Raytheon Anschütz AP02-S01, Manual

Page 1: ... 49 4 31 30 19 0 Fax 49 4 31 30 19 501 Email Service raykiel com www raytheon anschuetz de 3060 DOC012 Edition May 09 2012 AUTOPILOT P I LOTSTAR D Typ AP02 S01 1 Description 2 Operation 3 Care Maintenance and Shipboard Repair 4 Installation Putting into Operation ...

Page 2: ...e liable to the payment of damages Toute communication ou reproduction de ce document toute exploitation ou communication de son contenu sont interdites sauf autorisation expresse Tout manquement à cette règle est illicite et expose son auteur au versement de dommages et intérêts Sin nuestra expresa autorización queda terminantemente prohibida la reproducción total o parcial de este documento así ...

Page 3: ...ing are not executed over the shorter heading by the PILOTSTAR D The set heading change is carried out to corresponding with default set heading 180 Note Operating mode of HEADING CONTROL If the magnetic compass values and gyro compass values are different switching over to the compass reference results in a preset heading adaptation Possible heading differences between set heading and heading rem...

Page 4: ... 70kn On pages HSC 1 HSC 2 and HSC 3 the behaviour rules for the following situations are documented 1 Sensor failures 2 Autopilot errors 3 Hazard when accelerating or changing heading and in heavy seas Please note According to new maritime regulations the meaning of SET COURSE has to be changed into SET HEADING This is performed allover the manual except display indications ...

Page 5: ...rence failure is sensed and announced optically and acoustically on the control unit as Gyro Fail The last valid actual heading is frozen and is used from then on as the heading reference The set heading should be the same as the actual heading in order to prevent any rudder reaction It is no longer possible to set a heading on the control unit a Reduce the speed to values 20 knots Switch over to ...

Page 6: ...1 auto fail Switch over to manual control since it is not possible to make any more heading settings and there is no further control over the auto pilot warnings alarms parameter settings The reaction time switching over to manual control is not critical 3 Error in the control unit The autopilot can no longer be used Immediate identification on relays B21 auto fail Switch over to manual control Re...

Page 7: ...ous travelling speeds de pending on the passengers and the load Determine the maximum amount of rudder limiting It is necessary to re duce the travelling speed at once if there is excessive centrifugal accelera tion 3 Seas a The speed of the ship must be matched to the current sea conditions This determination must be made in connection with the ship safety regulations Wave height and maximum perm...

Page 8: ...HSC P i l o t s t a r D VI 3060 DOC012 Edition March 13 2009 Intentionally left blank ...

Page 9: ...h a Preceding Set heading Transmitter REMOTE Operation 1 9 1 3 4 Track Control 1 10 1 4 Heading and Sensor Monitoring 1 11 1 5 Function of the TRIM MODE TRM 1 12 1 5 1 Recommended applications 1 12 1 5 2 Summarization 1 13 1 6 System Extension 1 15 1 6 1 Main and Secondary Operator Units 1 15 1 6 2 Tiller 1 15 1 6 3 Central Alarm System 1 16 1 6 4 Rudder angle Indicator 1 16 1 6 5 Multifunction In...

Page 10: ...ansmitter REMOTE Operation 2 15 2 2 8 The Operating Mode TRACK CONTROL 2 17 2 2 8 1 Approaching a Track 2 17 2 2 8 2 Track Change 2 20 2 2 8 3 Approching a Track Position Receiver with XTE Transmission 2 20 2 2 9 The Operating Mode MANUAL CONTROL DODGE Function 2 21 2 2 10 The Operating Mode HEADING CONTROL with TRIM FUNCTION Work Mode 2 22 2 2 11 Dimming of Key and LCD Illumination 2 24 2 2 12 La...

Page 11: ... to be taken 2 49 3 1 SAFETY NOTES 3 1 3 1 1 Ship s Safety 3 2 3 1 2 Checks to be made before any Putting into Operation 3 2 3 2 Care and Maintenance 3 3 3 2 1 Care 3 3 3 2 2 Maintenance 3 3 3 3 Shipboard Repair 3 4 3 3 1 Exchanging the Fuse in the Connection Unit 3 4 3 3 2 Hardware RESET Warm Start Service Switch B113 3 4 3 3 3 Exchanging a PCB 3 6 3 4 LED Displays on the CPU PCB 3 7 3 5 Repair 3...

Page 12: ... the Feedback Unit Type 101 529 4 17 4 8 1 Adjusting the Feedback Potentiometer 4 17 4 8 1 1 Adjusting the Limit Switches of the Feedback Unit 4 18 4 9 Electrical Zero Adjustment on the I O PCB OFFSET refer to summary diagram 102 D 863 HP011 4 20 4 9 1 Adjustment and Test of the Electrical Rudder Scaling RUD SCALE 4 21 4 9 1 1 Adjusting Checking the Rudder Slack RUD SLACK 4 23 4 10 Adjusting the M...

Page 13: ...type CPU central processor unit CONFIG on configuration mode on CONFIG off configuration mode off D DC DC supply voltage E EEPROM electrically erasable programmable read only memory EXT CRS external set heading F FAIL failure FU follow up G GPS global position system GYRO FAIL gyro compass failure I I O PCB input output printed circuit board IP Interelement protection L LCD liquid crystal display ...

Page 14: ...on O OFF TRK off track OFF CRS off heading OFF HEADING Off Heading P PCB printed circuit board PANEL FAIL panel failure PARAM parameter R RUD LIMIT rudder limit ROT MIN set rate of turn in min RUD SCALE rudder scale RUD SLACK rudder slack RUD LEAD rudder lead RUD SPEED rudder speed RUD FAIL rudder failure S STBD starboard SERV CODE service code SER OUT serial output type SYNCHRON step compass sync...

Page 15: ... DOC012 T TRIM YAW 2nd parameter for yawing TRIM MODE TRIM RUD 2nd parameter for rudder TRIM MODE TRIM CNT 2nd parameter for counter rudder TRIM MODE TRACK LIM track limit W WP waypoint WOP circle wheel over point circle X XTE TRIM Cross Track Error Trim ...

Page 16: ... respective heading adjustment within a range of 0 to 359 9 It means there will be an all around circle For example Actual heading is 270 New heading will be 280 Direction of roation should be Port The new heading will be 280 after a around circle of 350 with a direction of rotation to port Vessel follows the user input direction on the operator panel 350 280 270 0 90 180 Direction of rotation of ...

Page 17: ...n Change over to manual and tiller operation The regular system includes see Fig 1 5 the main operator unit the connection unit the rudder angle feedback unit 1 1 1 The Operator Unit The operator unit is equipped with several lettered membrane keys a rotary knob for the set heading preselection and with a LCD display The operator unit can be subdivided into two logic fields of application i e the ...

Page 18: ...icate the key by means of which the wanted parameter is to be called up the text line by means of which all interactive inputs and other device mes sages can continuously be read off Indication of a parameter and of its value Disturbance messages in plain text Information on service support Keys in the monitoring field Yaw open the parameter list in the LCD display acknowledges the internal alarm ...

Page 19: ...OTSTAR D track controller now cannot be activated change over to the operating mode TRACK is not possible Manual set heading preselection via the PORT STBD keys or via the rotary knob is not possible now Status indicator STANDBY The operator unit has now an indicating function only such as the indication of the current heading and set heading information The operating mode STANDBY is adjusted auto...

Page 20: ...planned track without considerable track error If the segment e g drifts to the right the ship is running on the right of the track and vice versa Passing over from one segment to another corresponds to a deviation of 0 01nm OFF HEADING in the operating mode AUTO heading control and TRACK track control Operating mode AUTO The centric segment represents the heading difference between the set headin...

Page 21: ...ction unit permits the connec tion of various sensors and system extending components such as up to three tillers NFU FU up to two additional operator units as secondary steering stations two separate rudder angle indicators further multifunction indicators interfaces for a navigation receiver or for an external navigation system 1 1 3 The Rudder Angle Feedback Unit The rudder angle feedback unit ...

Page 22: ...m engi neering these values are written into an EEPROM and therefore stored Ship specific parameters are e g the ship s length the maximum rudder angle 1 2 2 Operational Adjustments Numbered among the operational adjustments are the controller specific variable pa rameter values Variable parameters are required in order to adapt the optimum controller characteristic to different situations such as...

Page 23: ... D Main operator unit PILOTSTAR D Secondary operator units Rudder angle feedback unit Steering mode selector PILOTSTAR D Steering control Tiller Connection Unit Fig 1 2 Schematic Diagram Manual Steering Control Automatic Steering Control NOTE The automatic heading or track control is a great ease for the helmsman but is does not relieve him of his legal obligatory supervision i e continuous observ...

Page 24: ...th the desired rate of turn pre setting ROT MIN and with taking into account the current speed if LOG SENSOR available otherwise manual preselection SPEED into the new set heading see Fig 1 3 The OFF CRS bar graph indicator shows the decreasing heading difference of between the heading and the set heading New set heading Auto On Off PORT STBD SET HEADING OFF CRS GYRO Heading Set heading preselecti...

Page 25: ...configura tion range 10 180 1 3 3 Heading Control with a Preceding Set heading Transmitter REMOTE Operation This operating mode can only be realized in conjunction with a navigation system With this the set heading is determined by the navigation system and transmitted to the PILOTSTAR D via a serial interface The PILOTSTAR D performs the heading control The status field EXT CRS is faded into the ...

Page 26: ...y knob The following example shows a route consisting of 3 waypoints and 2 track sections Planning of such a route can only be made via the navigation receiver see manufactur er s handbook On reaching the WOP circle the autopilot receives the track course preselection for the next track section This state is indicated via the text line and after acknowledgement accepted as a new track course At th...

Page 27: ...he text line indicates the cause an immediate measure can be initiated The malfunction indication is treated with highest priority i e a plain text already indi cated in the info line will be overwritten Error states as long as not eliminated are stored by the monitoring electronics and treated as errors that are to be acknowledged Alarm LED alight In case a serious error occurs such as failure of...

Page 28: ...udder To establish criteria it is to decide if it is necessary to apply a heading control with a high TRM rudder amplification for lower speeds or if there is an asymmetric load to the ship with manual steering possibility and a self af fected constant rudder function See also section 2 2 10 for operating the TRIM function 1 5 1 Recommended applications Tagging a load with low speed and less manoe...

Page 29: ...e in the background The TRM rudder function can be turned off by pressing the arrow keys simultaneously Turning off the integral part of the heading control Initial state Heading control is used according to Tagging a load with low speed and less manoeuvre Task The integral part on the control function shall be turned off Activation of the Trim Rudder with the arrow key to 1 and back to 0 By this ...

Page 30: ... rudder is applied Adjusting the trim rudder in 1 steps by the arrow keys Adjusted trim rudder value is added as a constant value to the heading control value The integral part of the heading control is lasted turned off The rudder limit is lasted turned off Turning off the TRM rudder Pressing the arrow keys simultaneously and the manual TRM rudder is turned off The integral part of the heading co...

Page 31: ... The autopilot can be equipped with up to 3 tillers Any combination as follow up or non follow up tillers is possible The following tiller variations can be made FU tiller Follow up tiller NFU tiller Non follow up tiller For tiller control the steering mode selector is to be set to position AUTO The tillers are provided with a Take over function If e g the key MAN is actuated on a tiller all the o...

Page 32: ...larm Panel is connected to the operation panel of the Pilotstar D During local alarm quit a Relay Alarm contact designated as Tiller ON is activated and connected to the Central Alarm Output An summarize of all alarms is shown in section 2 6 3 Exceptions Synchronize call means Step systems connected New track call means a track changing message Checkdata call means there is a configuration mismatc...

Page 33: ...1 Electrical Data Ambient Conditions Operator unit Power consumption 3 5W Supply via connection unit 5V DC Type of enclosure IP 44 or IP 56 Ambient temperature 10 to 70 Connection unit Power consumption with the use of one operator unit 12W Supply with reverse current protection 10 to 36V DC Type of enclosure IP 21 Ambient temperature 10 to 50 Relative humidity of air acc to IEC 945 93 with 40 C E...

Page 34: ...n receiver NMEA 0183 RS232 APA APB XTE telegram type Interfaces for the system extension Max 3 tillers possible FU tiller NFU tiller Max 2 rudder angle indicators 10V DC 2 5 mA each Max 3 operator units 1 main unit 2 secondary steering units Floating alarm and signal outputs for supplying an external signal transmitter Alarm outputs Relays output AUTO FAILure automatic faulty Power FAILure voltage...

Page 35: ... Type of enclosure IP 56 Ambient temperature 25 to 55 1 7 2 Interface Description acc to NMEA 0183 Version 2 1 October 1997 1 7 2 1 Input Interfaces NMEA 0183 Format APA APA Autopilot Sentence A Bearing origin to destination Mag Destination waypoint ID Magnitude of XTE cross track error Talker Data status Loran C Cycle Lock warning flag Status perpendicular passed at waypoint Status arrival circle...

Page 36: ...red XTE units nautical miles Direction to steer L R Magnitude of XTE cross track error Status A Data valid V Loran C Blink or SNR warning V General warning flag for other navigation systems when a reliable fix is not available Talker Mode Indicator NMEA 0183 Format XTE XTE Cross Track Error Measured Status A Data valid V Loran C Blink or SNR warning V General warning flag for other navigation syst...

Page 37: ...ed and Heading Heading degrees Magnetic Heading degrees True Talker Speed km hr Speed knots NMEA 0183 Format HSC HSC Heading Steering This telegram allows only a definite heading command of less than 180 Commanded heading degrees Magnetic Commanded heading degrees True Talker NMEA 0183 Format HC HDM HDM Heading Magnetic software version E03 00 HC Compass Magnetic upper software version E03 E03 00 ...

Page 38: ... 0183 Format HDT HDT Heading True 9600 Baut Rate cycle 100ms Heading degrees True Talker 1 7 2 2 Output Interfaces NMEA 0183 Format HEHDT HEHDT Gyro Compass sentence Checksum Degrees true Heading Talker NMEA 0183 Format HCHDT HCHDT Magnet Compass sentence Checksum Degrees true Heading Talker ...

Page 39: ...property Raytheon Anschütz Start of sentence PADRT xxx x CR LF Property NMEA 0183 Format IICTS IICTS Course to steer Course to steer String format for course to steer Talker identifier Start of sentence IICTS xxx x CR LF Property NMEA 0183 Format PASVW PASVW Speed valid if LOG failure Speed knots String format for speed sent from log Talker identifier property Raytheon Anschütz Start of sentence P...

Page 40: ...ion is valid String format for heading status Talker identifier property Raytheon Anschütz Start of sentence PASHE A CR LF Property NMEA 0183 Format PASHE PASHE If heading is not valid Heading information is not valid String format for heading status Talker identifier property Raytheon Anschütz Start of sentence PASHE V CR LF ...

Page 41: ...ption Heading distribution GYRO compass MAGNETIC compass LOG Navigation receiver GPS LORAN C or set heading transmis sion system Digital navigation data indicator RS232 or Analog repeater RS422 Serial data transmission Tiller FU NFU External rudder position indicator Secondary operator unit NMEA 0183 or 200 p nm Bi drectional alarm outputs Feedback unit Fig 1 5 The PILOTSTAR D System Concept ...

Page 42: ...PILOTSTAR D 1 26 Edition March 13 2009 3060 DOC012 Intentionally left blank ...

Page 43: ...g manual control must be installed twice and without reactive effects In the course of this description a system component designated as a main and second ary operator unit is often referred to in the text The significance of these operator units and the autopilot function connected therewith is always to be considered as a SECONDARY STEERING SYSTEM within the complete system Our devices are manuf...

Page 44: ... input direction of the rotary knob see section 2 2 6 1 The turning behaviour with preselected rate of turn depends on the ship s initial turning behaviour and the adjusted ship specific and current parameters When the ship starts turning the rate of turn may exceed the preselected rate of turn 2 1 4 Checks to be made before Departure and during the Voyage Compare the heading indication in the ope...

Page 45: ...apter 2 2 6 Indications Remark Notes Calling up the Parameter Yaw Set STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 COMPASS gyro OFF CRS See Chapter 2 2 1 Explanation of symbols Select the MAG or GYRO heading sensor gyro mag Set STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED MAG 10 20 30 COMPASS mag OFF CRS The re...

Page 46: ...position AUTO ATTENTION For the first installation the operator must ensure the following safety relevant measures Ship made fast Steering gear or steering linkage is freely moving and correctly covered or protected against access resp Rudder blade freely moving The ship s mains is connected POWER ON NOTE The membrane keyboard must never be operated with a pointed object ball point pen pencil etc ...

Page 47: ...opilot 2 5 Edition March 13 2009 3060 DOC012 2 2 1 Explanation of Symbols Used Key actuation LED flashing LED out LED on Audible signal on Audible signal off CONFIG Status panel flashing Index for display explanation ...

Page 48: ...recommendations should be taken into consideration a The ship must be turned into the ahead direction with regard to the track angular range approx 60 WP1 WP2 b Before switching on the track control the ship should be within the track monitoring limits see OFF TRK bar graph indication Ascertain the track deviation with regard to the track heading by means of the navigation receiver If a large posi...

Page 49: ...erating mode Remote Chap 2 2 7 Track control Chap 2 2 8 Manual Chap 2 2 9 Trim function Chap 1 5 and Chap 2 2 10 Operational pa rameters Chap 2 3 Main secondary operator units Tiller Chap 2 5 Steering mode selector position HAND PILOTSTAR D operating mode STANDBY Chap 2 2 4 Ship specific parameters Chap 2 4 System messages Chap 2 6 PILOTSTAR D operating mode HEADING CONTROL is active Chap 2 2 6 Sy...

Page 50: ...elected the operation panel changes over to STAND BY Mode The LCD display indication is as follows PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 STANDBY Rudder angle indicator Status indicator The current heading and the rudder angle indication are operated as active indica tions The set heading indication is caused to follow up the heading Alarm and error...

Page 51: ...ED GYRO 10 20 30 STANDBY Limit adjustment for the OFF HEADING monitoring limits Set heading deviation Limit adjustment for the rudder limitation Rudder angle indicator Text line The autopilot system is active the OFF CRS off heading bar graph indication indicates the set heading deviation via the centric dynamic bar graph segment The monitoring limits are shown as static bar graph segments With sw...

Page 52: ...tion Text line Rudder angle indicator Within the OFF CRS bar graph off heading indication the set heading actual heading deviation is described via the central display range It is by means of this indication that the quality of heading control can be judged One segment corresponds to a heading deviation of 2 In case of a considerable heading deviation that reaches the monitoring range an OFF HEADI...

Page 53: ...tion is not active With this adjustment the rudder position is limited only by the rudder angle limit position RUD LIMIT A new SET HEADING is adjusted via the PORT STBD keys 1 set heading change or 5 set heading change by pressing the key constantly or via the rotary knob resolution 0 5 The arrow direction or the direction of rotation always corresponds to the real direction of rotation of the shi...

Page 54: ...hange manoeuvre as a function of the pre set rate of turn The heading direction PORT or STBD is realistically indicated in 2 steps by movement of the bar graph segment If during the heading change manoeuvre the limit adjustment for the monitoring limits is exceeded this part of the bar graph indication starts flashing The flashing tendency again decreases as a function of automatic heading follow ...

Page 55: ...ted by the rudder position limit setting RUD LIMIT This function of this special characteristic can be switched ON or OFF via the parameter administration of the ship refer to Chap 2 4 Switched On At this setting a range between 10 and 180 is available In the following operating sequence a 90 STBD Set Heading Presetting is to be acti vated and executed Indications Remark Notes Activate SET HEADING...

Page 56: ...DING presetting by an additional e g 90 STBD STANDBY PORT SET COURSE PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS Auto On Off STBD Operation and dialogue as described below in The SET HEADING presetting is in creased by an additional 90 Cancel automatic SET HEADING presetting due to a current circumstance Trim Man or STANDBY PORT SET COURSE PARAM VARI LIMITS YAWING RUDDER CNT...

Page 57: ...he heading controller of the PILOTSTAR starts re adjusting the HEADING acc to the external set heading preselection The heading controller uses the preset parameter values and limit adjustments for the OFF CRS off heading indication and for the rudder limitation Heading differences will be sensed by the navigation system and passed on to PILOTSTAR D for heading correction Change over to another PI...

Page 58: ...irection PORT or STBD is realistically indicated by the movement of the bar graph segment in 2 steps If during the heading change manoeuvre the limit adjustment for the monitoring limits is exceeded this part of the bar graph indication starts flashing This flashing tendency indication decreases as a function of automatic heading fol low up The rudder angle indicator indicates the rudder order The...

Page 59: ...d ing to WP 2 must be 60 Track monitoring limits a 0 3sm OFF TRK Planned track track information see navi gation receiver or set heading transmission system Auto On Off See Chapter 2 2 6 a a Step 1 Step 2 Track Crosstrack distance from track xte meter 123 Fig 2 2 Approaching a Track After approaching the track the operating mode of track control Step 2 can be activated Actuate the key TRACK the LE...

Page 60: ... noeuvre are to be expected In this connection renewed manual approach of the track is rec ommended Track control is active the ship dependent on the preset rate of turn ROT MIN see Chapter 2 3 starts turning into the given track course Only use track changes in a range of 180 for safety reasons The OFF TRACK and OFF CRS off heading monitoring is not active until the SET COURSE presetting is reach...

Page 61: ...ourse deviation within the monitoring limits Dependent on the current drift and weather condition heading fluctuations appear within the indication which will be compensated via the track controller The set course trim may show values in the range of 30 The track deviation is indicated by drifting of the OFF TRK bar graph indication If a track deviation exceeds the monitoring range OFF TRACK alarm...

Page 62: ...urn the ship starts turning into the next track section If the track change manoeuvre cannot be initiated within an adequate time an ex act track control is no longer possible The ship will continue on the still valid track course of the former track section thus leaving the planned route The audible and visual signalling remains in existence until a decision is made i e Acknowledgement and theref...

Page 63: ...ution 1 or via the rotary knob The current rudder angle is numerically indicated via the text line with the message of e g MAN RUDDER 10 The sign describes the rudder position stands for PORT and no sign means STBD The rudder order rudder presetting acts directly upon the steering gear Automatic midship position of the rudder If both the keys are actuated simultaneously the rudder is automatically...

Page 64: ...l Trim lights up GREEN the LED panel Auto lights up A new SET HEADING The heading change manoeuvre is initiated immedi ately the ship starts turning into the preselected SET HEADING ATTENTION A new SET HEADING is adjusted via the rotary knob resolution 0 5 During a heading change manoeuvre the OFF HEADING monitoring is de acti vated If set heading data is above 180_ the ship will follow the direct...

Page 65: ...bol TRM RUDDER 3 Manual trim rudder adjustment Limit adjustment for the OFF HEADING monitoring Change of parameter values 2nd set of parameters A new SET HEADING dependent on the preset 2nd set of trim parameters initiates the heading change manoeuvre immediately The trim rudder order is indicated in the text line as TRM RUDDER in The sign describes the rudder position for PORT and no sign for STB...

Page 66: ...tion cannot be executed 2 2 12 Lamp Test If both the keys are actuated simultaneously an automatic lamp test is eleased duration approx 5 s The lamp test can be executed with any operating mode the current operating mode remains valid During the test phase all keys must be alight with the same intensity within the LCD display the following indication must appear all segments are activated all LEDs...

Page 67: ...WING RUDDER CNTRUD SPEED GYRO 10 20 30 Masked parameters RUD LIMIT 20 RoT MIN 30 min OFF HEADING 10 Trim Man Auto On Off PARAM VARI LIMITS TRIM YAW TRIM RUD TRM CNT SPEED GYRO 10 20 30 RUD LIMIT OFF RoT MIN 30 min OFF HEADING 10 TRIM YAW 2 TRIM RUD 4 TRIM CNT 6 Operating mode HEADING CONTROL Operating mode HEADING CONTROL with TRIM FUNCTION 2nd set of parameters Masked parameters Storing the Indiv...

Page 68: ...e new value is immediately con verted in terms of control engineer ing An error message has highest prior ity and overwrites the current param eter text Simultaneously an audible signal is released see Chapter 2 6 Storing the parameter value 3 Rud on off on on STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS CONFIG OFF Set 1x press data stored...

Page 69: ...order that a run in beha viour may be obtained where there is no limitation in the heading control circuit Test run Observe the LCD displays and the HEADING to SET HEADING deviation 300 305 310 300 305 310 300 305 310 Graph 1 The ship turns into the new heading with overshoots Measure Increase CNT RUD by one step or decrease RUDDER by one step Repeat heading change and observe the control behaviou...

Page 70: ...nt ROT MIN as required OFF HEADING as required Note A high value for YAWING results in small rudder angles Parameter values for seaway from ahead YAWING 3 5 RUDDER 2 5 CNT RUD 2 5 SPEED current RUD LIMIT acc to safety requirement ROT MIN as required OFF HEADING as required Parameter values for stern sea YAWING 3 5 RUDDER 4 7 CNT RUD 4 7 SPEED current RUD LIMIT acc to safety requirement ROT MIN as ...

Page 71: ...r special task TRIM CNT as required for special task SPEED current RUD LIMIT OFF ROT MIN as required OFF HEADING as required NOTE Generally attention is to be paid to the fact that the RUD LIMIT value and the ROT value show an adequate relation to one another It would be inappropriate to combine a large ROT value with a small RUD LIMIT value ...

Page 72: ... bar graph indication becomes visible Calling up the parameter value TRACK LIM Yaw Set TRACK LIMIT 0 2 STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS The last effective parameter value TRACK LIMIT 0 2 appears in the text line An error message has highest prior ity and overwrites the current param eter text Simultaneously an audible s...

Page 73: ...ch 13 2009 3060 DOC012 Indications Remark Notes Fading out the text line Set Set STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS On actuating the key the text line is faded out ...

Page 74: ...ion of 2 In case of a strong heading deviation that reaches the monitoring range OFF HEADING warning is released With the operating mode TRACK the OFF CRS bar graph indication is used for course observation only No OFF COURSE signalling is possible now see also sec tion 2 2 8 Indications Remark Notes Calling up an operating mode Track Auto On Off or STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI ...

Page 75: ...multaneously an audible signal is released see Chapter 2 6 Adjusting parameter value OFF CRS OFF CRS OFF CRS OFF CRS OFF CRS OFF CRS OFF CRS OFF CRS TEXT LINE Bar graph indication OFF HEADING 5 OFF HEADING 10 OFF HEADING 15 OFF HEADING 20 OFF HEADING 25 OFF HEADING 30 Possible parameter values are The intended monitoring range OFF HEADING can be adjusted by ac tuating a key Storing the parameter v...

Page 76: ...CNTRUD SPEED GYRO 10 20 30 OFF CRS The last effective parameter value RUD LIMIT 15 appears in the text line An error message has highest prior ity and overwrites the current param eter text Simultaneously an audible signal is released see Chapter 2 6 Adjusting parameter value TEXT LINE Rudder angle indicator 30 20 10 30 20 10 RUD LIMIT 5 30 20 10 30 20 10 RUD LIMIT 10 30 20 30 20 RUD LIMIT 15 30 2...

Page 77: ...BD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS xte meter 78 Track After pressing the track key the cur rent distance from track is indicated for approx 3s Calling up the parameter value TRACK Rud EXT CRS Set TRACK 0 STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS The preset parameter value is ...

Page 78: ... March 13 2009 Indications Remark Notes Fading out the text line Set EXT CRS STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS Set By actuating the key the text line will be faded out ...

Page 79: ... operation means here that the PILOTSTAR D had been separated from the ship s mains With reconnecting the PILOTSTAR D to the ship s mains the following in dication adjusts itself Indications Remark Notes Switching on the PILOTSTAR D Trim Man HAND AUTO or SET COURSE GYRO Set STANDBY PORT STBD OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED 10 20 30 OFF CRS EXT CRS SYNCHRONIZE After putting int...

Page 80: ...off via the gyro compass e g 123 5 Input of values is via the keys A continuously actuated key permits automatic run up of the numerical indication within the text line Accepting the synchronization value Set SET COURSE GYRO STANDBY PORT STBD OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED 10 20 30 OFF CRS EXT CRS SYNCHRON 123 5 On actuating the key the compass value is accepted and represent...

Page 81: ...ic parameters is required only in conjunction with first installation or in case of system extension see Chapter 4 10 and 4 13 By inputting new values the DEFAULT values are overwritten The new parameter val ues are stored when the CONFIGURATION mode CONFIG OFF is left and the STORE Y SET command is executed All ship specific and operational parameters are permanently filed in an EEPROM and will b...

Page 82: ...following illustrations t min Drift XTE TRIM parameter adjustment too high overcompensation Heading trim SET HEADING The ship performs a continuous changing motion about the track course The effect of drift is levelled unsat isfactorily The track controller re sponse is too fast t min Drift Optimum XTE TRIM parameter adjustment Heading trim SET HEADING The ship reacts upon the drift in an optimum ...

Page 83: ... PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS Set CONFIG off By actuating the key serveral times the parameter CONFIG off appears in the text line Opening the parameter sequence on STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS CONFIG on CONFIG The status indication is flashi...

Page 84: ...VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS STORE sel Y N CONFIG Store parameter values YES or NO 1x 2x STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS STORE Y SET STORE N SET On pressing the key once the new parameter are stored Y es Alternatively On pressing the key twice the old parameters remain valid N o ...

Page 85: ...ck error Track STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS xte meter 560 The current distance from the track is indicated for approx 3s The optimum XTE TRIM parameter value is to be ascertained by observ ing the actual cross track error ...

Page 86: ...G on off For this steering mode the steering mode selector must be set to position AUTO A Take over System permits change over between the operator units Indications Remark Notes Changing over to a secondary operator unit Auto On Off 3x STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS Secondary operator unit With actuating the key on t...

Page 87: ...justs itself The tiller is active the current heading becomes the set heading All other operator units or tillers are passive the status indicator STANDBY is enabled Possible system messages are indicated in the text line but not signalized The rudder angle indicator indicates the current rudder position Switching back to the PILOTSTAR D Auto Auto STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LI...

Page 88: ... of the sym bol key System messages can be subdivided into 2 categories System messages during operation Warnings and Notes System messages that during operation signalize a disturbed operation of the autopilot system 2 6 1 Warnings and Notes Within an operating mode all steering typical autopilot functions are currently indicated on the display and monitored In case the monitoring limits are exce...

Page 89: ...ition Hand HAND AUTO see Chap 2 3 see Chap 2 2 9 OFF HEADING or RUD LIM Yaw Rud Trim Man see Chap 2 3 or OFF TRACK The actual position is outside the track monitoring limits PILOTSTAR D or steering output is defective Check the opera tional parameters ADAPT IF RE QUIRED Change over to the operating mode of heading control Change over to the operating mode of manual control Set steering mode select...

Page 90: ...s have been se lected too narrow extend if required Change over to op erating mode Manual Control Set steering mode selector to position Hand HAND AUTO Yaw Rud Trim Man see Chap 2 3 see Chap 2 2 9 OFF HEADING or RUD LIM see Chap 2 3 or 2 6 1 2 Signification of Possible Notes within the Text Line Note Signification Measures Measures on the Oper ator Unit Periphery NEW TRACK The navigation re ceiver...

Page 91: ... be eliminated the first fault message appears in the text line again After the disturbance has successfully been eliminated the audible signalling is re peated thus signalizing the trouble free operating state On actuating the symbol key the signal ceases the fault message is cancelled 2 6 2 1 Disturbed Operation in connection with a Central Alarm System Option The acknowledgement of an alarm in ...

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Page 93: ...e Check supply voltage Exchange operator unit 3 GYRO FAIL Gyro data transmission is not plausible Gyro in settling mode Gyro in heating mode Gyro Follow Up disturbed Gyro heading failure Connecting cable broken GYRO defective in case of step system With a short time ship s mains failure the synchronization value gets lost System readiness for operation is conditional The last heading is automatica...

Page 94: ... FAIL limits 6 NAVDATA FAIL Disturbance of track course data transmission Connecting cable defective Navigation receiver or set course transmission system defective Operating mode TRACK is no longer possible Adjust operating mode AUTO or MAN 7 Nav Data invalid Data transmission from position receiver Poor reception Operating mode TRACK is condition ally ready for operation Adjust operating mode AU...

Page 95: ...ause of the now open inputs of the semiconductor devices are endangered by static charge 1 Persons removing sub units from an equipment using these devices must be earthed by a wrist strap and a resistor at the point provided on the equipment 2 Soldering irons used during the repair operations must be low voltage types with earthed tips and isolated from the mains voltage by a double insulated tra...

Page 96: ...devices are manufactured and tested in accordance with an international quality as surance system ISO 9001 Nevertheless errors cannot fully be excluded Therefore the national and international regulations include the following requirement The autopilot is equipped with an extensive monitoring logic by means of which errors or failures within the autopilot system or connected sensors can be recogni...

Page 97: ...PILOTSTAR D Autopilot 3 3 Edition March 13 2009 3060 DOC012 3 2 Care and Maintenance 3 2 1 Care The PILOTSTAR D system requires no care 3 2 2 Maintenance The PILOTSTAR D system is maintenance free ...

Page 98: ...f the fuse into consideration For a ship s mains supply of 32V DC the fuse base F1 is prescribed For a ship s mains supply of 12 24V DC the fuse base F2 is prescribed 3 3 2 Hardware RESET Warm Start Service Switch B113 The service switch is located on the front side of the CPU PCB After the hood has been removed the service switch can be actuated Set the switch momentarily from the operating posit...

Page 99: ...p specific parameter values NOTE For a gyro compass with STEP transmission the synchronization gets lost in case of a WARM START see Chapter 2 3 6 The LCD display indication is as follows PORT STBD SET COURSE OFF TRK OFF CRS PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 STANDBY RESTORED SET ...

Page 100: ...B Before the PCB is exchanged the hood and the cover plate are to be removed see Fig 3 2 The PCBs are to be removed and to be inserted by means of their PCB drawers Hood CPU PCB I O PCB Cover plate Junction PCB Wiring PCB Fuse T 2A PCB drawer Fig 3 2 Connection Unit opened ...

Page 101: ...r Indica tion Cause Measure H1 green alight Warm start has been acti vated Actuate the service switch B113 on the CPU PCB H2 red alight Internal error CPU is at HALT Actuate the service switch B113 on the CPU PCB H3 green alight Supply voltage is o k H4 yellow flashing Indicates the active serial data transmission between the operator unit and the CPU PCB H5 green flashing Indicates the active pul...

Page 102: ...upply ON signal for signal unit ON signal for tiller Activation for alarm relais PORT Channel1 PORT Channel2 STBD Channel1 STBD Channel2 Channel1 Channel2 To feedback read in CPU Actual rudder indication sin cos Rudder activation switching Rudder activation analog 10V To sonde read in Monitoring Supply volt age ship s mains 32VDC 12 24VDC Serial data bus Reference ACO or SPERRY step R1 R2 Rudder s...

Page 103: ...Electrically isolated voltage supply for analog rudder out t 2 B21 3 15V7 y g put 2 B20 4 sin signal of magnetic sonde PCB adjustment performed at the works U sin U cos B20 6 cos signal of magnetic sonde at the works U sin U cos with 45 B20 3 800 Hz TTL signal to TP 1 TP 11 sin signal of magnetic sonde flux gate PCB adjustment performed at the works U sin U cos TP 12 cos signal of magnetic sonde w...

Page 104: ...ion Dimmer Rudder Clock signal for analog rudder ac tivation Serial data bus Video plotter output NMEA NAV output Aco Sperry step S1 S3 Tiller 1 3 sin cos Feedback unit Pulse log Remote Course bus Compass Std20 NMEA serial LOG FLUXGATE transmission Video plotter input NMEA NAV input Operator unit 1 CPU Bus CPU Bus CPU with controller I O Interface 3 3 20mA 20mA 20mA Electric isolation Electric iso...

Page 105: ...try 4 1 1 Checks to be made before any Putting into Operation In order to ensure correct functioning of the autopilot faultless operation of the following systems and devices is required Power supply for the equipment concerned 10 36V DC for the autopilot Steering gear and steering control system Sensors and appertaining transmission equipment Gyro compass Magnetic compass fluxgate compass Log Nav...

Page 106: ...nnection Unit Dimensional Drawing 102E863 HP005 Requirements to be met by the mounting site The connection unit should be located within a radius of approx 2m with regard to the operator unit The clearance above the connection unit specified in the dimensional drawing must absolutely be ensured 4 3 3 Feedback Unit Dimensional Drawing 101C529 HP005 Requirements to be met by the mounting site 1 In c...

Page 107: ...quipment The cabling of the equipment is ship specific refer to the enclosed Connection Diagram AP02 C S01 HP051 The POWER SUPPLY ship s cable must be passed through the ferrite absorber be fore wiring is carried out refer to the following diagram Ferritabsorber Power Supply NOTES ...

Page 108: ...n the ship specific parameters must ade quately be adapted On leaving the CONFIGURATION mode CONFIG OFF the new parameter values will be stored see sections 2 4 1 and 4 5 1 All ship specific and operationally conditioned parameters are permanently filed in an EEPROM and will be available again even after a voltage failure Cold Start COLD STRT Kap 4 6 By the cold start all parameter values that hav...

Page 109: ...RAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 CONFIG off Actuate the key until CONFIG off appears in the text line The LED of the key is alight Opening the parameter sequence on STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 CONFIG on CONFIG The status indication is flashing Calling up the parameter Rud STANDBY PORT STBD SET COURSE OFF TR...

Page 110: ...meters see Annex 4 Leaving the parameter sequence Yaw STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS STORE sel Y N CONFIG Storing new parameter values YES or NO 1x Set 1x Set STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 OFF CRS EXT CRS STORE Y SET STORE N SET On pressing the up key o...

Page 111: ...lot to STANDBY mode Set the steering mode selector to MANUAL CONTROL HAND AUTO Indications Remark Notes Calling up the parameter sequence Rud Set STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 CONFIG off Actuate the key until CONFIG off appears in the line The LED of the key is alight Opening the parameter sequence on STANDBY PORT STBD SET COURSE OF...

Page 112: ...ANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 COLD STRT 0 CONFIG Actuate the key until COLD STRT appears in the text line Releasing the cold start STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 INITIALIZED CONFIG Actuate the key all ship specific parameter values are cancelled The DEFAULT values are va...

Page 113: ... OFF Connect the power supply cabel for the supply voltage at B 15 3 0V B 15 2 12V to 24V or B 15 1 32V Look for the right polarity 5 Insert the fuse from the Junction PCB of the Connection Unit position F1 for 32V supply voltage position F2 for 12 to 24V supply voltage 6 Switch the ship fuse ON Pilotstar D should now go through its self test and then to STANDBY mode s Chapter 2 2 4 If the text li...

Page 114: ...key to decrease the parameters Following are descriptions of the adjustments to be made see also chapter Parameter Information at the beginning of the description XTE TRIM Adjustment to be made during sea trial in special cases Leave at default value SPECI SL Setting the ship s lengths that do not fit exactly into the ship s lengths diagram S_LENGTH RELAY ALARMS Tiller Alarm in conjunction with a ...

Page 115: ...filters the Magnet LCD indication only RUD SCALE Set to the greatest rudder angle of the ship For a twin rudder system the parameter is to be set to 95 for a rudder angle of 35 or 100 for a rudder angle of 45 RUD SLACK Similar to Anti Hunt Increase setting if there is lost motion in the steering gear causing the rudder to hunt or oscillate rapidly Should also be tested and adjusted if necessary in...

Page 116: ...meter value LOG 200 Pulse nm Parameter value NMEA LOG seriell The following Telegramm sentences will be accepted IIVTG Speed over Ground Actual Track IIVHW Speed made Ground Setting 3 is for future options and is not functional Refer to corresponding LOG Sensor description MAG TYPE Set per Annex 3 SER OUT Set to A REP if a Raytheon Anschuetz analog repeater is connected to the pilot Set to D REP f...

Page 117: ...6 and 17 can be bypassed 13 see Chapter 4 8 1 14 see Chapter 4 8 1 1 15 see Chapter 4 9 16 see Chapter 4 9 1 17 Using the primary steering system check the rudder angle indicators for correct direction and scale 17 1 Change the mode switch to the AUTO position and press the Trim Man key The Trim Man LED should now illuminate The operating mode Manual control is active 17 2 Using the heading settin...

Page 118: ...should now illuminate operating mode Automatic control is active The rudder should remain at zero degrees 17 7 Increase the SET HEADING about 10 starboard using the heading setting knob The rudder should now move to approximately 10 starboard 17 8 Press the Trim Man key The LED should now illuminate The rudder should return to zero degrees 18 At the navigation receiver enable the output sentence s...

Page 119: ...t receiver or no waypoint or route selected refer to corresponding GPS description 19 Automatic adjustment of the PILOTSTAR D to the vessel s speed Press the Rud key until SPEED is displayed Test Error diagnosis when different log sensor units are used Switch the log sensor to test mode see handbook of log sensor The speed setting which is simulated via the test mode must now appear in the speed S...

Page 120: ...ow illuminate Using the rotary knob enter a rudder order of 20 and allow the rudder to respond and stop Now order 0 and check for any hunting intermediate stops over shoot Corrections see step 9 RUDDER SLACK or RUDDER LEAD as required 21 Using a rudder value of 20 Press both keys below The rudder should return to zero degrees without overshoot or intermediate stopping Repeat step 20 if necessary 2...

Page 121: ... with a toothed belt transmission the belt pulley is centrically to be mounted onto the rudder stock The casing cover is to be removed The connection box has been mounted according to Dimensional Drawing 102 863 HP005 and electrically connected 4 8 1 Adjusting the Feedback Potentiometer See Circuit Diagram 101 529 HP007 The feedback potentiometer R3 is axially connected to the pulley s Fig 4 1 Pre...

Page 122: ...unting the test lines are to be removed 4 8 1 1 Adjusting the Limit Switches of the Feedback Unit See Feedback Unit PCB 101 529 HP010 The limit switch relay of the feedback unit PORT and STARBOARD have to react switch before the mechanical limit stops of the steering gear Port limit switch relay Adjust the rudder by manual control for the desired cut off angle Turn the potentiometer R2 until H2 LE...

Page 123: ...PILOTSTAR D Autopilot 4 19 Edition March 13 2009 3060 DOC012 Hexagonal screw R3 ST1 ST2 R1 H1 H2 R2 TP1 TP2 Pulley Fig 4 1 Balancing the Feedback Unit Typ 101 529 ...

Page 124: ... diagram 102 D 863 HP011 Pre conditions Set rudder to exactly midships position 0 via manual control Connect the measuring instrument to the following test points TP TP 1 TP 16 Adjustment Turn the potentiometer R39 on the I O PCB until the voltmeter indicates 0V TP16 R39 OFFSET R38 SCALE Fig 4 2 Adjustment on the I O PCB ...

Page 125: ...ame ter sequence via CONFIG off see Chapter 4 5 1 Point For the electrical adjustment of the rudder setting range the rudder is always to be moved to the maximum rudder angle according to RUD SCALE for PORT STBD For this the rudder angle can be adjusted by manual control or by autopilot e g if no steering mode selector is available Pre conditions See Chapter 4 8 Adjustment by manual control Adjust...

Page 126: ...tuating the key the bar graph segment moves towards the STBD stop Adjustment Turn the potentiometer R38 on the I O PCB until a voltage level from 2 3V to 2 5V appears on the voltmeter Adjusting the maximum rudder angle of e g 35 PORT PORT STANDBY PORT STBD SET COURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 MAN RUDDER 35 On actuating the key the bar graph segment moves to...

Page 127: ...CONFIG Adjust a parameter value that en sures a stable rudder position 0 3 0 6 0 9 1 2 3 In case of steering gear with 2 pumps the adjustment has to be performed with both the pumps connected Subsequently close the parameter sequence via CONFIG off see Chapter 4 5 1 Point Checking the RUD SLACK effect calling up manual operating mode Trim Man Trim Man STANDBY PORT STBD SET COURSE OFF TRK PARAM VAR...

Page 128: ...OURSE OFF TRK PARAM VARI LIMITS YAWING RUDDER CNTRUD SPEED GYRO 10 20 30 MAN RUDDER 0 On actuating both keys the rud der shall move into midship posi tion without considerable over swings and assume a stable rud der position A continuous oscillation of the steering gear is to be compen sated by augmenting the RUD SLACK parameter value see Point ...

Page 129: ...ter to the following test points TP TP1 TP12 COS 1 Turn the probe in its holder until the actual heading display in the LCD display panel shows 0 The voltmeter must now display a voltage between 4 9 and 5 9 V If the voltage is 4 9V then the distance between the magnetic com pass and the probe must be decreased shorten the spacing pieces If the va lue is 5 9V then a set of extended spacing pieces m...

Page 130: ... value Adjust potentiom eter R140 until a voltage of 5 5V 5 5V appears 2 Turn the probe slowly in its holding ring until the actual heading display PILOTSTAR D is identical to that of the magnetic compass heading In this setting check the sense of rotation of the phases if the probe is turned in the direction of higher magnetic compass values then the actual heading display must be correspondingly...

Page 131: ...G via the operator unit Make shure that the Variation parameter is 0 Measuring Adjustment refer to summary diagram 102 D 863 HP011 Connect the voltmeter to the following test points TP TP1 TP12 COS Turn the flux gate until the heading indication in the LCD display indicates 0 The voltmeter have to indicate a voltage of 4 9 5 9V If the value is 5 9V the value has to be reduced via an additional inp...

Page 132: ...tep by step by the sea trial procedure to an higher value make some heading changes 2 When the vessel mode selection switch is switched from HAND to AUTO LED Auto On Off lights up the PILOTSTAR D operates with standard values for YAWING RUDDER CNT RUD If the rudder shows unstable behavior oscillation immediately after changeover the parameter value for RUDDER must be reduced step by step The vesse...

Page 133: ...value for S_LENGTH to the next lower value Repeat the heading change maneuver Storing the optimized parameters Press the Yaw key until STORE sel Y N appears in the text line The display switches to STORE Y SET by pressing the key once The setting is stored by pressing the Set key Data stored 4 Make some additional heading maneuvers turn the vessel into the wind Observe the heading stability of the...

Page 134: ...length The track course of first leg should be directly into the prevailing sea and wind The track course for second leg should be 90 of the first leg 5 1 Steer the vessel as close as possible to the first way point using heading control angular range approx 60 Press the Track key and the Track LED will now illuminate accompanied by the red LED and an audible alarm will sound The text indication w...

Page 135: ...accept the track and write the track course to the SET HEADING indication The SET HEADING indication will now retain the same value until the track has been completed or superseded Observe the course change maneuver If the vessel cannot reach the track or if the vessel begins to oscillate around the new track course increase the XTE TRIM parameter value If the vessel begins to swing slowly over th...

Page 136: ...g of parameter is now completed It is advisable to enter all ship specific parameter values in the tables of the Appendices 2 and 3 in writing In case of a possible defect for example of the CPU PCB the parameter values can be updated quickly after changing the PCB ...

Page 137: ...ading deviation in HEADING CONTROL operating mode An OFF HEADING warning is emitted when the limit setting is exceeded 2 3 3 5 RoT MIN Feature is active when in HEAD ING CONTROL and TRACK ope rating modes Setting As required Defines the rate of turn for the ship during a heading or track change manoeuvre 2 3 1 6 RUD LIM HEADING CONTROL or TRACK operating mode With this value the maximum permissibl...

Page 138: ...n in track controller Reduce the amplification setting via TRACK until the required setting is reached Optimum between accuracy and controller gain heading trim 2 3 5 12 SYCHRON No absolute heading transmis sion from the heading sensor gyro compass to the PILOT STAR D is used Set during initial putting into operation desynchronization after power failure The heading display between the compass and...

Page 139: ...not assume a stable position Tendency amplification too low the control is too innacurate 2 4 1 18 S_LENGTH Set during Initial Putting into Operation Basic setting in the harbour The approximate entry of the ship s length defines the control behaviour of the PILOTSTAR D If the heading behaviour of the PILOTSTAR D is not optimal then fine adjustment via SPEC SL is required 2 4 1 19 MAG FILTER Set d...

Page 140: ...ppen 28 MAG TYP Set during Initial Putting into Operation Basic setting in the harbour PILOTSTAR D must be set to the physical interface of the magnetic or fluxgate compass system Sonde or coursebus transmission 2 4 1 Appen 29 SER OUT Set during Initial Putting into Operation Basic setting in the harbour If a repeater system is to be con nected to the PILOTSTAR D A digital or an analog repeater in...

Page 141: ... The track controller reacts too slowly to a strong drift The integral component of the track controller can be increa sed The increase can be carried out in 2 steps Aim the track error is to be better compensated for in case of stronger drift Disadvantage Longer settling processes can be expected in case of abrupt disturbance changes Attention The selected setting is deleted after a POWER DOWN Th...

Page 142: ... Special service activity When all ship specific values are ro be replaced by default values e g initial putting into operation Re establishes a start configuration DEFAULT values when a configuration is defective 2 4 1 Appen 47 VERSION E Check of the program version Indicates the actual program version in case of a software update 2 4 1 Appen 48 ex 1 Return from service mode to notrmal mode opera...

Page 143: ...ager Nr Stock No Benennung Designation Zeichnungs Nr Part No Stck Qty Herst Code MFRC Versorgungs Nr NSN 1 3602068 Bediengerät neu grau Operator Unit new grey 102 864 X02 D2865 4002326 Bediengerät AT grau Operator Unit reconditioned grey 102 864 NG003 AT D2865 4001904 Bediengerät AT schwarz Operator Unit reconditioned black 102 864 NG001 E03 AT D2865 2 3602183 Anschlusseinheit neu Connection Unit ...

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Page 145: ...ional Drawing Connection Unit 102 E 863 HP005 Assembly Drawing CPU PCB 102 D 863 HP100 Assembly Drawing I O PCB 102 D 863 HP011 Circuit Diagram Junction PCB 102 D 863 HP023 Assembly Drawing Junction PCB 102 D 863 HP010 Dimensional Drawing Operator Unit 102 D 864 HP005 Dimensional Drawing Operator Unit 102 D 864 HP014 Dimensional Drawing Feedback Unit 101 C 529 HP005 Assembly Drawing 101 D 529 HP00...

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Page 147: ... parameters is loaded and faded in Rudder limitation is cancelled Changes over to manual steering control LED panel is alight Rudder limitation is cancelled If existing changes over to track control LED panel is alight With any key depression the current distance of between the ACTUAL POSITION and the SET COURSE is indicated xte meter Switches to course control ON when there is no steering mode se...

Page 148: ...ps this corres ponds to one segment in the rudder angle graph YAWING 1st set of parameters To be adjusted in accordance with seaway 1 to 6 Numerical value RUDDER 1st set of parameters Determines the proportional gain of the heading controller 1 to 9 Numerical value CNT RUD 1st set of parameters Determines the differential component of the heading controller with adequate coun ter rudder effect 1 t...

Page 149: ... LOG TYPE MAG TYPE SER OUT CHECKSUM SERV CODE Operationally conditioned parameter list Parameter list for the PILOTSTAR D configuration Neutral range no text line Yaw Rud Rud Yaw Set Test For a gyro compass with SPERRY step transmission synchronization must be made on putting into operation SYNHRONIZE Then actuate the SET key The value changes over from the text line into the actual course indicat...

Page 150: ... CNT TRACK SYNCHRON CONFIG off on CONFIG on XTE TRIM SPECI SL RELAY FIX TURN FU DIFF S LENGTH MAGFILTER RUD SCALE RUD SLACK RUD LEAD RUD SPEED RUD FAIL CRS TYPE NAV TYPE LOG TYPE MAG TYPE SER OUT CHECKSUM SERV CODE Operationally conditioned parameter list Parameter list for the PILOTSTAR D configuration Neutral range no text line Yaw Rud Parameter list for service support After disconnection of th...

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Page 165: ...Notes Heading Control with TRIM FUNCTION Trim Man YAWING RUDDER CNTRUD SPEED 10 20 30 OFF CRS Auto On Off SET COURSE Trim Man PORT STBD TRM RUDDER 3 GYRO This operating mode will be active on actuating the key twice The resulting situation is as follows The 2nd set of parameters appears and is effective The rudder limitation is eliminated The HEADING is accepted as SET HEADING presetting Heading c...

Page 166: ...The ship will continue on the still valid track course of the former track section thus leaving the planned route The audible and visual signalling remain in existence until a decision is made acknowledgement of new track heading or change over to another operating mode Indications Remarks Notes Change over between Main and Secondary Operator Units Auto On Off GYRO STANDBY PORT STBD SET COURSE OFF...