YOKOGAWA PT900 User Manual
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YOKOGAWA PT900 User Manual

YOKOGAWA PT900 User Manual

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PT900
Autopilot system
User's Manual
IM 80B20T01E
IM 80B20T01E
8th Edition

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Summary of Contents for YOKOGAWA PT900

  • Page 1 PT900 Autopilot system User’s Manual IM 80B20T01E IM 80B20T01E 8th Edition...
  • Page 2 Blank Page...

  • Page 3: Table Of Contents

    IM 80B20T01E 8th Edition Contents Foreword ......................vi Precautions for Installation ................xi Precautions for Operation ................xii 1. Outline ..................... 1-1 Features of PT900 ..................... 1-1 About Autopilot system .................... 1-1 Composition and Type of system................1-3 1.3.1 PT900D ..........................1-3 1.3.2 PT900A ..........................
  • Page 4 System configuration and Type and code .............. 2-1 Individual Units and Their Functions ..............2-4 2.2.1 CONTROL STAND [MPM190] ..................2-4 2.2.2 STEERING REPEATER COMPASS [MKR056] ............. 2-5 2.2.3 SYSTEM SELECTOR [MPH790] ..................2-6 2.2.4 MODE SELECTOR [MPH791] ..................2-6 2.2.5 AP CDU (AUTOPILOT CONTROL &...
  • Page 5 Monitoring function ....................4-32 4.6.1 [3 Monitor] screen ......................4-32 4.6.2 [3-1 Heading & Rudder angle graph] screen (PT900A / A Plus) ........ 4-33 4.6.3 [3-2 Cross track distance] screen (Option) ..............4-34 4.6.4 [3-4 Sensor & Measurement] screen ................4-35 4.6.4.1 [3-4-1 Sensor data] screen ...................
  • Page 6 5.3.1 Error indication ......................5-23 Trouble and measures on MODE SELECTOR ............5-23 5.4.1 MODE SELECTOR trouble during AUTO/CRS/TRACK mode ........5-23 5.4.2 MODE SELECTOR trouble during MAN mode ............5-23 AC power failure ...................... 5-24 5.5.1 One of AC power failure during single S/G pump operation ........5-24 5.5.2 One of AC power failure during parallel S/G pumps operation ........
  • Page 7 AUTOPILOT CONTROL & DISPLAY UNIT [MPH490] ..........16 HAND STEERING UNIT [MPB390] ................17 NFU LEVER [MPB391] ....................18 ANNUNCIATOR UNIT [MPH690] ................18 NAV I/F UNIT [MPT590] ................... 19 MAIN CONTROL UNIT (MCU) [MPH291] ..............20 Annex-4 Serial signal format ..............22 Basic format........................

  • Page 8: Foreword

    Thank you for purchasing the YOKOGAWA Denshikiki PT900 Autopilot system. This manual shows the functions, operating procedures, and the handling precautions of the PT900. To ensure the correct operation of PT900, please read this manual thoroughly before beginning operation. ■ Notes ･...
  • Page 9 Take special note that if you handle the product in a manner that violates these instructions, the protection functionality of the product may be damaged or impaired. In such cases, YOKOGAWA Denshikiki does not guarantee the quality, performance, function, and safety of the product.
  • Page 10 Do not operate the instrument in the presence of flammable liquids or vapors. Operation in such environments constitutes a safety hazard. ● Do Not Remove Covers The cover should be removed by YOKOGAWA Denshikiki’s qualified personnel only. Opening the cover is dangerous, because some areas inside the instrument have high voltages.
  • Page 11 • Contact your nearest service or sales agent to repair the system. • When there is some instruction about the method of trouble shooting from service department of Yokogawa Denshikiki Co., Ltd. , obey the instructions and work. ■ Notes about disposal of the products...
  • Page 12 ･ YOKOGAWA Denshikiki makes no warranties regarding the product except those stated in the WARRANTY that is provided separately. ･ YOKOGAWA Denshikiki assumes no liability to any party for any loss or damage, direct or indirect, caused by the user or any unpredictable defect of the product.

  • Page 13: Precautions For Installation

    The accuracy of baseline is within +/-0.5degrees from fore-and-aft line. Service area Keep the service area around the CONTROL STAND (MPM190) for usual operation, ventilation and maintenance. In case PT900 is installed in the bridge center console, please keep enough space. See 6.4...

  • Page 14: Precautions For Operation

    Alarm Change-over to NFU mode immediately when PT900 detects any "ALARM". Following alarms appear, switch-over S/G pump or stop abnormal S/G pump in parallel operation. Servo loop failure ・...

  • Page 15: Outline

    THD (Transmitting Heading Device) by activating the rudder. So the autopilot means the Heading Control System (HCS). PT900 basically consists of the following units. This user’s manual is intended for the basic configuration. The other option units are shown in the other manual.
  • Page 16 ● ANNUNCIATOR UNIT (MPH690) ANNUNCIATOR UNIT is alert indicator unit. It mainly monitors the power supply for Steering gear Control System, steering gear condition and PT900 operation condition. It provides the audible and visible alerts. ● MAIN CONTROL UNIT : MCU (MPH291) MAIN CONTROL UNIT mainly controls the steering system.

  • Page 17: Composition And Type Of System

    Composition and Type of system PT900 series has 3 types of models. Each model has a different controller. You can check which controller is installed on your vessel at AP CDU [Control Mode] button in [HOME] screen. 1.3.1 PT900D PT900D is Heading Control System (HCS) based on the digital PID controlling method.
  • Page 18 Note.1 “AUTO” mode is Heading Control System. “CRS” mode is Course Control System. It is an optional function. GPS shall be connected with PT900. “TRACK” mode is Track Control System. It is an optional function. ECDIS shall be connected with PT900.

  • Page 19: Interface

    Interface PT900 receives the ship’s heading and speed from each sensor and sends the control data to other navigational equipment (VDR, ECDIS etc.). 1.4.1 Input signals PT900 receives the following signals from external navigational equipment. Input signal Navigational equipment Signal type Ship’s heading 1...

  • Page 20: Summary Of Operation

    1.5.3 How to select the Steering mode Steering mode which is same as the last one is selected when PT900 is turned on. NFU mode is selected by SYSTEM SELECTOR, MAN/AUTO mode is selected by MODE SELECTOR, AUTO/CRS mode is selected by AP CDU. TRACK mode is only selectable by ECDIS operation.

  • Page 21: [Home] Screen

    1.5.4 4 [HOME E] Screen Below fig ure shows th he [HOME] s creen of AP CDU. [HOM E] screen ind dicates the n navigation informatio on and each setting. See 4.3.1 A: Heading d eviation 1: Con ntrol mode 7: S Speed B: Rate of tur...

  • Page 22: How To Start The Heading Control (Auto Mode)

    （2） Press “AUTO” key on MODE SELECTOR. （3） After you edit the planned route on ECDIS, track control starts on ECDIS side operation. Steering mode on PT900 is automatically changed from AUTO to TRACK mode. （4） Track control can be finished by long tap of [Steering Mode] button on [HOME] screen except ECDIS side operation.

  • Page 23: Summary Of Alert

    Summary of Alert In case that PT900 detects any trouble, audible and visible alerts are generated at AP CDU and ANNUNCIATOR UNIT shown in the figure below. This infomation is categorized as “Alert” having three priorities (Alarm, Warning and Caution) and “Important indication”.

  • Page 24: Alert Indication

    1.6.1 Alert indication In case that PT900 detects any trouble, audible and visible alerts are generated at AP CDU and ANNUNCIATOR UNIT. Buzzer sounds according to the alert priority. ● Alert buzzer Buzzer sounding changes depending on alert priority.
  • Page 25 1.6.3 3 How to o check th he alert fa ctor You can c check the ale ert factors on n [2 Alert List t] screen of A AP CDU. By tappin ng the [Alert] button on [H HOME] scree n, the screen n changes fro om [HOME]...

  • Page 26: Maintenance And Inspection

    Tap the touch panel and check if the touch panel responses Once/week (Touch panel) correctly. Check the heading indication on AP CDU and the steering repeater if both values are same. In case PT900 is Ship’s heading connected 2 or 3 heading sources, elect the other heading Once/week input source and check if AP CDU heading indication is same as the source of heading sensor.

  • Page 27: Regular Maintenance

    1-13 Inspection item Inspection Contents and Procedure Interval Check if the RL8 of MAN TERMINAL BD which is installed MAIN on the baseplate of MAIN CONTROL UNIT is excited one Once/half CONTROL time when you select “NO.1” or “NO.2” at SYSTEM year UNIT SELECTOR.

  • Page 28: Terms, Definitions And Abbreviations

    1-14 Terms, definitions and abbreviations For the purposes of this manual, the following terms and abbreviations apply. Terms Definition Acknowledge Actuator AutoPilot AUTO Automatic BAMS Bridge Alert Management System BATT Battery BNAAC Gain BNAAC Batch Noise Adaptive Autopilot Controller BNWAS Bridge Navigational Watch Alarm System BRILL Brilliance...
  • Page 29 1-15 Terms Definition Order OVRD Override control Power PORT Port Proportional-Derivative Controller Proportional-Integral-Derivative Controller Radius Rate Of Turn RUDD LIM Rudder Limit SDME Speed and Distance Measuring Equipment STBD Starboard Select Steering Gear S-JOY Steering Joystick Controller Speed Over the Ground Speed Status Speed Through the Water...
  • Page 30 1-16 Blank Page...

  • Page 31: System Configuration

    2. System configuration System configuration and Type and code ● PT900 System configuration CONTROL STAND STEERING REPEATER COMPASS (MPM190) (MKR056) ANNUNCATOR UNIT (MPH690) AP CDU (MPH490) MODE SELECTOR (MPH791) HAND UNIT (MPB390) NFU LEVER (MPB391) MCU (MPH291) GYRO (1) GYRO (2)
  • Page 32 ● Type and code PT900□-□-□-□□ ① ② ③ ④⑤ ①Control system A PLUS PT900A PLUS Adaptive control （Fully BNAAC function applied） PT900A Adaptive control (BNAAC is activated during ECONOMY mode) PT900D PID control ②System style Stand-alone steering stand Stand built-in CMZ900 Gyro compass Panel mounting type （Console mounting type）...

  • Page 33: Annunciator Unit

    ● System model name CONTROL STAND AUTO PILOT CMZ900 Master compass separate type PT900A PLUS MPM190-930 PT900A Built in CMZ900S Master compass PT900D & Control box (MKC326) MPM190-940 Built in CMZ900D Master compass & Control box (MKC327) MPM190-950 Built in CMZ900 Master compass MPM190-960 Built in Control box (MKC326) MPM190-970...

  • Page 34: Individual Units And Their Functions

    Individual Units and Their Functions 2.2.1 CONTROL STAND [MPM190] CONTROL STAND is a stand-alone steering stand that we supplied. Each human-machine interface can be installed on the upper panel. Each boards and terminals (NAV I/F and MCU, etc.) can be installed inside the CONTROL STAND. Gyro master compass also can be installed inside the CONTROL STAND.

  • Page 35: Steering Repeater Compass [Mkr056]

    2.2.2 STEERING REPEATER COMPASS [MKR056] STEERING REPEATER COMPASS is powered and receives serial signals from the gyrocompass system. It drives the compass card to indicate the current heading of the vessel. At the time of being supplied the power source, STEERING REPEATER COMPASS starts zero adjustment.

  • Page 36: System Selector [Mph790]

    NO.1 Startup of PT900 and selection of NO.1 system NO.2 Startup of PT900 and selection of NO.2 system Startup of PT900 and selection of NFU steering mode BRILL DOWN key Decrease of the brightness BRILL UP key Increase of the brightness 2.2.4...

  • Page 37: Ap Cdu (Autopilot Control & Display Unit) [Mph490]

    2.2.5 AP CDU (AUTOPILOT CONTROL & DISPLAY UNIT) [MPH490] AP CDU is a human-machine interface which indicates the navigational information on 7 inch LCD. AP CDU is not only indication but also calculation of rudder order during AUTO steering mode. Operation / Indication Function It indicates the various data and settings.

  • Page 38: Hand Steering Unit [Mpb390]

    2.2.6 HAND STEERING UNIT [MPB390] HAND STEERING UNIT indicates and commands the order rudder angle during MAN steering mode. Operation / Indication Function STEERING HANDLE It inputs order rudder angle during MAN mode. STEERING ANGLE It indicates the order rudder angle during MAN mode. INDICATOR It adjusts the brightness of STEERING ANGLE INGICATOR backlight.

  • Page 39: Nfu Lever [Mpb391]

    2.2.7 NFU LEVER [MPB391] NFU LEVER is self-returning lever switch to activate the rudder actuator directly during Non-Follow-Up steering mode. NFU LEVER is available while SYSTEM SELECTOR is set to NFU position. Operation / Indication Function NFU STEERING It activates the rudder actuator directly. LEVER While you maneuver the vessel with NFU lever, watch the rudder angle indicator to avoid the rudder steered up to the mechanical limit.

  • Page 40: Annunciator Unit [Mph690]

    ANNUNCIATOR UNIT [MPH690] ANNUNCIATOR UNIT is alert indicator unit. It mainly monitors the power supply for Steering gear Control System, steering gear condition and PT900 operation condition. It provides the audible and visible alerts. The arrangement of indicator lamp depends on the specification of the vessel.

  • Page 41: Nav I/F Unit [Mpt590]

    NAV I/F receives the sensor data from each sensor like gyrocompass, speed log and so on. It distributes these sensor data to other PT900 equipment with CAN-bus line. NAV I/F sends alert information and control status to the external equipment lime BAMS VDR and so on.

  • Page 42: Risk Of Electrical Shock

    2-12 RISK OF ELECTRICAL SHOCK WARNING Turn off the power supply before starting the wiring. Do not execute the megger test except the on-board power supply terminals. CAUTION A megger test may damage the instrument.

  • Page 43: Operation

    3.1.1 Checking items before power ON Check if the following items are normal before you turn on PT900. （1） Check that the steering gear is ready to operate. （2） Check that CONTROL & POWER BOX is turned on. Check also that the test switch of the CONTROL &...

  • Page 44: Manual Steering

    Manual steering Press the “MAN” key on MODE SELECTOR, and you can steer the rudder by Follow-Up with HAND STEERING UNIT. You can use the [Set Heading] on [HOME] screen of AP CDU as COURSE REMINDER during “MAN” mode. Before you change the steering mode from AUTO to MAN, please set the steering wheel to the midship position.

  • Page 45: Auto Steering

    Auto steering Press the “AUTO” key on MODE SELECTOR, and you can steer the rudder automatically with AP CDU. That means that the heading control starts. 3.3.1 Preparation for Auto steering Take the following process before starting Auto steering. 3.3.1.1 OPERATION MODE setting Select OPERATION MODE according to the navigating area, weather and sea conditions.

  • Page 46: Draft Mode

    3.3.1.2 DRAFT MODE setting Select DRAFT MODE according to the vessel’s loading condition. DRAFT MODE Description Full “Full” is 80 to 100% of designed full load draft. Middle “Middle” is 55 to 80% of designed full load draft. Ballast “Ballast” is less than 55% of designed full load draft. (1) Tap [Loading] button on [HOME] screen to set DRAFT MODE.

  • Page 47: Start Auto Steering

    “AUTO” mode. Buzzer sounds to inform the change of steering mode. 3.3.3.2 CRS mode (Option) “CRS” mode is optional auto steering mode. PT900 connected with GPS has this mode. (1) Tap [Steering Mode] button on [HOME] screen. (2) Tap the arrow button to select “CRS”.
  • Page 48 3.3.3.3 TRACK mode (Option) “TRACK” mode is optional auto steering mode. PT900 connected with ECDIS has this mode. “TRACK” mode can be automatically selected by the operation of ECDIS with buzzer sound. Please refer to the user manual of ECDIS about how to start.

  • Page 49: Course Change During Auto/Crs Mode

    3.3.4 Course change during AUTO/CRS mode After you select the TURN mode, vessel can turn automatically by changing the [Set Heading] or [Set Course] during AUTO or CRS mode. 3.3.4.1 TURN MODE setting There are 3 TURN MODEs for auto course change. Select TURN MODE before changing [Set Heading] or [Set Course].

  • Page 50: Nfu Steering

    3.3.4.2 Set Heading / Set Course You can change [Set Heading] / [Set Course] during AUTO/CRS mode. [Set Heading] / [Set Course] change Operation Name Outline ・ Press and rotate it to the clockwise, and [Set COURSE Heading] / [Set Course] increases. SETTING ・...
  • Page 51 Blank Page...

  • Page 53: Function And Operation

    4. Function and operation This chapter shows the Autopilot Control & Display Unit (AP CDU) functions. MENU Tree The figure above shows the screen transition of AP CDU. The numbers in front of the screen name show the depth of hierarchy. They are always indicated on the top left corner of the screen.

  • Page 54: Touch Panel Operation

    Basi c opera ations 4.2.1 Touch h panel op eration You can o operate AP C CDU with tou uch panel. To o tap the butt ton on screen n provides s creen transition and change e of settings. 4.2.1 1.1 Screen n transitio Screen tr...
  • Page 55 ● Example of screen t t ransition from m [HOME] screen to [1 B B rilliance/con ntrast] screen Tap [MENU] ] button. (2) S Select “1 Bri lliance/contra ast” from m MENU list. (3) [ [1 Brilliance/ contrast] scr reen pears.
  • Page 56 4.2.1.2 Setting change by touch panel operations ● Example of OPERATION mode change （1） Tap [Operation] button on [HOME] screen to set OPERATION MODE. （2） Tap the arrow button to select OPERATION MODE. （3） Tap the operation indication space to fix OPERATION MODE. ●...

  • Page 57: Key Switch And Course Setting Dial Operation

    4.2.2 KEY SWITCH and COURSE SETTING DIAL operation Function of KEY SWITCH and COURSE SETTING DIAL of AP CDU depends on the condition and operation. 4.2.2.1 NORMAL operation Outline AP CDU condition Operation Function SELECT LED is off because SELECT LED lights to Press other installed AP CDU has indicate this AP CDU has...

  • Page 58: Key Switch Operation

    4.2.2.2 KEY SWITCH operation In case any trouble of touch panel appears on AP CDU, switch KEY operation shown below. Outline AP CDU condition Operate Function NORMAL operation Press for Changeover from NORMAL 3 seconds operation to KEY SWITCH operation. See 4.8 ＋...
  • Page 59 Scre en indic cations 4.3.1 [HOME E] screen [HOME] s screen indica ates various sensor data and change s each settin Operable e buttons are gray color a and inoperab le buttons ar re charcoal g gray color. Ⓐ Ⓑ Headin ng deviation Rate Of Tur...
  • Page 60 Ⓒ Heading The indication pattern depends on the steering mode as following table. Format of heading can be set on [4-2 Display customize] screen. See 4.7.3 Steering Format mode Digital (Numeric) Tape repeater AUTO TRACK "▼" Set Heading "▼" Set Course "...
  • Page 61 Ⓔ Rudder angle Order and feedback rudder angle are indicated on here. Indication range of graph can be set on [4-2 Display customize] screen. See 4.7.3 Steering mode Format Symbol Rudder limit AUTO or CRS mode with Rudder Order: P-D turn While this mark reaches to the rudder limit, the symbol changes to orange and “Limit”...
  • Page 62 4-10 Combination of Indication / Selection controller ADAPTIVE ADAPTIVE PLUS ADAPTIVE ADAPTIVE PLUS ADAPTIVE ② Steering mode You can select steering mode with [Steering Mode] button on [HOME] screen. Steering mode is also selectable with SYSTEM SELECTOR and MODE SELECTOR. You can select especially AUTO or CRS mode with this button.
  • Page 63 You can select compass source with [Heading Select] button on [HOME] screen. Selected Ⓒ compass heading is indicated on without any moving average filtering shown in this manual 4.7.4.9~11 Maximum three compasses are connectable to PT900 and that depends on the specification of each vessel. Connected Indication / Selection Compass...
  • Page 64 4-12 PT900 HEADING SENSOR BACK-UP SYSTEM GYRO COMPASS CONTROL BOX RADAR ARPA NO.1 INMARSAT MASTERCOMPASS etc. NO.1GYRO NO.2 NO.2 GYRO Repeater signal MASTERCOMPASS REPEATER COMPASS EXTERNAL COMPASS MAGNETIC STEERING REPEATER COMPASS COMPASS AP CDU Digital signal GYRO GYRO/MAG heading C.OPERATION...
  • Page 65 4-13 ⑥ TURN mode You can select TURN mode with [Turn Mode] button on [HOME] screen. See 3.3.4.1 for more information about TURN mode. TURN mode Indication / Selection Setting value Rudder limit P-D control 2～35° Turn rate 1～200°/min Note1 Rate control Turn rate 1～25°/τ...
  • Page 66 4-14 ⑧ ALERT [Alert] button shows the alert condition and transitions to [2 Alert List] screen. See 4.5.2 for more information about [2 Alert List] screen. Alert Priority Alert condition Format Priority Active - High unacknowledged Alarm Rectified- Blinking every 1 sec unacknowledged Active - unacknowledged...

  • Page 67: [Home] Screen

    4-15 ⑨ Full Sc creen [Full Scre een] button tr ransitions to [Full Screen ] screen. See 4.3.2 2 for more inf formation ab bout [Full Scr reen] screen. ⑩ MENU [MENU] b button transit tions to [MEN NU] screen. See 4.3.3 3 for more inf formation ab...
  • Page 68 4- - 16 ⑪ Displa ay mode There are e 3 types of s screen displa ay mode as [ [Day], [Dusk] ] and [Night]. These mo odes are cha anged whene ever you tap this button. T Tone change e applies to a all screens.
  • Page 69 4-17 4.3.2 2 [Full S Screen] sc creen Essential data for nav vigation are i ndicated on [Full Screen ] screen. You u cannot cha ange any settings o on this scree n. No screen n can be tran nsitioned from m this screen n except [HO OME]...
  • Page 70 4-18 Ⓓ Set Heading / Set Course The indication pattern depends on the steering mode as following table. You cannot change set heading and set course by tapping on this screen. Use course setting dial on AP CDU to change them. Steering mode Format Steering mode...

  • Page 71: [Menu] Screen

    4-19 ④ Turn m mode Turn mod de is indicate ed on here. Format is s same as [H OME] scree “Alter” is i indicated wh hile vessel tur rns during A UTO/CRS/TR RACK mode “Steady” is indicated w while vessel goes straigh ht during AUT TO/CRS/TRA...
  • Page 72 4-20 Major Data ● Major Data is always indicated on right side of any screen to check navigational data whenever screen transitions from [HOME] screen or [Full Screen] screen. Item Format Heading Set Heading Control Mode Adaptive Plus / Adaptive / PID Steering Mode AUTO / CRS / TRACK / MAN / NFU HDG Source...
  • Page 73 4-21 Brilli iance/co ontrast adjustm ment 4.4.1 How to o transitio on to [1 Br rilliance/co ontrast] s creen There are e 2 methods to transition to [1 Brillian nce/contrast] screen. ・ Tap [M MENU] button n on [HOME] ] screen and d tap [1 Brillia ance/contras st] button in M...
  • Page 74 Off/ Display y mode selec ction from Da ay, Dusk and d Night affect ts all unit of P PT900 as ce entral dimme r control in c case you set [4 Central co ontrol] “Enab ble”. “SYNC C”...

  • Page 75: Alert Indications

    4-23 Alert t indicat tions 4.5.1 Alert i ndications Alert cond dition is indic cated on the Home scree en, Home Fu ll screen and d LED on the e ALARM ACK key as follows; Alert [Full Screen] ALARM Alert con ndition HOME] scree priority...

  • Page 76: Alert List] Screen

    [2 Alert List] screen indicates current alert condition. You can acknowledge the alert on this screen. ① Current date and time Date and time (UTC) is indicated on here. Clock of PT900 is set on [4-7 Date and time] screen. See 4.7.8 ② Time Time when each alert appeared (including alert priority change) is indicated on here.
  • Page 77 4-25 ● Description of Alert category Place of alert Category Function acknowledgement Category A alerts specified as alerts where information at a Equipment which task station directly assigned to the function generating the generated the alert is necessary, as decision support for the evaluation of alert.
  • Page 78 4- - 26 ● Detail o f Announcem ment sate ico Alert Announc ement Descript tion Icon Priority Priority state Character color Active High unacknow wledged Blink every 1 1 sec Active Alarm silenced alarm Character col lor：Red Blink every 1 1 sec Rectifie ed -...
  • Page 79 4-27 Alert Announc ement Descript tion Icon Priority Priority state Character color Active e – acknowle edged Caution warni haracter colo or：Yellow Important Activ indication haracter colo or：Yellow Blank Character： None Normal Normal / R Rectified...
  • Page 80 4.5.2 2.2 Opera ation of [2 Alert List] ] screen ・ Alerts are listed in order of high h priority. ・ Tap AC CK button to acknowledg ge the alert c content. ・ Indica tions of icon and ACK bu utton are cha anged by abo ove operation...
  • Page 81 4-29 4.5.2 2.3 Conte nts list of Alert list( (log) scree [2 Alert L List (log)] scr reen indicate es the alert history. Stor rage number r of alerts is s maximum 1000. The ese are over rwritten sequ uentially. ①...
  • Page 82 4.5.3 [2-1 Eq quipment status log g] screen Tapping “ “Time” on [2 A Alert List] sc creen or [2 Al ert List (log)] ] screen tran nsitions to [2- Equipmen nt status log] ] screen whic ch displays d date/time, “M Major Data”...

  • Page 83: System Selector

    Operating S/G pump Pump “n” o/x （"o"=Run "ｘ"=Stop） number Actual rudder from FB “n” Operating S/G pump ＜－99.9°～－＞99.9° system Note1: It is indicated while PT900 receives VTG sentence. Note2: It is indicated while PT900 receives XTE sentence or is CRS mode.
  • Page 84 Moni itoring f function 4.6.1 [3 Mon nitor] scre [3 Monito or] screen co nsists of 5 ite ems shown i n figure and table below. Tap each item to chec ck each mon nitoring item. ● Desc cription for Gr roup list Item Descriptio...
  • Page 85 4-33 4.6.2 2 [3-1 He eading & Rudder an ngle graph h] screen (PT900A / / A Plus) [3-1 Head ding & Rudde er angle grap ph] screen s hows the gra aphs of ship’s s heading an nd rudder angle.
  • Page 86 4.6.3 [3-2 C ross track k distance e] screen ( (Option) [3-2 Cros ss track dista nce] screen shows the c chart of ship’s s control con ndition during g CRS mode. Th his chart is co ourse-up mo ode only. ●...
  • Page 87 4-35 Item Display range Remark This li ne represents s the difference Cross track ⑦ 0.00～9. .99NM betwe en ship’s posi ition and vertic distance lue) course e. It becomes ship’s track. Symbo ol represents t the heading d direction Own Ship ⑧...
  • Page 88 4.1 [3-4-1 Sensor da ata] scree [3-4-1 Se ensor data] sc creen shows s the interfac ce condition c connected to o PT900. Connecte ed equipmen nt depends o n the vessel’ ’s specificatio ● Desc cription of dis splay items...
  • Page 89 4-37 Unit Interface Displayed Remark Format name condition data Steering Manual / NFU / Rudder / Either of them is mode Heading / Track indicated. Heading to 000.0～359.9° ECDIS steer ・ Time out Commande C.Track 000.0～359.9° ・ Hard err d track ・...
  • Page 90 4-38 Note1: Interface Description condition “Time out” is indicated while PT900 receives no signal due to the Time out disconnection of cable or sensor off. “Hard err” is indicated while baud rate error, data bit error, parity error, Hard err reverse connection and so on.
  • Page 91 4-39 4.6.4 4.2 [3-4-2 Calculate e data] scr reen [3-4-2 Ca alculate data] ] screen show ws the validi ty of control by using ave erage of hea ding deviation , rudder ang le or perform mance index. Performanc ce index aver rage is calcu ulated from heading d...
  • Page 92 4.6.4 4.3 [3-4-3 Rudder a ngle data] ] screen [3-4-3 Ru udder angle d data] screen shows the s steering gear r pump runnin ng status an order/fee dback rudde er angle. The ese data are sent from CO ONTROL & P POWER BOX X installed in steerin...
  • Page 93 [3-5 Softw ware version ] screen sho ows the softw ware version of each unit of PT900 wh hich has CPU. The e unit of PT9 900 depends on the vess el’s specifica ation. In case e plural numb...
  • Page 94 Setti ng func ctions 4.7.1 [4 Sett ting] scree [4 Setting g] screen con nsists of 9 ite ems shown in n figure and table below. Tap each item to trans sition to each h setting scre een. ● Desc cription of Gro oup list Item...
  • Page 95 4-43 4.7.2 2 [4-1 Al lert] scree [4-1 Alert ] screen con sists of 9 item ms shown in n figure and t able below. You can s set the detec ction values ( (thresholds) and detectio on time for ea ach alert on t this scree.
  • Page 96 （5） Indication changes from “Steady” to “Alter” for few seconds and returns to “Steady” again in few seconds. （6） Off heading alert appears. In case 1 gyrocompass and 1 magnetic compass are connected to PT900 ・ （1） Select AUTO mode on MODE SELECTOR while magnetic compass is in use.
  • Page 97 4.7.2.2 Off course alert Note Off course alert can be detected on PT900 which is connected 2 or more compasses. Off course alert monitors the difference between unselected compass heading when vessel starts course keeping and unselected compass current heading during AUTO/CRS/TRACK mode.
  • Page 98 4.7.2.3 Heading monitor Note Off course alert can be detected on PT900 which is connected 2 or more compasses. Heading monitor alert monitors the difference between selected compass heading and unselected compass heading during all steering mode. Heading monitor alert appears in case the deviation which is over the detection angle lasts for detection time.

  • Page 99: [2-1 Equipment Status Log] Screen

    4-47 4.7.3 3 [4-2 D isplay cus stomize] s screen [4-2 Disp lay customiz ze] screen co onsists of 7 it tems shown in figure and d table below You can s select indicat tion pattern o or format of [ [HOME] scre een, [Full scr reen] screen...
  • Page 100 4-48 Item Default Setting range Description 6 Cross track distance: 0.1/0.2/0.5/1.0 Setting of XTD range on XTD range [3-2 Cross track distance] screen. See 4.6.3 7 AP Performance: 20/30kn Setting of [3-3 AP Speed graph range Performance] screen. Note1: [5 HDG and rudder graph: Rudder to display] item on [4-2 Display customize] screen is adjustable when [5 Number of rudder] item is set to “Twin”...
  • Page 101 T documen nt “AUTOPILO OT PT900 SY YSTEM SET TTING PARA AMETER LIS ST” which wa s delivered with FINA AL DRAWING G shows the details.
  • Page 102 4-50 Item Default Setting range Description 7 Steering gear Disable Disable/ Application of steering gear deadband Enable deadband compensation See 4.7.4.7 8 Exponential smoothing 1~30 Time constant setting for time for ship speed exponential smoothing of ship speed See 4.7.4.8 9 Ch1 compass moving Disable Disable,...
  • Page 103 4-51 Item Default Setting range Description 19 ECOP Average time 2~300sec ECOP moving average time See 4.7.4.19 20 DRIFT comp. Average 2~300sec Time constant setting for times moving average of Drift compensation (For course keeping). See 4.7.4.20 21 Reserved － －...
  • Page 104 On: Rudder is steered within rudder limit setting to reduce ROT. Note This setting is reset to “Off” on every restart of PT900 4.7.4.3 Rough seas steering mode Steering gear may be activated frequently due to the yawing in rough seas. These steering may result in the fatigue of steering gear.
  • Page 105 4-53 4.7.4.4 Helm adjustment in steering mode switch Vessel needs to be steered with constant rudder angle to go straight in seas with steady tide, current and winds. Especially in MAN mode, you have to steer HAND STEERING UNIT. In above situation, rudder may be steered excessively by switching steering mode from MAN mode to AUTO mode shown in figure below.
  • Page 106 AP C CDU in case PT900 receives s speed data as s serial signa al. Smoothed d speed data a is indicated d on AP CDU U in case PT900 rec ceives speed d data as puls se signal.
  • Page 107 You can set the time constant for moving average of ROT data which means the value of data field of $**ROT sentence from compass connected to Ch1 port of PT900. This setting is useful for the gyrocompass based on the rate sensor.
  • Page 108 You can set the time constant for moving average of ROT data which means the value of data field of $**ROT sentence from compass connected to Ch2 port of PT900. This setting is useful for the gyrocompass based on the rate sensor.
  • Page 109 4-57 4.7.4.21 Activation of HAND mode selection by AP CDU MAN mode is usually selected with “MAN” key on MODE SELECTOR. You can select MAN mode on [HOME] screen of AP CDU in case MODE SELECTOR is out of work due to the trouble.

  • Page 110: [3-2 Cross Track Distance] Screen (Option)

    T documen nt “AUTOPILO OT PT900 SY YSTEM SET TTING PARA AMETER LIS ST” which wa s delivered with FINA AL DRAWING G shows the details.
  • Page 111 4-59 4.7.6 [4-5 Fo orwarding g distance e(TCS)] sc reen (Opti ion) Note [4-5 For rwarding dis stance(TCS)] ] screen is a adjustable in case the ve essel has tra ack control system as optional f function. ● Desc cription of Gro oup list Item scription...
  • Page 112 FWD DIST is the distance between WOL (Wheel Over Line) and start of curved track. Its length depends on the ship’s speed, turn radius and loading condition. PT900 has tables whose vertical axis is ship’s speed and horizontal axis is turn radius on each draft mode.
  • Page 113 4-61 4.7.6 6.1 [4-5-1 Radius/Sp peed rang ge] screen n (Option) You can d define the ro ws and colum mns basis of f FWD DIST table which is used on [4 4-5-2/3/4 Forwardin ng distance ( (full/middle/b ballast)] scree ens.
  • Page 114 4.7.6 6.2 [4-5-2 Forwardin ng distanc ce(full)] sc creen (Opt tion) You can d define the FW WD DIST on each turn ra adius and shi p’s speed wh hile loading c condition is Full mode ⑤ ⑬ ⑬ ⑤ ⑬...
  • Page 115 4-63 4.7.6 6.3 [4-5-3 Forwardin ng distanc ce(middle )] screen (Option) You can d define the FW WD DIST on each turn ra adius and shi p’s speed wh hile loading c condition is Middle m ode. ⑭ ㉒ ㉒ ⑭...
  • Page 116 4.7.6 6.4 [4-5-4 Forwardin ng distanc ce(ballast) )] screen ( (Option) You can d define the FW WD DIST on each turn ra adius and shi p’s speed wh hile loading c condition is Ballast m mode. ㉓ ㉛ ㉛ ㉓...
  • Page 117 4-65 4.7.7 [4-6 Ad djust touc ch screen] ] screen You can a adjust touch panel screen n of AP CDU Tap “+” in n order which h indicated o on each corn Note Execute e this adjust tment in cas se there is a a gap betwe een tapping...
  • Page 118 You can adjust internal time of PT900. Note Internal time of PT900 is included in ALF and ARC sentences which sent to BAMS. ACN sentence sent from BAMS also has data of date and time. You should set internal time based on the UTC to correspond the time between PT900 and BAMS.
  • Page 119 4-67 ● Desc cription for se etting items Item Defau ange escription 1 Year Current v value ear (The last 2 digits of th he year) ～99 2 Mon Current v value onth ～12 3 Day Current v value ～31 4 Hour Current v value...
  • Page 120 4.7.9 [4-8 Ba ackup/Res store] scre reen You can e execute “Bac ckup” and “R Restore” oper ration manua ally of each s setting data o on [4-8 Backup/R Restore] scre een. “Backup” means to sa ave the settin ng data and “Restore”...

  • Page 121: [3-4 Sensor & Measurement] Screen

    4.7.9.1 Backup/Restore items Setting data are stored automatically in a constant period without “Backup” operation. PT900 holds them even if SYSTEM SELECTOR is sets to “OFF” position. And PT900 starts with last settings which stored automatically. There is a difference of setting data which can be stored automatically or manually.
  • Page 122 4.7.9 9.2 How to o “Backup p” Setting da ata are store ed by tapping g “Backup” b utton. You ca an store max ximum 3 kind ds of settings to o 3 files at th he same time e. You can als so overwrite the stored d ata by tappin...
  • Page 123 4-71 4.7.1 10 [4-9 M aintenanc ce] screen Note [4-9 Main ntenance] scr reen is acces ss restriction n screen for g general user. Yokogawa a’s authorize ed service en ngineer can a access and o operate this s screen.

  • Page 124: Key Switches Operation

    switche es opera ation You can o operate AP C CDU with key y switches in n case touch panel is out of work. Guidance e area of [HO OME] screen shows the f functions of e each key on A AP CDU dur ring key operation...
  • Page 125 4-73 Figure e shows how to change th h e steering m mode from AUTO to TRA A CK in key sw witches operat tion.

  • Page 126: Lamp, Buzzer And Lcd Test

    4-74 Lamp, buzzer and LCD test Lamp and buzzer test method on SYSTEM SELECTOR, MODE SELECTOR and ANNUNCIATOR UNIT is shown in this chapter. You can check the followings by this test CPU works correctly. ・ Lamps light correctly. ・ Buzzer sounds correctly.
  • Page 127 4-75 4.9.2 2 Lamp, , buzzer an nd LCD te est on AP C ● Start of test （1） P Press and ho ld both “HOM ME” key and “ALARM AC CK” key to ch hange to key switches peration. （2）...

  • Page 129: Troubleshooting

    ● The touch screen does not respond or AP CDU screen works without any tapping. →Change to KEY SWTCH OPERATION mode. See 4.8 Contact Yokogawa’s service agent or service department because it might be caused by the touch panel problem or interface problem.

  • Page 130: Alert

    Alert The alert (or important indication) appears when PT900 detects some problem like CPU fail or communication fail and so on. This chapter shows how to check the alert contents and how to acknowledge them. Figure shows the flow of alert handling.

  • Page 131: Alert Indication

    5.2.1 Alert indication In case that PT900 detects any trouble, audible and visible alerts are generated at AP CDU and ANNUNCIATOR UNIT shown in the figure below. This infomation is categorized as “Alert” having three priorities (Alarm, Warning and Caution)

  • Page 132: Alert Confirmation

    5.2.2 Alert confirmation You can check the alert factors on [2 Alert List] screen of AP CDU. By tapping the [Alert] button on [HOME] screen, the screen transitions from [HOME] screen to [2 Alert List] screen. See 4.5 More detail of each alert is shown in 5.2.5...

  • Page 133: Alert Acknowledgement

    5.2.3 Alert acknowledgement You can acknowledge the alert by tapping “ACK” button on [2 Alert List] screen or pressing “ALARM ACK” key at AP CDU. You can also acknowledge it by pressing “ALARM ACK” key at ANNUNCIATOR UNIT. Announcement state will be changed according to the current alert status.

  • Page 134: Alert Factor And Measures

    Please refer the alert and important indication list shown below to estimate the alert factor. In case the alert or important indication with guidance appears, follow the guidance. Please contact Yokogawa’s service agent or service department if you cannot rectify by yourself.
  • Page 135 Ins. Message Cat. Priority Status Description Guidance In use No.1 AP CDU could not Warning receive the data from No.2 Auto steering AP CDU for 3 seconds or [HCS] Time out “Not in use” longer. #08 AP CDU (IND) “In use and Manual steering”...
  • Page 136 Ins. Message Cat. Priority Status Description Guidance In use No.1 AP CDU detected the Warning touch panel pressing status Auto steering for 60 seconds or longer. [HCS] Error “Not in use” #08 AP CDU :Touch panel (IND) “In use and Manual steering”...
  • Page 137 Ins. Message Cat. Priority Status Description Guidance [HCS] COMM Error No.1 MPU could not receive Change-over #10 GYRO the valid heading data or to Manual In use the signal from port Ch-1 for steering and Alarm 3 seconds or longer during select the Auto steering automatic steering..
  • Page 138 5-10 Ins. Message Cat. Priority Status Description Guidance [HCS] COMM Error No.1 MPU could not receive #10 S-JOY(I/O UNIT) Warning In use the valid S-JOY data or the signal from S-JOY(I/O 10560 --- UNIT) port for 10 seconds or longer. (IND) Not in use [HCS] COMM Error...
  • Page 139 5-11 Ins. Message Cat. Priority Status Description Guidance [TCS] No.1 MPU detects an alert if #10 Heading difference the deviation between the selected heading and the 2nd compass remains over Warning TRACK mode the set limit value for n-seconds or longer during TRACK mode.
  • Page 140 5-12 Ins. Message Cat. Priority Status Description Guidance [SCS] COMM Error ANNUNCIATOR could not #18 ANNUNCIATOR receive the data from Warning :Can-bus data MCU(MAN TERM) for 3 seconds or longer. [SCS] Time out No.1 AP CDU detected the 10652 --- #18 ANNUNCIATOR Warning timeout of ANNUNCIATOR...
  • Page 141 5-13 Ins. Message Cat. Priority Status Description Guidance [SCS] ANNUNCIATOR detected 10680 --- #18 No.3 AC power Alarm No.3 AC power failure failure condition. [SCS] ANNUNCIATOR detected Change-over 10681 --- #18 No.3 Pump Alarm the over-load condition of System to the over load No.3 pump unit.
  • Page 142 5-14 Ins. Message Cat. Priority Status Description Guidance [SCS] Error ANNUNCIATOR detected Change-over #18 No.4 Rudder angle the feed-back signal fail to NFU. 10696 --- Alarm feedback signal condition of No.4 Control & Power Box. [HCS] Error ANNUNCIATOR detected #18 Power failure Alarm Auto steering HCS power failure...

  • Page 143: System Selector

    5-15 Ins. Message Cat. Priority Status Description Guidance [SCS] COMM Error No.1 MCU(MAN TERM) Change-over #28 MCU(TERM) could not receive the data to Manual Alarm Selected :Can-bus data(W/H) from AP CDU for 3 seconds or longer. steering. Keep Current (IND) Unselected system [SCS] COMM Error...
  • Page 144 5-16 Ins. Message Cat. Priority Status Description Guidance [SCS] Error No.1 HAND CPU detected Change-over #28 HAND STEERING Selected the invalid data or loss of System to the Alarm UNIT (HAND mode) signal from HAND UNIT other side. :Encoder during HAND mode. Unselected No.1 HAND CPU detected (HAND mode)
  • Page 145 5-17 Ins. Message Cat. Priority Status Description Guidance [SCS] COMM Error No.2 MCU(MAN TERM) Change-over Selected #29 MCU(TERM) Alarm could not receive the data (FU) to NFU. :Can-bus data(S/G) from No.2 CAN ADPT for 3 seconds or longer. Keep Current (IND) Unselected system...
  • Page 146 5-18 Ins. Message Cat. Priority Status Description Guidance [HCS] No.2 MAN TERM. detected #29 WHEEL OFF that HAND UNIT is rotated 10910 --- CENTER Caution Auto steering 3deg or more from midship position during automatic steering. [HCS] No.2 MAN TERM. detected #29 AC/DC Power loss of DC power from 10911 ---...
  • Page 147 5-19 Ins. Message Cat. Priority Status Description Guidance [SCS] degree or more and, the Change-over No.3 Servo loop Alarm follow up time does not to NFU. failure finish within the alarm [SCS] detection time that is Change-over defined by rudder deviation. No.4 Servo loop Alarm to NFU.
  • Page 148 5-20 Ins. Message Cat. Priority Status Description Guidance [SCS] No.2 CAN ADPT detected #31 MCU(ADPT) Alarm abnormality of the DAC Adjustment failure adjustment data (D/A 11106 --- conversion). (IND) [SCS] Error No.2 CAN ADPT detected Change-over 11107 --- #31 MCU(ADPT) Alarm rudder command loop-back to NFU.

  • Page 149: Mode Selector

    5-21 Ins. Message Cat. Priority Status Description Guidance [SCS] COMM Error No.4 CAN ADPT detected #33 MCU(ADPT) (IND) CAN-bus ch-C :Can-bus chC Transmission error. [SCS] COMM Error No.4 CAN ADPT detected #33 MCU(ADPT) (IND) CAN-bus ch-D :Can-bus chD Transmission error. [SCS] COMM Error No.2 MCU(MAN TERM) Change-over...
  • Page 150 5-22 Ins. Message Cat. Priority Status Description Guidance [SCS] COMM Error MODE SELECTOR could Select #40 MODE SEL Warning not receive the data from Steering mode :Can-bus data MCU for 3 seconds or by AP CDU. longer. (IND) [SCS] Time out No.1 AP CDU detected the Select #40 MODE SEL...

  • Page 151: Trouble And Measures On Steering Repeater Compass

    Trouble and measures on MODE SELECTOR 5.4.1 MODE SELECTOR trouble during AUTO/CRS/TRACK mode There is no effect and PT900 continues current control even if any trouble appears on MODE SELECTOR during AUTO/CRS/TRACK mode. Change-over methods of steering mode without MODE SELECTOR are shown below.

  • Page 152: Ac Power Failure

    5-24 AC power failure PT900 is powered by CONTOL & POWER BOX which installed in steering gear room. Moreover CONTROL & POWER BOX is powered by steering gear starter which is provided by steering gear manufacture. 5.5.1 One of AC power failure during single S/G pump operation Power fail of S/G pump under single running results in the loss of rudder control.
  • Page 153 5-25 Blank Page...

  • Page 155: Specifications

    6. Specifications Performance and Specifications 6.1.1 Power Supply The specification of power supply depends on the specification of each vessel. The tables below show the standard arrangement of PT900. Item Specifications Main power supply 220/380/440V AC 50/60Hz Backup power supply...

  • Page 156: Input Signal

    ECDIS 1 circuit IEC61162-1 or IEC61162-2 BAMS 1 circuit IEC61162-1 or IEC61162-2 VDR, 4 circuits IEC61162-1 or IEC61162-2 MHR110A, MHR120, MDR290(YOKOGAWA products) BNWAS: Enable 1 circuit Contact BNWAS: Watch timer Reset 1 circuit Contact Power fail 2 circuits Contact...

  • Page 157: External Input / Output Signal Specifications And Circuits

    6.1.5 External input / output signal specifications and circuits Circuit name Abbreviation Circuit / Signal specification IEC61162-1 RDxH Input RDxC no-voltage contact input （x=Number） Input circuit : Photo-coupler Transmission format : Start-stop serial signal Transmission rate: 4800bps IEC61162-1 TDxA Output TDxB Output circuit: RS485/RS422 Transceiver （x=Number）...
  • Page 158 Circuit name Abbreviation Circuit / Signal specification Ship's speed Pulse signal Input circuit : CMOS Withstanding voltage : 32VDC Max Pulse rate : 200 Pulse/NM BNWAS Contact output RSTA RSTB Output circuit : no-voltage contact Contact rating : 24VDC 0.5A State JP1-2 JP2-3(Normal)
  • Page 159 Circuit name Abbreviation Circuit / Signal specification System fail SFL1A Contact output SFL1B SFL2A SFL2B Output circuit : no-voltage contact Contact rating : 24VDC 0.5A Off heading alert CRS1A Contact output CRS1B State JP1-2 JP2-3(Normal) Power off Open Close CRS2A Normal Open Close...

  • Page 160: Serial Input/Output Data Sentence

    Serial input/output data sentence Input/output Sentence Standard Data Interval Input Proprietary Heading / Rate of turn sentence IEC61162-1/-2 Heading IEC61162-1/-2 Heading IEC61162-1/-2 Heading IEC61162-1/-2 Heading IEC61162-1/-2 Rate of turn VMVSD Proprietary Ship’s speed sentence IEC61162-1 Ship’s speed IEC61162-1 Ship’s speed IEC61162-1 Ship’s speed IEC61162-1/-2...

  • Page 161: Default Settings

    Default settings Default settings that means our factory settings is shown the table below. AUTOPILOT CONTROL & DISPLAY UNIT Screen Setting items Default value Control Mode Setting by system configuration Steering Mode HAND Heading Select GYRO Operation Economy [HOME] Loading Full Turn Mode Speed...

  • Page 162: Outlines

    Outlines CONTROL STAND [MPM190]...
  • Page 163 STEERING REPEATER COMPASS [MKR056] (115) (20) 4-M5 x 0.8 Fail lamp FAIL DIMMER RUN SYNC Running lamp (20) AUTOMATIC ALIGNMENT OF Dimmer THE CARD READING SWITCH PANEL CUT 4-φ6HOLE 177±0.5 4-C13 HOLE...
  • Page 164 6-10 SYSTEM SELECTOR [MPH790]...
  • Page 165 6-11 MODE SELECTOR [MPH791]...
  • Page 166 6-12 AUTOPILOT CONTROL & DISPLAY UNIT (AP CDU) [MPH490]...
  • Page 167 6-13 HAND STEERING UNIT [MPB390]...
  • Page 168 6-14 NFU LEVER [MPB391]...
  • Page 169 6-15 ANNUNCIATOR UNIT [MPH690] View A...
  • Page 170 6-16 NAV I/F UNIT [MPT590] MAIN CONTROL UNIT (MCU) [MPH291]...

  • Page 171: Maintenance And Inspection

    7. Maintenance and Inspection Please inspect the following items according to the following procedures for safe-operation. Refer to the steering gear equipment’s instruction manual for daily and regular inspection of steering gear equipment. (i.e. CONTROL & POWER BOX and μ-TRANSMITTER) Daily and Regular inspection by user Inspection item and recommended interval are shown in the table below.

  • Page 172: Regular Maintenance

    Inspection item Inspection Contents and Procedure Interval Check the heading indication on AP CDU and the steering repeater if both values are same. In case PT900 is Ship’s heading connected 2 or 3 heading sources, elect the other heading Once/week...

  • Page 173: Annex-1 Basic Autopilot Action

    Annex-1 Basic autopilot action Fig. 1-1 shows an overview of adaptive control. Steering for Fuel Saving The basic 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.

  • Page 174: Changes In Weather Conditions And Adaptive Autopilot

    (2) Extended Kalman filter As mentioned in the above discussion of the Kalman filter, it has dynamic characteristics incorporated as a model. It was also explained that this model must be changed according to the load, trim and ship speed. The extended Kalman filter has a noise removal function and a function to create a model and to retain its changes.
  • Page 175 Fig.1-1 Adaptive Autopilot Control Block Diagram...

  • Page 176: Basic Behavior Of Bnaac (Economy Mode In Pt900A, And A-Plus)

    Basic Behavior of BNAAC (Economy mode in PT900A, and A-PLUS) The “BNAAC” is an abbreviation of “Batch Noise Adaptive Autopilot Controller”. Fig. 1-2 shows an overview of the “BNAAC”. The important function of “BNAAC” can be roughly divided into two functions. •...

  • Page 177: Basic Behavior Of Course Control Algorithm (Option)

    Fig.1-2 Overview of the “BNAAC” Basic Behavior of Course Control Algorithm (Option) Course control receives GGA (vessel position signal) and VTG (SOG signal) from GPS receiver, and controls the course by implementing automated navigation. Course control draws virtual course line and virtual destination far-off on it, measures XTD (Cross Track Distance) caused by tidal current and wind-wave, controls the vessel’s course to follow on the line, and guides her to the destination with a shorter track of distance.
  • Page 178 Blank Page...

  • Page 179: Annex-2 Circuit Diagram

    Annex-2 Circuit Diagram Power Circuit Diagram AP CDU (MPH490) SH CPU BD ASSY CN16 SH CPU BD ASSY (V8225AD) (V8225AF) 37-40 33-36 33-36 37-40 TP15 CDU SUB TP15 25,27 16,14 BD ASSY V8225HC 4,5,6 4,5,6 CN13 1.25V 1.25V 37-40 40,39 3.3V TP16 3.3V...

  • Page 180: Signal Circuit Diagram (Follow-Up Steering)

    Signal Circuit Diagram (Follow-up steering)

  • Page 181: Signal Circuit Diagram (Non-Follow-Up Steering:n2 System)

    Signal Circuit Diagram (Non-follow-up steering:N2 system)

  • Page 182: Signal Circuit Diagram (Non-Follow-Up Steering: Y2 System)

    A-10 Signal Circuit Diagram (Non-follow-up steering: Y2 system)

  • Page 183: Alert Circuit (1/2)

    A-11 Alert circuit (1/2) WH CAN-A WH CAN-B SG CAN-C SG CAN-D NO.1 MAN TERMINAL BD ASSY (V8225BQ) CN18 CN22 CN22 27,26 11,12 11,12 13,14 13,14 17,18 AP CDU (MPH490) 17,18 19,20 19.20 52,51 CDU ・ SH CPU BD ASSY (V8225AD) Time Out LED24 f>0.893Hz...
  • Page 184 A-12 Alert circuit (2/2)

  • Page 185: Interface Circuit (Nav I/F Unit Mpt590)

    A-13 Interface circuit (NAV I/F UNIT MPT590)

  • Page 186: Annex-3 Components List

    A-14 Annex-3 Components list STEERING REPEATER COMPASS [MKR056] 14 15 PARTS NAME PART NO. PARTS NAME PART NO. V8118BA(□192) FRONT PANEL COLLAR V8118BS V8118BC(□144) SCALE (36X) V8219FV BUTTON 5T124A104-02 SCALE (1X) V8118DE O RING 5T101Z005-09 GEAR V8114HV RESISTOR 5T162A167-01 GEAR V8114HL KNOB 5T124A043-02...

  • Page 187: System Selector [Mph790]

    A-15 SYSTEM SELECTOR [MPH790] PARTS NAME PART NO. SWITCH B.L. BD ASSY V8225GC MODE SELECTOR [MPH791] PARTS NAME PART NO. GUM BUTTON V8225UG 96 CPU BD ASSY V8225EC 96 I/F BD ASSY V8225EF...

  • Page 188: Autopilot Control & Display Unit [Mph490]

    A-16 AUTOPILOT CONTROL & DISPLAY UNIT [MPH490] Autopilot controller X 1 Autopilot controller X 2 PARTS NAME PART NO. RING GASKET V8225SH POM WASHER V8810VD KNOB V8810VB V8810VC ENCODER ASSY V8225HD CDU SUB BD V8225HC ASSY SH CPU BD ASSY V8225AD SH CPU BD ASSY V8225AF/V8225AG/V8225AH...

  • Page 189: Hand Steering Unit [Mpb390]

    A-17 HAND STEERING UNIT [MPB390] PARTS NAME PART NO. BRAND EMBLEM ASSY V8225NB HAND LED BD ASSY V8225DH BUMPER RUBBER V8225NC O RING 5T101Z005-01 SPACER 5T108F032-04 KNOB 5T124A043-02 5T114A018-02 NUT COVER 5T124A089-01 HAND CPU BD ASSY V8225DC HAND BZ BD ASSY V8225DE ENCODER A1250MM...

  • Page 190: Nfu Lever [Mpb391]

    A-18 NFU LEVER [MPB391] PARTS NAME PART NO. SWITCH B.L. BD ASSY V8225GE ANNUNCIATOR UNIT [MPH690] PARTS NAME PART NO. ANNUNCIATOR BD ASSY V8225BC/V8225BE GUM BUTTON V8225UE...

  • Page 191: Nav I/F Unit [Mpt590]

    A-19 NAV I/F UNIT [MPT590] PARTS NAME PART NO. NAV I/F BD ASSY V8225FT...

  • Page 192: Main Control Unit (Mcu) [Mph291]

    A-20 MAIN CONTROL UNIT (MCU) [MPH291] <2 pump systems> <4 Pump systems> PARTS NAME PART NO. M.PWR BD ASSY V8225AM S.PWR BD ASSY V8225AS CAPACITOR ASSY V8225VZ MAN TERMINAL BD ASSY V8225BQ/V8225BU/V8225BS CAN ADAPTER BD ASSY V8225FC/V8225FF ANN. I/F BD ASSY V8225BG RELAY V8821BS...
  • Page 193 A-21 Blank Page...

  • Page 194: Annex-4 Serial Signal Format

    A-22 Annex-4 Serial signal format Basic format The basic serial signal formats are shown below. All transmitted and received data shall be interpreted as ASCII characters. ●No Checksum DATA 1 DATA 2 .., DATA n * CR LF ●Use Checksum DATA 1 DATA 2 ..

  • Page 195: Existing Format

    A-23 Existing format PT900 has several regular data format to communicate with external equipment. Regular data format Data Type Input Output Interval Remark Heading HRC/HDM/HDT/HDG/THS Rate of turn Heading / Rate of turn Speed VMVSD/VHW/VBW/VTG Current Date and Time Position...
  • Page 196 A-24 Note 1 Talker ID to be used changes by a current steerage mode and the function that alert that is exchanged in sentences belongs to. Sentence Talker ID Content $TCALF ・Notice of the state of the alert that is related to the Track Control. ・During TRACK mode, this sentence is transmitted when the state of the alert that is related to the track control changed.
  • Page 197 A-25 Sentence Talker ID Content $TCHBT ・During TRACK mode, this sentence is transmitted periodically. $AGHBT ・During AUTO/CRS mode, this sentence is transmitted periodically. $SGHBT ・During Manual steering, this sentence is transmitted periodically. Details of the transmitted sentence and talker ID Status ・$TCALF ・$TCALC...
  • Page 198 A-26 ●HRC $HCHRCxxxxx,xxxx*hh <CR><LF> Heading (Decimal point is omitted. xxx.xx -> xxxxx) Turn rate (Decimal point is omitted. -/ x.x -> -/ xxx) ● HDM $--HDM, x.x, M*hh<CR><LF> Magnetic sensor heading, degrees ●HDT $--HDT, x.x, T*hh<CR><LF> Heading, degrees true ●HDG $--HDG, x.x, x.x, a, x.x, a*hh<CR><LF>...
  • Page 199 A-27 ●VMVSD $VMVSD-/ x x x, x x x x x x*hh<CR><LF> Y-SPEED-/ x x, x[knot] Cruising distance x x x x, x x[Nautical Mile] ●VHW $--VHW, x.x, T, x.x, M, x.x, N, x.x, K*hh<CR><LF> 1 1 2 2 3 3 4 4 Heading, degrees true Heading, degrees magnetic Speed, knots...
  • Page 200 A-28 ●VDR $--VDR, x.x, T, x.x, M, x.x, N*hh<CR><LF> 1 1 2 2 3 3 Direction, degrees true Direction, degrees magnetic Current speed, knots ●ZDA $--ZDA, hhmmss.ss, xx, xx, xxxx, xx, xx*hh<CR><LF> Day, 01 to 31 (UTC) Month, 01 to 12 (UTC) Year (UTC) Local zone hours, 00 h to ±13 h Local zone minutes , 00 to +59...
  • Page 201 A-29 ●XTE $--XTE,A,A,x.x,a,N,a*hh<CR><LF 1 2 3 4 5 6 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 Status: A = data valid V = Loran-C cycle lock warning flag Magnitude of cross-track error Direction to steer, L/R Units, nautical miles...
  • Page 202 A-30 ●HTD $--HTD,A,x.x,a,a,a,x.x,x.x,x.x,x.x,x.x,x.x,x.x,a,A, A, A,x.x*hh<CR><LF> 1 2 3 4 5 6 7 8 9 10 11 12 13 14151617 Override, A = in use, V = not in use Commanded rudder angle, degrees Commanded rudder direction, L/R = port/starboard Selected steering mode Turn mode, R = radius controlled, T = turn rate controlled, N = turn is not controlled Commanded rudder limit, degrees (unsigned)
  • Page 203 A-31 ●ACN $--ACN,hhmmss.ss, aaa, x.x, x.x, c, a*hh <CR><LF> 4 5 6 Time Manufacturer mnemonic code (YDK or NULL: Not defined) Alert Identifier Alert Instance, 1 to 999999 Alert command, A, Q, O or S Sentence status flag ●ALF $--ALF, x, x, x, hhmmss.ss, a, a, a, aaa, x.x, x.x, x.x, x, c---c*hh <CR><LF> 1 2 3 5 6 7 8 10 11 12 13...
  • Page 204 A-32 ●ARC $--ARC, hhmmss.ss, aaa, x.x, x.x, c*hh <CR><LF> Time Manufacturer mnemonic code (YDK or NULL: Not defined) Alert identifier Alert instance, 1 to 999999 Refused alert command, A, Q, O or S ●HBT $--HBT,x.x,A,x*hh<cr><lf> 1 2 3 Configured repeat interval Equipment status Sequential sentence identifier...
  • Page 205 A-33 Blank Page...

  • Page 206: Annex-5 Display Specifications

    A-34 Annex-5 Display Specifications The following table shows the LCD specifications of AP CDU. Mechanical specifications Item Specification Unit Screen Size inch Display Resolution 800(H) x 480(V) pixel Active Area 152.4(H) x 91.44(V) Outline Dimensions 166.6(W) x 109.4(H) x 10.0(D) Display Mode Normally white mode/ Transmissive Pixel Arrangement...
  • Page 207 A-35 Blank Page...
  • Page 208 A-36 PT900 Autopilot system User’s Manual Manual No. : IM80B20T01E November, 2014 1st Edition December, 2014 2nd Edition January, 2015 3rd Edition May, 2015 4th Edition August, 2015 5th Edition October, 2015 6th Edition January, 2016 7th Edition April, 2016...
  • Page 209 A-37 Blank Page...

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