2 Hz

(2) Annunciator pattern

Erroneous input

Buzzer

Alarm lamp

Buzzer stop

Lamp test

5-2 IM80B20P-01E
5.3 Types of alarm displays
When a typical alarm has occurred, the cause of the alarm is indicated in symbols on the data
display. The following explains the alarm displays:

5.3.1 Emergency alarms

NO. Alarm displays on data display Description

CPU ERROR
Comparison between input and output values by predefined computation
01 executed by arithmetic IC.

MEMORY (RAM) ERROR

Checks RAM writing and reading.
02

MEMORY (ROM) ERROR

Checks ROM contents.
03

AUTO OUTPUT ERROR

Checks to see that the difference between the manual terminal unit DAC
04 output value and the ADC input value is within the reference value of
±0.1V(±40 bits).

GYRO OUTPUT INPUT ERROR

Issues an alarm if a gyrocompass signal input failure continues for 2 seconds
05 or longer.

AUX. COMPASS INPUT ERROR

Issues an alarm if an auxiliary compass signal input failure continues for n-
06 seconds or longer.

No.1 SERVO LOOP FAILURE

Issues an alarm if the difference between the rudder command and rudder
feedback is 10 degrees or more and continues for one minute. This alarm does
07
not monitor an absent system. If this alarm occurs, the steering angle output is
not set to the midship position.
No.2 SERVO LOOP FAILURE
08
Issues an alarm if the difference between the rudder command and rudder
feedback is 10 degrees or more and continues for one minute. This alarm does
not monitor an absent system. If this alarm occurs, the steering angle output is
not set to the midship position.

STEERING MODE SWITCH ERROR

09
Issues an alarm if two or more steering modes have been specified or no
command is given for 2 seconds or longer.

IM80B20P-01E 5-3
5.3.2 Caution alarms

NO. Alarm displays on data display Description

NAVIGATE INPUT DATA ERROR

Checks the input data and issues an alarm if no normal input is given for 30
01 seconds because of a signal or other failure.

OVERRIDE SWITCH ERROR

Issues an alarm if the override switch is kept pressed for 10 minutes or longer.
02

COURSE SETTING DIAL ERROR

Issues an alarm if the course setting dial remains on for one minute or longer.
03

COMPASS SELECT KEY ERROR

Issues an alarm if the compass selection key remains on for eight seconds or
04 longer.

ALARM STOP KEY ERROR

Issues an alarm if the buzzer stop key remains on for eight seconds or longer.
05

HEADING SET KEY ERROR

Issues an alarm if the heading set key remains on for eight seconds or longer.
06

OPERATION KEY ERROR

Issues an alarm if the operation key remains on for eight seconds or longer.
07

DATA UP/DOWN KEY ERROR

Issues an alarm if the data UP/DOWN key remains on for two minutes or
08 longer.

OFF COURSE ALARM

Issues an alarm if the course and heading set by the magnetic compass remain
09 over the set limit value for n-seconds or longer. The detection time n can be
set with a key operation.

COURSE DEVIATION ALARM

Issues an alarm if the set course and heading remain over the set limit for
10 about n-seconds or longer. The detection time n can be set with a key
operation.

PUMP ALL REST

Issues an alarm if all operation signals from the control/power box are off
11 (rest).

BACKUP BATTERY ERROR

Issues an alarm if the RAM backup battery voltage is reduced.
12

SPEED INPUT ERROR

13

5-4 IM80B20P-01E
 NO. Alarm displays on data display Description

PROGRAM START
Issues an alarm to notify that CPU operation has started when the power is
14 turned on.

Version number

REMOTE CONTROLER ERROR

15 Issues an alarm if the course setting dial remains on for one minute or longer.

PARAMETER RESET
16 Issues an alarm if the course setting dial remains on for one minute or longer.

IM80B20P-01E 5-5
6. BASIC AUTOPILOT ACTION
Fig. 6-1 shows an overview of adaptive control.

6.1 Steering for fuel saving .... minimum steering fre-

quency 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 PT70 Adaptive Autopilot is provided with a built-in extended Karman filter and optimum
controller.

(1) Karman filter

Statistic concepts are extensively used for more accurate extraction of information obtained from
the input containing irregular noise. Recently, Karman filters have come to be used to pick up
information on the dynamic characteristics of a ship from its yawing detected by a gyrocompass.

The Karman 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 Karman 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 gyrocompass are different. This difference is statistically processed to estimate the rate of turn
of the ship caused by rudder movement.

IM80B20P-01E 6-1
(2) Extended Karman filter
As mentioned in the above discussion of the Karman 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 Karman 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
“identification”. Normally, to identify the dynamic characteristics of a ship, a Z-test is conducted
to create a model.

The PT70 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 informa-
tion 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) Optimum controller

Ship yawing as estimated by the extended Karman filter is input into the optimum 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 Auto-

pilot
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 Karman 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
adjustment:

• Improved fuel saving properties despite worsening weather conditions

• Increased yawing
The problem is found in the balance between fuel saving and maneuverability.

The PT70 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.

6-2 IM80B20P-01E
 Modified extended Karman filter
(improved version)

Heading Estimated Set course

heading Rudder angle
Rate of turn -
+ command
Noise filter Optimum controller

Estimated rate of turn

Predicted heading and rate of turn

K,T

Set rate of turn

Optimum gain
Estimation unit

Actual rudder
angle
Non-linear compensator

Non-linear ship model

compensation

Optimum gain
Ship speed

Ship movement computation

parameter identifier K' K,T
T'

Computation of
evaluation functions
Ship speed

Estimation Control
system system

Fig. 6-1 Adaptive Autopilot Control Block Diagram

IM80B20P-01E 6-3
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 equipment installed in the steering gear room, refer to the instruc-
tion manual for the equipment installed in that room.

Maintenance/inspection Description Intervals

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

IM80B20P-01E 7-1
 DISTRIBUTION UNIT (MPC145)
DC/DC CONV. DC/DC CONV. INTERFACE BOARD AUTO STEERING UNIT
TB TB

8.
MPB351
NO.1 SSR BOARD NO.2 SSR BOARD 1 +19 - 32V 1 +19 - 32V

(5P)
CN5
INPUT INPUT
2 0 2 0
3 +15V 3 +24V

CN2
6 0 4 0

CN3 (50P)
4 -15V

(6P)
CN4
5 +5 V

IM80B20P-01E
7 0

CN1 CN1 CN1 (40P) CN2 (40P)

Cable length (Max.) = 5m

CN3 (30P) CN4 (30P) CN1 CN2

TERMINAL BOARD

SOR
2NFB
EXT

GND
CNF
2FU
GND

-15
DIM
GND
ORA
ORB
CNFS
DNFP
DIM
GND
1NFB
2NFA
STBY
1FU
NF
1P1
2P1
2P2
P4
V24
DIM
1EXT
1RD
2RD
GND

DNFS
GND

CRS
V24
1NFA
P3

1FB
-15
+15
2FB
GND
ANFP
BNFS
BNFP
GND

CNFP
DNF
V24
DIM
1P2
GND
2EXT
GND

+15

1PP
V24

ANFS
ANF
BNF

EMG
CAU
1NV
2NV
2PP
2NVA
2NVC
GB

1NVC

FL
1NVA
1NVB
2NVB
TB8
TB9
TB10

TB7

TB6
8
9

1
2
3
5
6
7

8
9
4

1
2
3
5
6
7

4
6
6

7
7

8
9
11
15
11
15
8
9
11
15

6
3
5
12
12
3
5
12

11
15
4
13
14
13
14
4
13
14

1
1

12
2
2

10
10
10

13
14

7
8
9
11
15
10

3
5
12

4
13
14

1
2
10
LRDB
1RCS
RC

24B
GB
FLB

ESDA
1RC+
GND

1VN
MRDB
LRDA
ERDA
ERDB
ESDB
SDA
V24
GND
1B
1ST
DIM
V24
1RC-
2ST
DIM
V24
AUTO
HAND
V24
DIM
V24
ORP
24B
GB

RDB
FLA

MRDA
1A
NAVI

2RC-
GND

2B
ORS

2UP
SG
RDA
SDB
GND
2A
2RCS
V24
V-15
GND
CAG

2RC+
2SH
DIM

GND
V+15

1N
1UP
2P
2N
2VN
LOG
GRDA
GRDB
1SH
STS

1P
STP

24B
GB
COM
TB2
TB3
TB5

TB4

TB1
8
9
8
9

1
1

2
3
5
6
7
2
3
5
6
7

4
4

8
9

1
2
3
5
6
7

4
6
6

7
8
9
11
15
11
15
11
15

3
5
12
12
7
12

8
9
11
15

4
13
14
13
14
13
14

1
2
3
5
12

10
10
10

4
13
14

11
15
2
10

12
13
14

10
ANNUN. UNIT
SWITCH UNIT
(MPH617) NO.1 DIAL STEERING UNIT HAND STEERING
(MPH731)
ECDIS (PT161) UNIT
TB1 SWITCH UNIT 1 NAVI
1NV 1 1 A (MPB354) 1 1SH
1 1PWR 2 AUTO
1PP (MPH732) 2 B 2 2SH
2 1RUN 2 3 HAND
3 ST 3 STS
3 1FL1 3 4 RC
4 RCS 4 STP
4 1FL2 4 5 V24
5 5 V24
5 1FL3 5 6 DIM
6 DIM 6 V+15
6 1FL4 NFU UNIT 7 GND
7 V24 7 GND
7 GB 8
TB1 8 RC+ 8 V-15
8 9
ATTACHED FIGURES

1 1NF 9 RC- 9 V24B

Figure 8.1 Cable connection daiagram A

9
2 1NFS 10 GND 10 GB
10
3 1NFP
AUTO OVERRIDE
TB2 4 2NF
2NV 5
UNIT
1 2PWR 2NFS
2PP 6 2NFP (MPB353) 1 V24
2 2RUN DIGITAL RC
3 2FL1 7 V24 2 DIM
2FL2
(PB162) 8 DIM 3 GND
4
1 RDA 9 GND
5 2FL3 4 ORS
2 RDB 10 SOR 5
6 2FL4 ORP
3 SDA 6
7 GB CAG
4 SDB 7
8 GND
5 V24 8
9 SYSTEM SWITCH
6 GND
10 NF
TB2
7
1 1NFA
TB3 8 2 1NFB
1 FL NF
3 2NFA
2 EMG
4 2NFB
3 CAU
FU
5 STBY
4 CRS
6 1FU
5 FU
7 2FU
6 NF
8 NF
7
9 V24
8
10 DIM
9 24B
10 GB TB3
NO.1
1 GND
2 1P1
NO.2 3 1P2
4 2P1
NO.1/2
5 2P2
6 P3
7 P4
8
9
10

8-1
IM80B20P-01E 8-2
Cable connection dagram B Figure 8.2
50HZ to 60Hz 1
DC24V BATTERY
OUTPUT SYSTEM FAIL

PT133
GYROCOMPASS (IEC61162-1)
SHIP'S SPEED SIGNAL (200P / nm)

AC 100V / 110V / 115V / 230V / 380V / 440V

OUTPUT NO.1 SYS NO-VOLT ALARM
OUTPUT NO.1 SYS NO-VOLT ALARM

FB
-15

58B
57B
57A

58A
51B
51A
+15
NO.2 AC ADAPTER

GND

TB1
51

58
57

1 U
2 V TB1 TB6
3 E 1 1P 1 FL
4 P 2 1N 2 EMG
5 N 3 1UP 3 CAU
6 SP TB1 1VN
4 4 CRS
7 SN 1 51
5 2P 5 1NV
8 115 2 53
7
2

5
4
3
6
1

6 2N 6 2NV
TB

9 110 3 57
0

7 2UP
0
0

7 1PP
10 100 4 58 8 2VN 8 2PP
+5 V
-15V
+15V

5 PA
NO.2 SSR BOARD

11 0 9 24B 9 1NVA
51A 12 51 6 PB
+19 - 32V

10 GB 10 1NVB
TERMINAL BOARD

CN1

13 53 7 11 11 1NVC
57A
CN4 (30P)

14 57 8 GND 12 LOG 12 2NVA

58A 15 58 9 COM
13 13 2NVB
DC/DC CONV.

16 +15 10
INPUT

14 GRDA 14 2NVC
DISTRIBUTION UNIT (MPC145)

17 FB 15 GRDB 15 GB
18 -15
19 GND
20 PA
21 PB
22
4
2
1

23 GND
TB

24
+24V

25 TB2 TB7
1 MRDA 1 +15
+19 - 32V

26
58
57
51
PB
PA

27 2 MRDB 2 1FB
3 LRDA 3 -15
4 LRDB 4 GND
DC/DC CONV.

INPUT

5 ERDA 5 +15
6 ERDB 6 2FB
7 ESDA 7 -15
P

8 ESDB 8 GND
9 SG 9
10 RDA 10
NO.2 SOLNOID -V

ANF
PUMP ON/OFF

P. SOL
S S. SOL

11 RDB 11 ANFS
12 SDA 12 ANFP CN4 CN5
YARD SUPPLY 13 SDB 13 BNF
NO.2 PUMP STARTER

YARD SUPPLY

14 V24 14 BNFS (6P) (5P)

RUN

15 GND 15 BNFP
CLOSE
CN1
CN1 (40P)

TB3 TB8
1
INTERFACE BOARD

1A 1 V24
2 1B 2 DIM
3 1ST 3 GND
4 1RCS 4 SOR
5 DIM 5 ORA
6 V24 6 ORB
7 1RC+ 7 CNF
8 1RC- 8 CNFS
9 GND 9 CNFP
50HZ to 60Hz 1

10 2A 10 DNF
11 2B 11 DNFS
CN2

12 2ST 12 DNFP
CN2 (40P)

13 2RCS 13 V24
14 DIM 14 DIM
15 V24 15 GND

PT133
CN3 (50P)

AC 100V / 110V / 115V / 230V / 380V / 440V

TB4 TB9
1 2RC+ 1 1NFA
2 2

FB
2RC- 1NFB

-15

58B
57B
57A

58A
51B
51A
+15
NO.1 AC ADAPTER

GND
TB1 3 GND 3 2NFA
1 U 2NFB

51
4 1SH 4

58
57
2 V 5 2SH 5 STBY CN2
3 E 6 STS 6 1FU
4 P 7 STP 7 2FU
5 N 8 V24 8 NF
6 SP 9 V+15 9 V24
7 SN TB1 10 GND 10 DIM
8 115 1 51 11 V-15 11 GND
9 110 2 53 12 24B 12 1P1
10 100 3 57 13 GB 13 1P2
11 0 4 58 14 FLA 14 2P1
12 51 5 PA 15 FLB 15 2P2
Cable length (Max.) = 5m

NO.1 SSR BOARD

MPB351

51A
13 53 6 PB
CN1
57A 14 57 7
58A
CN3 (30P)

15 58 8 GND
16 +15 9
AUTO STEERING UNIT

17 FB 10
18 -15
19 GND TB5 TB10
20 PA 1 NAVI 1 P3
PB 2 AUTO 2 P4
21
22 3 HAND 3
4 RC 4 EXT
23 GND
5 V24 5 V24
24
6 DIM 6 DIM
25
7 GND 7 GND
26

58
57
51
8 V24 8 1EXT

PB
PA
27
9 DIM 9 GND
10 GND 10 2EXT
11 ORS 11 GND
12 ORP 12 1RD
13 CAG 13 GND
14 24B 14 2RD

P
15 GB 15 GND

PUMP ON/OFF

NO.1 SOLNOID -V

P. SOL
S S. SOL

YARD SUPPLY
NO.1 PUMP STARTER

YARD SUPPLY
RUN

CLOSE
RUDDER ANGLE INDICATOR
RUDDER ANGLE INDICATOR
 V24B
TB1 TB9 CN2 CN2 CN4
TB3 TB3 TB9
No.1 AC 1 1P
Adapter F1 12 1P1 1 1P1 2 1P2 13 1P2 21,22 21,22 1 V+in
2 1N RL12 FL1

IM80B20P-01E
RL1
RL12 RL12
23,24 23,24 2 V-in

3 +15V
TB3 TB3
No.2 AC 5 2P 4 -15V
Adapter F2 14 2P1 3 2P1 4 2P2 15 2P2
6 2N RL13 FL2
RL2 5 5V
RL13 RL13
6 GND

TB10 POWER SUPPLY

TB3 TB3 TB10
Ship's Power 9 24B
DC24V F3 1 P3 5 P3 6 P4 2 P4
10 GB RL14

Figure 8.3
FL5
SWITCH UNIT 35,36, 35,36,
RL14 RL14 37,38 37,38
MPH732

V+15 29,30 29,30

V+24 DIM
TB2
DIGITAL RC TB8 "+15"
14 V24
PT162 15 GND V24 1
DIM 2
V-15 31,32 31,32
TB3 GND 3

Power line circuit

DIAL STEERING 5 DIM NFU/OR UNIT "-15"
UNIT 6 V24 V24 13
PT161(No.1) 9 GND DIM 14
VCC 33,34 33,34
GND 15
CN4
TB9 "+5" 1 V+in
14 DIM V24 9
DIAL STEERING SWITCH UNIT
15 V24 DIM 10
UNIT MPH732
GND 11 2 V-in
PT161(No.2) TB4
3 GND TB10
V+24 27,28 27,28 3 +24V
V24 5 EXTERNAL
DIM 6 SW UNIT 4 GND
HAND STEERING 10 V24 TERMINAL BD ASSY "+24"
V24B GND 7
UNIT 12 GND V8220XB POWER SUPPLY
MPB354 14 24B
15 GB

TB5 CN1 CN2 CN1 CN1 CN2 CN1 CN2 CN3

+5V
5 V24 71,72 71,72 71,72 71,72 31,32 31,32 24,25 24,25
SWITCH UNIT DGND PS1
MPH731 6 DIM 73,74 73,74 73,74 73,74 33,34 33,34 48,49, 48,49,
7 GND +15V 50 50
75,76 75,76 75,76 75,76 35,36 35,36 AGND
77,78 77,78 77,78 77,78 37,38 37,38 PS2 21 21
-15V
AUTO O/R UNIT 8 V24 79,80 79,80 79,80 79,80 39,40 39,40
MPB353 9 DIM MM I/F ASSY AUTO CPU ASSY I/O ASSY P.S. BD ASSY
10 GND V8220WB V8220WD V8220WF V8220WH
INTERFACE BD ASSY
ANN. UNIT 14 24B V8220XE
15 GB AUTO STEERING UNIT
MPH617 MPB351

8-3
8-4
1k Q1
2SK209-BL 510 CN2 CN1 CN2 CN3 CN1 CN1 TB1
3 5V
1 1 1 1 1 1 14 GRDA
2
S D R1 Gyro
E1 UU11
U8 PS2703-1 Compass
1 G Input
26 26 26 26 2 2 15 GRDB
1k Q2
510 TB2
5V 2SK209-BL
3
2 2 2 2 3 3 1 MRDA
2
S D R2 Aux.Compass
E2 U12
PS2703-1 Input
1 G
27 27 27 27 4 4 2 MRDB
1k Q5
2SK209-BL 510
3 5V
3 3 3 3 5 5 3 LRDA
2

Figure 8.4
S D R6 Log
E8 U41
U45 PS2703-1 Input
1 G
28 28 28 28 6 6 4 LRDB
1k Q3
2SK209-BL 510
3 5V
4 4 4 4 7 7 5 ERDA
2
U9 S D R3 ECDIS / GPS
E3 U13
PS2703-1 Input
1 G
29 29 29 29 8 8 6 ERDB

Interface circuit A
BUS LINE
5V
3 LTC485
2
5 5 5 5 9 9 7 ESDA ECDIS / GPS
E4
30 30 30 30 10 10 8 ESDB Output
U15 9 SG
1

1k Q4
2SK209-BL 510
3 5V
6 6 6 6 11 11 10 RDA
2
S D R4 Digital R/C
E4 U14
PS2703-1 Input
1 G
71 71 31 31 12 12 11 RDB
5V
3 LTC485
2
7 7 7 7 13 13 12 SDA Digital R/C
E5
72 72 32 32 14 14 13 SDB Output
U16
1 14 GND

Remarks 5V
8 1 2
LTC485 4 1
6 2SK209-BL PS2703-1 INTERFACE BD
4 S D
7 ASSY TERMINAL BD
I/O ASSY P.S. ASSY V8220XE/XF/XG/XH ASSY
5
3 G 3 2 V8220WF V8220WH V8220XB

IM80B20P-01E
 VR1
1I+ 1I-
VR2 100 TP21 TP22
U1 100
V+15

IM80B20P-01E
SPAN ZERO 1RDV
1RDSPAN
TP20
VR19 CN1 TB10
U3 CN2 CN1 CN2 CN3 - 3 CN1
1ODO - 2 1RD
75 75 35 35 + 26 26 12 1RD RUDDER ANGLE
2ODO + 1
11 11 11 11 JP13 13 GND INDICATOR
1FBO
76 76 36 36 ZERO5
2FBO V-15
12 12 12 12 27 27 14 2RD RUDDER ANGLE
1SA
73 73 33 33 15 GND INDICATOR
2SA
U29 9 9 9 9
1RD
74 74 34 34 2I+ 2I-
2RD TP24 TP25
10 10 10 10 TB9 TB2
V+15 STBY 5 5 STBY
2RDV NF 8 8 NF
2RDSPAN
TP23

Figure 8.5
VR20 TB3
- 3
VR3 -
2 2RD
VR4 200 + GND 1 1 GND
U2 +
1.0k 1 JP14 SWITCH UNIT
ZERO6
MPH732
V-15
SPAN ZERO
TB10 TB1
V+24
EXT
EXT NFU STBY EXT 1 1 EXT
+ 1k 1k
GND 7 7 GND
RL7
-
U4 C74 RL7 RL2 RL1 SWITCH UNIT
LF398 0.1 RC HAND AUTO NAVI

Interface circuit B
31 31

BUS LINE
+ 1k 1k
RL6 RL5 RL4 RL3 32 32
U30 -
U5 C75 33 33 TB5 TB1
LF398 0.1 34 34 NAVI 1 1 NAVI
+ 1k 1k 35 35 AUTO 2 2 AUTO
- 36 36
U6 C76 HAND 3 3 HAND
37 37
LF398 0.1 RC 4 4 RC
+ 1k 1k 20 20 GND 7 7 GND
- 21 21
U7 C77
SWITCH UNIT
LF398 0.1
MPH731
77 77 37 37
13 13 13 13
TB4 TB1
NFU
STS 46 46 46 46 STS 8 3 STS
U37 RL2
STP 9 4 STP
STP NAVI
78 78 38 38 RL3 GND 12 7 GND

NFU AUTO HAND STEERING

U21 14 14 14 14 RL4 UNIT
V+15
HAND
MPB354
NAVI TERMINAL BD
79 79 39 39 RL5
AUTO ASSY
U21 HAND RC V8220XB
15 15 15 15 RL6
RC
EXT EXT
80 80 40 40 RL7 INTERFACE BD
I/O ASSY STBY ASSY
P.S. ASSY RL1 V8220XE/XF/XG/XH
V8220WF
V8220WH

8-5
 TB1 TB4 V+15 TB7 POT1
TB1 TB1

8-6
3
1
+15 6 11 V+15 V -15 +15 1 +15 16 +15 1
2
-15 8 13 V-15 V-15 FB 2 FB 17 FB 2
-15 3 -15 18 -15 3
1SH 1 6 1SH V-15 GND 4 GND 19 GND 4
2SH 2 7 2SH
GND 7 12 GND
HAND STEERING NO1
UNIT MPB354 AC ADAPTER
MPC146
TB TB3
1RC+ 8 8 1RC+ V+15

1RC- 9 9 1RC- V-15

1RC-
RL7
1A 1 1 1A 1RC
1B 2 2 1B
RL7

Figure 8.6
1RCS 4 4 1RCS RL7
D18

1ST 3 3 1ST
GND 11 11 GND
DIAL STEERING
UNIT PT161

SWITCH UNIT
MPH731
TB1 TB5
RC 4 4 RC

Interface circuit C
GND 7 7 GND

INTERFACE BD
CN1 CN1
ASSY 1RCS
V8220XE 16 16
2SH
19 19
1SH
18 18 TB2
1FB
22 22 TB1 POT2
2FB 1 3
23 23
1EXT +15 16 +15 1
24 24 2
2EXT FB 17 FB 2
25 25 TB1 TB2
2RCS -15 18 -15 3
17 17
GND 19 GND 4

TB TB3 NO2
1RC+ 8 1 2RC+ V+15 AC ADAPTER
V-15
MPC146
1RC- 9 2 2RC- TRANSMITTER
GND 11 11 GND MPT133
V+15 TB7
RL8 +15 5
TB4
1A 1 10 2A 2RC
2FB 6
1B 2 11 2B -15 7
RL8 -15 GND 8
1RCS 4 13 2RCS RL8
TB10
1ST 3 12 2ST D19 1EXT 1 EXTERNAL RUDDER ORDER
DIAL STEERING GND 2 SIGNAL
UNIT PT161 TERMINAL BD 2EXT 3 EXTERNAL RUDDER ORDER

IM80B20P-01E
ASSY GND 4 SIGNAL
V8220XB
 TB1 1PP

3 1UP
4 1VN RL3 TB1
7 2UP V+24 CN3 CN1 TB1 TB1
1PP JP1

IM80B20P-01E
8 2VN 2PP 1,2 1,2 1 51 51A 12 51A 5 6 51B
JP2
3,4 3,4 2 53
NC C
RL4 3 57 57A 14 57A 7 8 57B
RL9 RL3 NC C
4 58 58A 15 58A 9 10 58B
7 7 5 PA PA 20
8 8 6 PB PB 21
CN2 CN2 RL5 1FU 9 9 7
JP3
V
1S+ SSR1 8 GND
16 16
11 11 NO1
+ - AC ADAPTER
12 12
1S- MPC146
19 19 13 13
14 14 JP4
1P+ 17,18 17,18
18 18 JP5
19,20 19,20 SSR2

Figure 8.7
1P- 21,22 21,22
22 22 + -

JP4 JP3 JP2 JP1

JP6
25 2 2 2 2 SSR BD ASSY
25
V8220XK
17 17
3 1 3 1 3 1 3 1

2FU
RL6
2S+
23 23

Interface circuit D
2S-
24 24

2P+
25 25

2P-
17 17

INTERFACE BD CN4 CN1 TB1 TB2 TB2

V+24
ASSY 2PP JP1
1,2 1,2 1 51 51A 12 51A 5 6 51B
V8220XE JP2
3,4 3,4 2 53
NC C
RL10 RL4 3 57 57A 14 57A 7 8 57B
NC C
4 58 58 15 58A 9 10 58B
7 7 5 PA PA 20
8 8 6 PB PB 21 TRANSMITTER
NF TB2 TB9 MPT133
9 9 7 V
1NFA JP3
1 1 1NFA SSR1 8 GND
NF
1NFB 2 2 1NFB 11 11 NO2
+ - AC ADAPTER
2NFA 3 3 2NFA 12 12
MPC146
2NFB 4 4 2NFB 13 13
TB1 TB10 14 14 JP4
17,18 17,18
1NF 1 7 CNF JP5
S 19,20 19,20
1NFS 2 CNFS SSR2
8
21,22 21,22
P
+ -
1NFP 3 9 CNFP
2NF 4 10 DNF
S
2NFS 5 11 DNFS TERMINAL BD JP6

ASSY SSR BD ASSY

P V8220XK
2NFP 6 12 DNFP V8220XB
SWITCH UNIT
MPH731

8-7
 1ODS

8-8
1HSPAN 1 SPAN VR23
1 SW1 1ORD CN2
VR1 RL5 VR4 TEST
TP7 1OD
1HND 15
CN1 TP1 - 3 3
1SH 2 2 V+15
18 + NOR 1SB D36
2 JP1 1
JP3 HAND - 1SB+
1DEV 7
1 3 ZERO1 + 1SB-
- TP8 1DEV 8
-
+
RC 1DB +
RL1 1FBO
1RSPAN 1FB 1 SPAN 3 TP18
2 TP9
VR2 RL6 VR5
TP6
1RC
TP2 - 3 -
1RCS 2 1PT D37
1 JP11
16 + + STBY 1DB 1PT+
2 JP4 VR11
9
JP2 1 1PT-
1 3 ZERO3 -
10
NAVI RL3 -
2RCS +
2RCS +

CN3
AUTO V+15
CN3 TP3 - 1FBO
SA 36
+ TEST
33 1
PORT STBD
2 -

Figure 8.8
RL4 VR21

SOA JP15 AUTO +

3

EXT
1ESPAN
VR3 RL7 -15
1EXT
CN1 TP4 - 3
1EXT 2
24 +
2 JP5
JP6 1
1 3
2EXT
2EXT

Interface circuit E
1FB 2ORD
HAND 2ODS
22 1HSPAN TEST TP15
1 SPAN SW1 VR24 CN2
VR6 VR9 4
RL5 2OD
2HND 16
TP10 - 3 6
2SH 2 5 V+15
19 + NOR 2SB D44
2 JP8 - 2SB+
JP7 1 2DEV 11
1 3 ZERO2 + TP16 2SB-
- 2DEV 12
-
+
HAND 2DB +
2RSPAN 2FB 2 SPAN RL1 3 TP19
VR7 VR10 2 2FBO
RL5 TP14
2RC TP17
TP11 - 3 -
2RCS 2 JP12 2PT D45
1
17 + + STBY 2DB 2PT+
JP9 VR12
13
1 2PT-
ZERO4 -
14
NAVI RL3 -
2RCS +
+
SOA
CN3
2FBO
-15 12
AUTO RL4
2ESPAN
VR8
2EXT
TP12 - 3
2EXT 2
+ 1 ZERO 2 ZERO 1 ZERO 2 ZERO 1RDZERO 2RDZERO
25 VR13 VR14 VR15 VR16 VR17 VR18
JP10 RL7
1
EXT ZERO1 ZERO2 ZERO3 ZERO4 ZERO5 ZERO6

2EXT INTERFACE BD ASSY

V8220XE

2FB

IM80B20P-01E
-15
23
 CPU BD

CPU

IM80B20P-01E
RL15
CN3 TB1 TB6
007 1PWR 1 5 1NV
RL16
TB2
107 2PWR 1 6 2NV

TB3 CN2 CN2 CN3 CN2 CN1 CN2

RL4
001 FL 1 1 FL 1 1 19 19 19 19
002 EMG 2 2 EMG 2 2 24 24 RL1
003 CAU 3 3 CAU 3 3 20 20
004 CRS 4 4 CRS 4 4 25 25 44 44 RL2

Figure 8.9
23,24 23,24 21 21
TB1 14 2NV
FLA 5 5 18 18 20 20 RL3
005 1RUN 2 15 FLB 6 6 43 43
009 1FL1 3 45 45
RL1
109 1FL2 4 No.1 8 1NVA 21 21
010 1FL3 5 PUMP 9 1NVB 18 18
110 1FL4 6 3 RL5
10 1NVC 2
43 43

Alarm circuit
TB2 E7 1
RL2
105 2RUN 2 11 2NVA INTERFACE BD ASSY
011 2FL1 3 V8220XE P.S. BD ASSY
12 2NVB V8220WH
111 2FL2 4 No.2 13 2NVC
012 2FL3 5 PUMP
112 2FL4 6 RL9
VCC

TB3 7 1PP
RL10
020 BSP 5
JP7 NC RL5 RL4
EXT. Alarm 8 2PP
021 BSA 6 CPUFL
NO FAIL
121 BSB 7
24B
BUZZER TB3 RL3 RL2 RL1 U18
CIRCUIT 022,122,
023,123 24B 9 EMG
Ship's power
CAU
024,124, 24V DC F1 CRS
U31
RL14 GB 10 RL12
025,125 FL1
BUS LINE

TB1 RL1
No.1 AC 1 1P RL12 RL12
Adapter 2 1N
I/O ASSY
No.2 AC V8220WF
Adapter 5 2P
F2
ANNUNCIATOR UNIT 6 2N RL13 FL2
MPH617 RL2
RL13 RL13

TERMINAL BD ASSY
V8220XB

8-9
 TB1

8-10
Ship's Power 1 U NFB CN1
2 V 1 AC24
3 E 2 AC24 - + - +
To Distribution 4 P 3 SYSP
Unit 5 N 4 SYSN
+ +
6 SP 5 AC28
7 SN 6 AC28

8 115 7 SOLP
9 110 8 SOLN - +
10 100
11 0
GND
12 51
13 53 RECTIFIER BD ASSY
14 57 220 V8220VG
15 58
190 28
16 +15
115 26
17 FB
18 -15 110 22

19 GND 100 20
20 PA FL1
0 4A
21 PB
220 115
22
23 GND 190 110

115 100

Figure 8.10 AC Adapter circuit

110 28

100 2A AC ADAPTER UNIT

MPC146
0

GND

AC440V (STD) AC380V AC230V AC115V AC110V AC100V

220 220 220 220 220 220

NFB 190 190 190 190 190 190

115 NFB 115 115 115 115 115

110 110 NFB 110

NFB 110 110 110

100 100 100 100 NFB 100 100

0 0 0 0 0 NFB 0

220 220 220 220 220 220

190 190 190 190 190 190

115 115 115 115 115 115

110 110 110 110 110 110

100 100 100 100 100 100

0 0 0 0 0 0

IM80B20P-01E