Manual AP2000

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VIII

APPENDIX B: Extended use of mode selection.......... selection.............................. ........................................B-1 ....................B-1 APPENDIX APPE NDIX C: UX Conve Converter rter Unit. Unit..................... ........................................ ......................................... ..............................C-1 .........C-1

Autopilot A P200 P2000 0 Track Pil ot

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IX

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1 1.1

1-1

GENERAL INFORMATION Introduction Simrad Robertson AS is a sister company of Kongsberg Norcontrol AS and both companies belong to the Kongsberg Group. The adaptive autopilot described in this manual is made by Simrad Robertson AS and is available in two versions: AP9 Adaptive Autopilot is the model under Robertson label, whilst AP2000 Track Pilot is the model used by Kongsberg Norcontrol in their integrated bridge system. Simrad Robertson AS is located in Egersund on the southwest coast of Norway. Norway. The compan company's y's involv involveme ement nt in autopil autopilots ots started started in 1953 1953 with equipment for the North Sea fishing fleet. Since then Robertson has developed a complete range of autopilots, for all types of vessels, from pleasure pleasure boats boats up to advanced advanced steering steering systems systems for merchant merchant marine marine vessels. The autopilot described in this document is based on the current AP9 MK3 hardware, but incorporates a main computer with sophisticated software for adaptive automatic steering which significantly enhances the performance of the autopilot. The adaptive software is particularly an advantage when the autopilot becomes an integrated part of an ANTS system (Automatic Navigation and Tracking System).

1.2

System description The standard autopilot system consists of the following units (refer to Fig. 1-1): •

Control Unit with accessories

•

Main Computer

•

Heading sensor(s)

•

Rudder Feedback Unit with transmission link

•

Distribution Unit


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Fig. 1-1 1 -1 Basic System

1.2.1 Control Unit All settings and operation of the autopilot take place on the control unit. In addition to push buttons it has three LCD-displays and a rotary course selector knob on the front panel. The control unit is made of seawater resistant aluminium and has a polyester coating to protect it against the environment. Connection to other system components are by high high quali quality ty conne connecto ctors rs to facil facilita itate te relia reliabil bility ity and and easy easy maint maintena enance nce..

1.2.2 Main Computer The Main Computer will run the steering algorithms and interface to optional units (remote autopilot station(s), route planning systems, navigators, serial output gyrocompass and speed log.


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1.2.3 Heading Sensors Ref. to Fig. 1-2. The Control Unit is designed to accept several types of heading sensors (compasses). The sensors can be divided in three groups: •

Gyrocompass

•

Magnetic Compass (Back-up compass)

•

Fluxgate Compass (Optional back-up compass)

The terms main compass and monitor compass are used in this document. The main (steering) compass should be a gyro, whilst the monitor (back-up) compass can be a second gyro, a magnetic compass or a fluxgate compass. MAGNETIC COMPASS

GYRO-COMPASS

CD109 J2 MAGN.

SYNCHRO

SYNCHRO

SYNCHRO 1:1 90:1 360:1

MAGNETIC COMPASS GYRO INTERFACE BOARD

GYRO-COMPASS

CD109

J3

MAGN. STEP

STEP

STEP

STEP 6 STEP/DEGREE

RGC GYROCOMPASS

Robertson RGC50 RGC10 RGC11

CONTROL UNIT

J5 1:1 400Hz SYNCHRO

RGC50/10

RGC RGC INT.FACE

SIN/COS

SIN/COS

FLUXGATE COMPASS

SIN/ COS

Ch7

SERIAL RS422 RGC11

NOTE:

NMEA

THE GYRO MODULE CAN NOT ACCEPT TWO SYNCHRO OR TWO STEP SIGNAL INPUTS SIMULTANEOUSLY, SIMULTANEOUSLY, ONLY ONE OF EACH.

Fig. 1-2 1 -2 Heading Head ing Sensors Sens ors


MAIN COMPUTER SERIAL

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GYRO COMPASS: Gyrocompass with serial output is connected to the Main Computer. Gyrocompass with SYNCHRO (internal or external excitation) or STEP signal is connected to the Control Unit that must be equipped with the Gyro Interface Board. See table below. For further information, see technical specifications, section 3.

Caution !

Signal type

Optional hardware

Connecti on

Synchro 11,8V l/l 400Hz

Gyro In Interface PC PCB

Control Unit

Synchro 50/115 l/l 50-60Hz

Gyro In Interface PC PCB

Control Unit

Step 6 step/degree

Gyro Interface PCB

Control Unit

Sin/cos 2,5V±2VDC

Not required

Control Unit

NMEA 0183 0183 HDT (Min. 3x/sec)

Not required required

Main Main Comput Computer er

Serial proprietary (RGC11 format)

Not required required

Main Main Comput Computer er

Two SYNCH RO, STE STE P or SERI AL signal s can not be connecte connected d at th e same same ti me.

The Robertson RGC gyros can be connected according to the following table:

Dire Direct ct conn connec ecti tion on

RGC RGC In Interf erface ace con conn necti ectio on

RGC10

Synchro 1:1 100V

sin/cos or 6 step/degree

RGC11

Serial proprietary


RGC50

Synchro 1:1 100V


FLUXGATE COMPASS The autopilot is designed to accept fluxgate compass sin/cos signals, using 2.5V DC as reference. The Robertson fluxgate compasses will interface directly to the autopilot control unit.


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MAGNETIC COMPASS For the autopilot to read the vessel's magnetic compass a CD109 Course Detector must be mounted on the compass. The signal from the Course Detector is connected to the Control Unit.

1.2.4 RF14XU Rudder Feedback Unit This unit transmits two electrical signals proportional to the rudder angle. One signal operates as a feedback for the autopilot, the other as drive signal for rudder angle indicators. It is provided with 2 sets of limit switches. The unit is mounted close to the rudder stock and is mechanically connected to the rudder by the transmission link.

1.2.5 D9X Distribution units D9X is the main interconnection unit. Mains power, alarm power, steering gear interface, rudder feedback and external alarms are connected to this unit. Different models are available, dependent on type of steering gear to be interfaced. D90: Provides Provides solid state state switching switching of one directiona directionall valve solenoids, solenoids, 19-40V DC 3A D91: Provides Provides solid state state switching switching of one directiona directionall valve solenoids, solenoids, 110V DC 1A D92: Provides Provides solid state state switching switching of one directiona directionall valve solenoids, solenoids, 110/220V AC 1A D93: Provides two two galvanic isolated ±10V ±10V or 4-20 4-20 mA signal outputs. outputs. The voltage output is adjustable. For double set of directional valves, one extra Solid State Board must be added. added.

1.2.6 Hand controls (optional) S9 Non-follow-up (NFU) steering lever S9 is a splash proof steering lever for bulkhead or console mounting. The unit is constructed of machined aluminium. The internal mechanism of the S9 permits locking of the lever in the mid-position to avoid inadvertent operation.

FU91 Follow-Up (FU) steering lever FU91 is a splash proof steering lever for bulkhead or console mounting. The unit has a 45-0-45 degrees dial and a push to take command button. By positioning the lever, a commanded rudder angle can be set without using a rudder angle indicator. Dimensions and design are the same as the S9, and it has a mid-position detent.


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1.2.7 Options available with the standard system The autopilot system has several options allowing the system to be configured for various type of vessels. Some of the options are not type approved. Consult factory for information. Optional equipment: •

Non follo follow w up (NFU) (NFU) steering steering lever lever with with mode mode selecto selectorr and lock lock mechanism.

•

Follow up (FU) steering lever with mode selector.

•

D9X/S Relay Assy. Contains 2 pairs of galvanic isolated relay contacts operated at “Equipment On” and “Auto/Nav On” respectively.

•

Rudder angle indicators

•

Mode selector

•

D93 Distribution Unit with four analogue outputs (Appendix A).

1.2.8 Standard System, On-Off Solenoid Valves Apart from the heading sensors, the system consists of the following units: •

AP9 Adaptiv Adaptivee Control Control Unit........ ........ .... ........ ........ ...... .. Art.no. 2016 2016883 8837 7 or AP2000 AP2000 Track Pilot Control Control Unit Unit ..... .. ...... ...... ..... .. Art.no. 20168860 20168860

•

MC100 MC100 Main Main Compu Computer ter ...... ........ .... ........ ........ ........ ........ .... Art.no. Art.no. 20169 20169421 421

•

RF14XU Rudder Feedback Unit (with (with transm transmiss ission ion link link)) ........ .... ....... ....... ........ ........ ........ ........ .... Art.no. Art.no. 225016 22501647 47

•

D9X Distribution Unit: Version D90 (19-40V DC, 3A) ..........................Art.no. 20125001 (Extra S.S.B. Art.no. 20125175) Version D91 (110V DC, 1A) (Extra S.S.B. Art.no. 20125423)

.........Art.no. 20125407 2012540 7

Version D92 (110/220V AC, 1A) .....................Art.no. 20125704 (Extra S.S.B. Art.no. 20125720)

Note that that the the standard standard mains mains suppl supply y is 24V DC. DC. If AC supply supply is is used, used, the system must include an AC Power Adapter (Not supplied by the manufacturer). Where the system is to operate two sets of solenoid valves, one extra solid state PCB (S.S.B.) must be mounted in the D9X distribution Unit.


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Note !

1-7

Mode selector and speed input are mandatory for all installations. The mode selector is normally provided with the steering control system. CONTROL UNIT

D9X DISTRIBUTIONUNIT (D90/91/92) MANUAL

AUT O

MAIN COMPUTER

MODE S S B S SB SB 1

2

MANUAL STEERING LEVER SPEED FEEDBACK "ON-OFF"

"ON-OFF"

TO INDICATORS

SOL. VALVE

SOL. VALVE

TRANSMISSION LINK

RF14XU

RUDDER

Fig. 1-3 1 -3 Standard system with ON-OFF ON -OFF solenoid s olenoid valves


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1.2.9 Standard System, Analogue output Except for the type of distribution unit the system is the same as the above. Analogue output is used when there is an existing steering control system on the vessel that will accept an analogue control signal from the autopilot. D93 D93 Dist Distri ribu buti tion on Unit Unit ........ .... ........ ........ ....... ....... ........ ........ ........ ........ .... Art. no. 201260 20126009 09

CONTROL UNIT

MANUAL

AUTO

MODE

MAIN COMPUTER

D93 D93 DISTRIBUTION UNIT

SPEED FEEDBACK ANALOGUE

ANALOGUE

TO INDICATORS

STEERING CONTROL SYSTEM

RUDDER

TRANSMISSION LINK

RF14XU

Fig. 1-4 1 -4 Standa S tandard rd syste s ystem m with analogue analo gue output o utput


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1.3

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Theory of operation 1.3.1 Adaptive autopilot The adaptive autopilot is, within limits, able to identify the steering characteristics of a ship. This is done by comparing the output from a mathematical model and the vessel itself. The parameters calculated from this comparison are used to obtain optimal rudder commands in order to keep the vessel on a pre-set course. Due to a simplified model of the vessel, parameter estimation is only performed performed within within a limited limited speed range. This range range is set to Service 1 speed spe ed ±30%. Speed outside this range locks the estimation, which means that the autopilot is using the last known ship parameters. Parameter estimation is performed during turns only. Variation in steering characteristics due to speed changes is handled by a speed speed gain gain schedul scheduler. er. As a result result the autopi autopilot lot will will apply apply more more rudder at 10 knots than at 20 knots for the same performance. The adaptive autopilot also estimates the influence of waves on the vessel. This information is used to reduce rudder activity in bad weather.

Water log and Ground log Speed input is very important to the autopilot. The two terms Water log and and Ground log are are used to differentiate between speed through water and speed over ground respectively. Speed through water is used to calculate correct rudder commands. Speed over ground is used to plan course changes as geometrical turns. During ANTS-navigator control (ref paragraph 1.3.3) speed from the ANTS navigator is used. If speed over ground is not available, speed through water may be set as source for Ground log and vice versa. However, steering performance performance might might be reduced reduced in waters waters with with strong strong currents. currents. Should set speed source fail, an alarm will be given and alternative speed source will automatically be used. Should all speed sources fail, service speed will be used as speed estimate. If happening in ANTS control mode, the autopilot will also abort to normal automatic steering.

1

Service Speed is a setable constant on the autopilot (ref paragraph 2.3. 2.3.6 6


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1.3.2 Turning procedures The automatic steering is oriented towards turn geometry, which is seen as a necessity within a modern ANTS (Automatic Navigation and Tracking System), where routes are planned on, and commanded by an ECDIS (Electronic Chart Display Information System). In these systems routes and turning arcs are plotted in the chart system and are expected to be followed. This approach has advantages also when the autopilot operates in its automatic steering mode. As a result of this focus on geometry, all turns have well-marked wheel-over and counter-rudder phases linking straight lines with arcs.

Safety parameters Traditionally the task of an autopilot is to maintain a pre-set course. It complies to command changes under restrictions such as rudder limit and maximum turn rate . When the task of the autopilot is extended to include that of following a pre-planned turn arc, arc, the above restrictions might create a conflict. In essence, the approach to avoid this problem is to automatically adjust the maximum rudder of each turn to make it match the wanted course change and turn radius. Through the parameter settings, the operator will wield sufficient control over the correspondence between these quantities. Additionally, as a precaution against unexpected manoeuvres, it is possible to pre-set fixed warnings for sharp turns and rudder limit.

Note !

If the Main Steering Compass is lost when turning under automatic control, an alarm is given and the actual rudder angle will be maintained, causing the vessel to continue in a circle (applies for software release V1R6 and onwards, for older software releases, the rudder was was set to midship position). position).

Fig. 1-5 1 -5 Radius R adius turn Turning performance becomes poor if the rudder limit is reached. Hence the rudder limit must be set to allow normal rudder angles. The


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autopilot will exceed the sharp turn limit however, if needed to follow the pre-planned turn arc.

Turning The operator should think in terms of straight lines and circular arcs. A turn is specified by a course change (limited to 360º in each direction) and a turn radius. Optionally a rate of turn can replace the radius. The autopilot will automatically insert distinct wheel-over and counterrudder phases as shown in Fig. Fig. 1-5. The acceleration length , L, L, of these phases is a sea-trial parameter set to ensure reasonable rudder activity. The smallest turn arc possible is that of length L. L. In cases where the length of the prescribed turn arc is less than L, L, a short turn turn is made, where the wanted radius or rate is modified. This ensures a reasonable rudder activity for small course cour se changes. A short turn is shown in Fig. Fig. 1-6. In total, depending on the turn type, the applied rudder is set according to one of the following three formulas... •

Radius turn:

δ = C RL

•

Rate turn:

δ = Cr L v

•

Short turn:

δ = C∆ L

2

Where... δ :

Computed rudder

C : Ship Ship-d -dep epen enda dan nt const constan ant, t, estimated by the adaption module.

R : Desi Desire red d tur turn n rad radiu iuss L : Acce Accele lera rati tion on leng length th r : Desired turn ra rate v : Ship speed ∆ :

Desi Desire red d cour course se chan change ge

Factor C is established after a short adaption period.

Fig. 1-6. 1- 6. Short turn

1.3.3 ANTSnavigator control ANTS navigators are interfaced using the TNT protocol, which is a group of proprietary sentences complying to the NMEA 0183 standard.


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Cross-track control Under navigator control, the autopilot’s cross-track controller is enabled, which will make the ship stay on the prescribed line between way-points (or turns). More precisely; the cross-track controller aims at positioning the pivot point of the ship, which is the point that the ship rotates about during normal manoeuvring, on the line. Due to the varying quality of different position fixing systems, parameter TRACK RSP has been supplied, which balances the tracking precision and the rudder commands.

Entering a track When entering the cross-track mode the autopilot handles initial crosstrack and course deviations. As shown in Fig. 1-7, a manoeuvre is scheduled to bring the vessel to the track. The manoeuvre is based on the initial angle α and the radius R radius R,, both of which are adjustable.

Turning α

R

Fig. 1-7. 1 -7. The TNT protocol conveys the track bearing and the distance to the forthcoming turn, along with the cross-track error relating to the track being being followed followed.. Due to this, this, turns turns can be planned planned well well ahead. ahead. New courses and turn radii are sent from the navigator on a turn-by-turn basis. basis. The turn data data cannot cannot be altere altered d from the the autopilo autopilot. t. It is possible to have the autopilot give a warning 30 seconds before the turn starts.

Note !

During ANTS turns the autopilot will exceed the rudder limit if needed to follow the pre-planned turn.

Off-track command It is possible to make the vessel keep a defined transversal offset from the prescribed track. The transition manoeuvre scheduled to reach the specified offset is similar to that shown in Fig. 1-7. Initial angle angle α can be adjust adjusted ed to cover cover well-m well-marke arked d yieldi yielding, ng, as well well as slow slow manoeuvres manoeuvres where economy counts more than precision. The off-track setpoint will be maintained during the turn. The turn radius originally set will be modified to make this possible. If the


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resulting radius reaches a set-able minimum, the off-track value experienced during the turn may vary somewhat from the setpoint.


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1.3.4 Traditional navigator control A traditional navigator (Loran C, GPS) can be interfaced using the APB protocol, which is an approved sentence of the NMEA 0183 standard.

Cross-track control Under navigator control, the autopilot’s cross-track controller is enabled, which will make the ship stay on the prescribed line between way-points. More precisely; the cross-track controller aims at positi position oning ing the pivot pivot poin pointt of the ship, ship, which which is the the poin pointt that that the ship ship rotates about during normal manoeuvring, on the line. Due to the varying quality of different position fixing systems, parameter TRACK RSP has been supplied, which balances the tracking precision and the rudder commands. The INIT ANGLE parameter will be the max angle towards the track (Ref. Fig. 1-7).

Entering a track When entering the cross-track mode the autopilot makes a turn to the new bearing set by the navigator. The default radius set on the autopilot is used as turn radius. After the turn is finished the crosstrack controller will seek to minimize the distance between the vessel and the track.

Turning The autopilot handles a turn in the same way as when entering a track. It turns to the the new bearing bearing using default default radius and and uses the crosstrack controller to get on track. It is possible to have the autopilot give a warning 30 seconds before the turn starts.


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2 2.1

2-1

AUTOPILOT OPERATION Quick reference This section is made as a quick reference to the most basic operations. These are all that are needed to use the autopilot as a standard course controller. Make sure however, that the autopilot has been properly installed prior to using the procedures.

2.1.1 Control Unit layout

2-line info display

Course deviation bargraph

Course display

Rotary knob

Fig. 2-1 2 -1 Control Contr ol Unit Uni t layout lay out The control unit has 14 buttons (keypads), a rotary knob and three illuminated liquid crystal displays as shown in Fig. 2-1. For a full description of use, refer to the Control unit operation, section 2.2.

2.1.2 Info display and keyboard The info display and keyboard will be in one of several different states. Each state will from here on be called a pan el . Each panel is used for a specific purpose, and enables specific keyboard operations.

To get going To power up the autopilot, press AUTO ON and wait for the lower line of the info display to show “.... AUTOPILOT ”. Whenever AUTO ON is pressed the autopilot will be brought back to this starting point point..

Note !

If the gyrocompass interface is not on a 1:1 ratio (step-signal, 90:1 or 360:1 synchro signal), the display will prompt you to


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2-2

adjust the compass reading before the main panel is shown. See Start up messages in section 2.2.1 for details The upper line of the info display will display will now indicate the control mode set by the mode selector. Whenever in standby or under manual control, the text “STANDBY” or “MANUAL ...” respectively is shown. Otherwise the autopilot is in automatic steering mode.

2.1.3 Course display The course display contents display contents will, depend on the control mode, show: 1. In stan In standby dby and and manual modes; modes; the main compass reading . 2. Under both local and remote (ANTS) automatic modes; the heading command (set (set course). 3. Under ANTS track modes; modes; the current track bearing . During turns, the next track bearing is is shown. The course deviation bargraph bargraph always shows the difference between between the main compass and the contents contents of the course display. display. It will extend to the right by by one step per degree of starboar star board d deviation, and vice versa.

2.1.4 External mode selector The automatic steering is enabled by selecting “autopilot” on the mode selector.

2.1.5 Immediate course change Change the set course by pressing the rotary knob once and then turning it, or by operating the PORT and STBD buttons, until the desired course appears in the course display. The turn will be executed immediately. The turn radius or rate is determined by default settings. It is however possible possible to change change the the properties properties of the the current current turn once once started. started. Immediate turn properties is changed in the IMMEDIATE TURN panel, panel, which which is is invoke invoked d by the the turn turn start. start. Toggle between rate and radius submodes by pressing ROT/RAD . The current choice is shown on the lower line in the info display. Now set the rate or radius by operating the INCREASE and DECREASE buttons. buttons. Both the desired course and the rate or radius can be adjusted during the turn. Remember to depress the rotary knob once before using it. The change will take effect immediately.


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IMMEDIATE TURN

EXEC RAD

EXEC will flash until the turn has finished. At that point the 0.8nm IMMEDIATE TURN pan TURN panel el automa automatica tically lly closes closes..

2.1.6 Pre-set turn procedure The second approach to turning allows for the setting of turn radius or rate before the turn starts, and results in a more precise starting point for the turn. Pre-set turns are programmed in the TURN PRESET panel, which is invoked by pressing TURN PRESET when not in a turn. Now preset the course by turning the rotary knob or operating the PORT and STBD buttons until the wanted course and turn direction appears on the top line of the text display. Toggle between rate and radius submodes by pressing ROT/RAD . The current choice is shown on the lower line in the info display. Now pre-set the rate or radius radius by pressing pressing the INCREASE or DECREASE button. Activate the turn by pressing ACTIVATE PRESET while still in the TURN PRESET panel. panel. EXEC will now flash in the lower line in the text display, and the pre-set course will be shown in the large course display. Both the desired course and the rate or radius can be readjusted during the turn. Remember to depress the rotary knob once before using it. The desired change will take effect immediately. EXEC will flash until the turn has finished. At that point the TURN

PRESET panel panel automatically closes. At any time, and without disturbing the pre-setting or execution of a turn it is possible to leave the TURN PRESET panel by pressing CLEAR , and return to it later.

2.1.7 Abort turn It is possible to stop an immediate- or pre-set turn by pressing AUTO ON. ON . Current heading will then be the set course.

2.1.8 Back to

panel M A I N

To leave sub menus without causing any side effects, press CLEAR . This always brings you back to the top level, called the MAIN pan MAIN panel. el.

2.1.9 Muting and viewing alarms Alarms are muted and acknowledged by pressing CLEAR . As a reminder, the upper line of the text display will flash FAILURE or WARNING for as long as the failure exists.


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2-4

Press INFO to recall the alarm text. If more than one failure is present it can be necessary to press INFO more than once. The alarm situation is remembered by the autopilot for 30 seconds after the error condition has disappeared or the alarm is viewed.

2.1.10 Illumination setting The ILLUM button is used to adjust the illumination of buttons and displays. To adjust the illumination, the ILLUM is pressed first, followed by the INCREASE or DECREASE. The brightness level is represented in the information display as DAY, DUSK1, DUSK2 and NIGHT.

2.1.11 Remote course setting Remote set course is accepted from ANTS navigators. The autopilot accepts remote set course when in ANTS COURSE mode. Check the ANTS navigator manual for details.

2.1.12 Entering navigator mode Before engaging the navigator, make sure that it is properly initiated, and that a route or waypoint list has been loaded. The proper procedures procedures are found found in the manuals manuals for the navigator. navigator. Before proceed proceeding ing,, the auto autopil pilot ot must must be in in auto auto steerin steering g mode. mode. Press NAV from the MAIN the MAIN panel. panel. One of the following messages will be shown shown on on the info info displa display: y:

NAVIGATOR MODE ACCEPTED

The autopilot is connected to a traditional navigator and will change to NAV mode. How the autopilot enter a track is described in section 1.3.4. The course display will show the bearing of the current leg.

NAVIGATOR MODE NOT ACCEPTED

ANTS TRACK MODE NOT ACCEPTED

ANTS TRACK MODE REQUEST SENT

The autopilot is connected to a traditional navigator. NAV mode will not be engage engaged d becaus becausee of lockin locking g condit condition ionss or insuffi insufficie cient nt naviga navigator tor data. The autopilot is connected to an ANTS-navigator. ANTS TRACK mode will not be engaged because of locking conditions or insufficient navigator data. The autopilot is connected to a ANTS-navigator. A request to engage ANTS TRACK mode is sent to the navigator. The navigator decides whether to accept the request or not. How the autopilot enter a track is described described in paragraph 1.3.3 The course display will show the bearing of the current leg.


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Note !

2-5

ANTS navigators usually allow for remote enabling of the navigator mode. Check the appropriate manual(s) for verification. In that case the NAV button shall not be used.


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2.1.13 Off-track command This procedure applies once the Entering Ente ring a track trac k manoeuvre manoe uvre is finished. The OFFTRACK PRESET panel panel is enabled by pressing OFFTRACK PRESET . The desired offset is entered by operating the Rotary knob (10 m step), or the PORT and STBD buttons (1 m step) until the correct value appears (parenthesized) in the upper info display. The (transition) ANGLE, is adjusted using the INCREASE and DECREASE buttons. Activate the off-track manoeuvre by pressing ACTIVATE PRESET while still in the OFFTRACK PRESET panel. EXEC will now flash in the lower info display. Both the offset command and the transition angle can be readjusted during the manoeuvre. Remember to depress the Rotary knob once before before using using it. Readju Readjustme stments nts take take effect effect immedi immediatel ately, y, so ACTIVATE PRESET needs not be used.

2.1.14 Turn off procedure The autopilot is turned off by pressing and holding OFF until all displays are blanked.

2.2

Control unit operation The control unit of the autopilot has 14 buttons (keypads), a rotary knob and three illuminated liquid crystal displays as shown in Fig. 2-1. A structured description of use is given below.

2.2.1 Start up messages When the autopilot is turned on, the display will show the following sequence of information before reaching the main panel (which is described below).

CU9 SW: ccccccc

ccccccc

Version identifier of control unit software.

INITIATING!

CPU INITIATING PLEASE WAIT! MC9 SW: mmmmmmm

At this point you have to wait for approx. 1 minute.

mmmmmmm

PLEASE WAIT! PRESET HEADING PRESS INC/DEC


Version identifier of main computer software. This message will appear when the autopilot has to be aligne aligned d to the gyro gyro compass compass readi reading ng (step-s (step-sign ignal, al, 90:1 90:1 or 360:1 synchro interface). interf ace). Use INCREASE or DECREASE to adjust the

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compass reading shown in the large course display. Press CLEAR to continue.

Note !

To adjust 0.1 degree increments press INFO while using INCREASE and DECREASE.

2.2.2 Main panel The main panel is the top-level display state of the control unit. To get to the main panel without any side effects, press the CLEAR button.

2.2.3 Main panel in automatic modes -------------eeee mmmmmmmmm

mmmmmmmmmmm

This is the main panel info display structure in all automatic modes. Explanation of text and symbols are as follows: Current control mode. Text Text Text Text

eeee

- AUTOPILOT - ANTS COURSE - ANTS TRACK - NAVIGATOR

Automatic steering s teering mode. Remote (ANTS) course control mode. mode. ANTS navigator naviga tor control contr ol mode. Traditional navigation.

Selected controller characteristics. Text - PREC Text - ECON

Precision Precis ion control control enabled. Economy control Economy control enabled.

Course change command The set course can only be changed when in automatic steering mode. An immediate turn is turn is carried out either by depressing the rotary knob and then turning it, or by using buttons PORT and STBD, until the desired course appears in the course display. The turn will start immediately. The turn radius or rate is determined by default settings. It is however possible to change the properties of the current turn once it has started.

Active keys PREC/ECON Toggles between precis between precision ion and and economy controllers. panel. OFFTRACK PRESET Enables the OFFTRACK PRESET panel. TURN PRESET Enables the TURN PRESET panel. panel. AUTO ON Re-enters the automatic steering mode. mode. NAV Navigator Navi gator control contr ol mode mode selected or not accepted. ILLUM Enables ILLUMINATION Enables ILLUMINATION ADJUST panel. panel. the INFO SELECT or INFO or INFO ALARM ALARM panel. panel. INFO Enables the INFO OFF When depressed for 2-3 seconds, the autopilot will be turned off.


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Note ! •

•

•

With an ANTS navigator the normal procedure is to enable the mode remotely from the ECDIS. The top line in the text display may sometimes flash a warning message. To find its cause; press INFO and and view the ALARM INFO panel. is O F F T R A C K P R E S E T is

only active in ANTS navigator

control mode.

2.2.4 Main panel in manual modes ppppppppppppp pppppppppppppppp ppp eeee AUTOPILOT

This is the main panel info display structure in all manual modes. Explanation of text and symbols are as follows:

pppppp ppp pppppp pppppp pppppp ppp p Current mode Text - STANDBY Text - MANUAL NFU Text - MANUAL FU

External override. Manu Manual al,, nonnon- foll follow ow-u -up p till tiller er.. Manual, Manual , local follow-up tiller.

eeee Pending controller characteristics. Text - PREC Precision Precisi on control control pending. Text - ECON Economy control Economy control pending. AUTOPILOT Indicates that the automatic steering mode mode is pending.

Course change command Disabled in all manual modes. The course display shows the reading of the main compass.

Active keys PREC ECON COMPASS SELECT ILLUM INFO

Toggles between a pending precision preci sion and and economy controller. Enables COMPASS SELECT panel. panel. Enables ILLUMINATION Enables ILLUMINATION ADJUST panel. panel. Enables the INFO the INFO SELECT or INFO or INFO ALARM ALARM panel. panel.

OFF When depressed for a while, the autopilot will be turned off.

Note !

The main panel in MANUAL mode MANUAL mode is entered and left by means of an external selector.

2.2.5 Immediate turn panel IMMEDIATE TURN

This is the IMMEDIATE turn panel info display structure. Explanation of text and symbols are as follows:

EXEC rrr EXEC rrr vvvvvv vvvvvv rrr Turning mode. Text - ROT Text - RAD

Rate-of-tur Rate- of-turn n control. Radius turn control. turn control.

vvvvvv Shows radius or rate to be used during the turn.


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Course change command The set course is altered either by pressing the rotary knob once and then turning it, or by using buttons PORT and STBD. Course changes can only be made while in the automatic steering mode. mode.

Active keys INCREASE Increases value in vvvvvv display. display. DECREASE Decreases value in vvvvvv display. display. ROT/RADIUS INFO ILLUM AUTO ON CLEAR OFF

Toggles between rate-of-turn and rate-of-turn and radius turn control. turn control. Enables the INFO the INFO SELECT or INFO or INFO ALARM ALARM panel. panel. Enables ILLUMINATION Enables ILLUMINATION ADJUST panel. panel. Reenters the automatic steering mode. mode. Close the panel. When depressed in 2-3 seconds, the autopilot will be turned off.

2.2.6 Preset panels The preset panels are used to pre-program manoeuvres. The manoeuvres are started by pressing the ACTIVATE PRESET button while the corresponding panel is open.

2.2.7 Turn preset panel TURN TURN TO xxx This is the TURN PRESET panel info display structure. Explanation of dddd text and symbols are as follows: aaaa rrr vvvvvv rrr vvvvvv

dddd Turn direction. Text - PORT Text - STBD

Vessel turns or will turn port. Vessel turns or will turn starboard.

xxx Final course, degrees. aaaa State of turn preset handler. Text - PROG A turn manoeuvre can be programmed. Text - EXEC The manoeuvre is being executed. rrr Turning mode. Text - ROT Text - RAD

Rate-of-tur Rate- of-turn n control. Radius turn control. turn control.

vvvvvv Shows radius or rate to be used during the turn.

Course change command The set course is changed either by turning the rotary knob, or by using button buttonss PORT and STBD. The procedure is carried out until the required course appears in the display. Course changes can only be made while in the automatic steering mode. mode.


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Active keys ACTIVATE PRESET Executes the preset manoeuvre. display. display. INCREASE Increases value in vvvvvv DECREASE Decreases value in vvvvvv display. display. ROT/RADIUS INFO ILLUM AUTO ON CLEAR OFF

Note !

Toggles between rate-of-turn and rate-of-turn and radius turn control. turn control. Enables the INFO the INFO SELECT or INFO or INFO ALARM ALARM panel. panel. Enables ILLUMINATION Enables ILLUMINATION ADJUST panel. panel. Reenters the automatic steering mode. mode. Close the panel. When depressed in 2-3 seconds, the autopilot will be turned off.

This panel is enabled either by pressing T U R N P R E S E T , or automatically when a turn is due at the navigator. It is possible to leave the panel temporarily by pressing C L E A R . The set values can not be changed when the panel is activated by an ANTS navigator.

2.2.8 Off track preset panel b-yyyy m (a-xxxx ) aaaa ANGLE zzº

This is the OFFTRACK PRESET panel info display structure. Explanation of text and symbols are as follows:

a-xxxx Setpoint for off-track command. E.g. P-0150 means 150 meter to port. b-yyyy Actual off-track value. aaaa State of off-track function. Text - PROG Text - EXEC

An off-track manoeuvre can be programmed. The manoeuvre is being executed. execut ed.

zz Transition angle; allowed course deviation during manoeuvre in degrees.

Off-track command The offset is changed either by turning the rotary knob (10 m step), or by using using button buttonss PORT and STBD (1 m step). The procedure is carried out until the wanted position shift appears in the a xxxx display.


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Active keys ACTIVATE PRESET Executes the preset manoeuvre. INCREASE Increases value in zz display. DECREASE Decreases value in zz display. INFO ILLUM AUTO ON CLEAR OFF

Enables the INFO the INFO SELECT or INFO or INFO ALARM ALARM panel. panel. Enables ILLUMINATION Enables ILLUMINATION ADJUST panel. panel. Reenters the automatic steering mode. mode. Closes the panel. When depressed in 2-3 seconds, the autopilot will be turned off.

Note ! •

It is possible possibl e to program a manoeuvre, manoeuvr e, and save it till later by subsequen subs equently tly pressing pres sing C L E A R .

•

After a manoeuvr m anoeuvree has ha s been started starte d it is still possible possibl e to t o modify m odify its parameters. It might be necessary to activate (depress) the rotary knob before using it.

•

The turn rate or radius used for the manoeuvre corresponds to user parameters TURN MODE and and TURN aaa.

•

To stop a manoeuvre set off-track command to zero or restart ANTS.

2.2.9 Info panels Pressing INFO from the MAIN panel when an active alarm or warning is displayed, will open the INFO ALARM panel. panel. If there is no alarm, the INFO the INFO SELECT panel panel will open.

2.2.10 Info alarm panel aaaaaaaaaaaaaaa a

The alarm text viewer is invoked by pressing INFO.

Active keys INFO Goes to next message, if any. AUTO ON Reenters the automatic steering mode. mode. ILLUM Enables ILLUMINATION Enables ILLUMINATION ADJUST panel. panel. the INFO panels. panels. CLEAR Closes the INFO OFF When depressed in 2-3 seconds, the autopilot will be turned off.

Note ! • •

Alarm messages are listed li sted in a separate separ ate section. se ction. Whenever a failure exists, this panel precedes the INFO SELECT panel. To reach INFO SELECT press INFO until all alarm texts have been viewed.


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2.2.11 Info select panel mmmmmmmm SETUP ? This is the INFO the INFO SELECT panel panel info display structure. Explanation of PRESS nnnnnnnnnn text and symbols are as follows: mmmmmmm Selectable parameter group. Text USER User setup can setup can be selected. Text SEATRIAL Seatrial setup can setup can be selected. Text DOCKSIDE Dockside Dock side setup setu p can be selected. Text MASTER Master Maste r setup se tup can can be selected. nnnn nnnnnn nnnn nnnn nnn n Specif Specifier ier Text INCREASE INCREASE will enable setup. Text PASSWORD This will appear for DOCKSIDE . Parameters are enabled by pressing DECREASE while also pressing INCREASE.

Active keys INFO INCREASE AUTO ON ILLUM CLEAR OFF

Goes through submenu headers. Selects the indicated parameter submenu. Reenters the automatic steering mode. mode. Enables ILLUMINATION Enables ILLUMINATION ADJUST panel. panel. Exits INFO Exits INFO SELECT panel. panel. When depressed in 2-3 seconds, the autopilot will be turned off.

2.2.12 Info adjust panel mmmmmmmm PARAM:

This is the INFO the INFO ADJUST A DJUST panel panel info display structure. Explanation of nnnnnnnnn oooooo text and symbols are as follows:

mmmmmmm Selected parameter group. Text USER User setup can setup can be altered. Text SEATRIAL Seatrial setup can be altered. Text DOCKSIDE Dockside Dock side setup setu p can be altered. Text MASTER Master Mast er setup s etup is being viewed. viewe d. nnnnnnnnn Shows the name of the parameter currently selected. oooooo Shows the value of the parameter currently selected.

Active keys INFO INCREASE DECREASE AUTO ON

Goes through parameters in the selected sub menu. Increases the value of the currently selected parameter. Decreases the value of the currently selected parameter. Reenters the automatic steering mode. mode.

Enables ILLUMINATION ADJUST panel. panel. ILLUM Enables ILLUMINATION CLEAR Closes the INFO the INFO panels. panels. OFF When depressed in 2-3 seconds, the autopilot will be turned off.


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Note ! •

Available Availa ble parameter par ameterss are listed in a separate s eparate section. sectio n.

•

Master Mast er setup can only be altered alte red during duri ng installati insta llation, on, or after a master reset.

2.2.13 Alarm panel aaaaaaaaaaaaaaaa aaaaaaaaaaaaaaaa

The alarm panel is invoked automatically upon failure and warning conditions.

Active keys panel. CLEAR Acknowledge alarm and return to MAIN panel. OFF When depressed for a while, the autopilot will be turned off.

Notes

•

Alarm messages are listed li sted in a separate separ ate section. se ction.

•

Usually the alarm sounder is turned on when the ALARM panel is activated.

•

C L E A R

mutes the sounder and makes the alarm text disappear. However, as long as the failure exists, a warning message is flashed in the MAIN panel. Alarm texts can then be reviewed by pressing INFO .

2.2.14 Illumination adjust panel This is the ILLUMINATION the ILLUMINATION ADJUST panel panel info display structure. ILLUM

v

vvvvv Illumination setting.

Text DAY Text DUSK1 Text DUSK2 Text NIGHT

Day level

Night Night level level

Active keys INCREASE DECREASE AUTO ON ILLUM INFO TURN PRESET OFFTRACK PRESET CLEAR OFF

Increases illumination. illumination. Decreases illumination. Reenters the automatic steering mode. mode. Enables ILLUMINATION Enables ILLUMINATION ADJUST panel. panel. Enables the INFO the INFO SELECT or INFO or INFO ALARM ALARM panel. panel. Enables the TURN PRESET panel. panel. Enables the OFFTRACK PRESET panel. panel. Closes ILLUMINATION Closes ILLUMINATION ADJUST panel. panel. When depressed in 2-3 seconds, the autopilot will be turned off.


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2.2.15 Compass select panel mmmmmmmmmmmmmmmm cccccccccccccccc

This is the COMPASS SELECT panel panel info display structure. Explanation of text and symbols are as follows:

mmmmmmmmmmmmmmmm Compass usage Text MAIN COMPASS Main compass compas s can be selected. Text MONITOR COMPASS Monitor Monito r compass comp ass can can be selected. cccccccccccccccc Shows the compass currently selected. Text SYNCHRO 1:1 Gyrocompass 1:1 synchro input Text SYNCHRO 90:1 Gyrocompass 90:1 synchro input Text SYNCHRO 360:1 Gyrocompass 360:1 synchro input Text STEP Gyrocompass Step signal input Text MAGN COMP 1 First magnetic compass Text MAGN COMP 2 Second magnetic compass Text FLUXG COMP Fluxgate compass Text DIGIT Gyrocompass serial format Text DIGTMC Magnetic compass serial format

Active keys COMPASS SELECT INCREASE DECREASE ILLUM INFO CLEAR

Toggles between selection of main and main and monitor compasses. compasses. Selects new compass. Selects new compass. Enables ILLUMINATION Enables ILLUMINATION ADJUST panel. panel. Enables the INFO the INFO SELECT or INFO or INFO ALARM ALARM panel. panel. Closes COMPASS SELECT panel. panel.

OFF When depressed in 2-3 seconds, the autopilot will be turned off.

Note ! •

This panel can only be entered when in manual mode.

•

Only the installed compasses will be displayed from the list of compass options.


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Setting up the Autopilot This section contains an overview off all adjustable parameters of the Autopilot, and procedural descriptions of how to access and adjust the parameters. The parameters are divided in five different groups with different levels of access, depending of need for use. The groups are as follows: 1. “User setup. This group contains parameters that may need adjustment during voyage. 2. “Seatrial setup”. This group contains parameters that are set/adjusted during seatrial. 3. “Dockside setup” contains parameters that are permanently set. 4. “Master setup”. This menu contains the prime parameters for the vessel and must be entered with the required settings prior to any setting of other parameters. Ref. to paragraph 2.4.1. First startup. 5. “Service setup”. Note that this menu is for use by authorized personnel personnel only and is therefore therefore not accessibl accessiblee without without a special special password. password. The parameters parameters in this group are vital vital for the steering steering performance performance of of the vessel vessel and must not not be altered. altered.

Note !

The complete autopilot set up procedure starts with “Dockside preparation”, section 2.4, prior to setting up the different parameters as described described in sections 2.3 2.3 and 2.4. 2.4.

2.3.1 Adjustable parameters Below, all available setup parameters are presented together with a short description. Please note that only a few of the parameters need daily changes.

2.3.2 Accessing and adjusting the parameters To access a specific parameter; press INFO, until the INFO SELECT panel appears appears with the correct parameter parameter group name. If a user setup parameter parameter is to be accessed, accessed, the display display will show “USER SETUP PRESS INCREASE ”. At this point, press INCREASE once to open the INFO ADJUST panel, and continue by pressing INFO until the desired parameter display appears. To adjust a parameter; make sure the correct parameter has been accessed, and then change it by means of the INCREASE or DECREASE button.


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Note ! •

When accessing the dockside parameters you will be asked to present pres ent a password; passw ord; press I N C R E A S E and D E C R E A S E simultaneously

•

The proper procedure for adjusting the master setup parameters parame ters are slightly slight ly different differ ent from the above. The preparations , description is found in Dockside preparations , section sec tion 2.4. 2.4 .

2.3.3 User setup These parameters are to be tuned during sea trials, but may be readjusted whenever needed. USER SETUP: RUDD LIMIT

Rudder limit, degrees. Should be set wide enough to allow all acceptxx° able manoeuvres. The set limit will apply for a window around the rudder angle, calculated to obtain set turning radius or rate of turn. That angle is zero during course keeping. This reading is added to the monitor compass reading before

USER SETUP: COMP DIFF xx° ? comparing it with the main compass. Press INCREASE to

acknowledge the displayed difference between the main and monitor compasses.

USER SETUP: WAVE FILT

Wave filter ON or OFF. The wave filter will in many cases reduce the aaa rudder activity without significantly increasing the course deviation.

USER SETUP: OFF-CRS L

Off-course warning limit, degrees. Should be set wide enough to allow xx° course deviations acceptable in the current waters.

USER SETUP: COMPDIFF L

Compass difference warning limit, degrees. The setting should allow º for expected transient differences between the main and monitor comxx passes.

2.3.4 Seatrial setup These parameters are to be tuned during sea trials. They may be readjusted after gaining experience with the installation, but daily modifications are not recommend. SEATRIAL SETUP: SEA TRIAL aaaa

Sea trial quality indicator; is to decrease from 9999 to 0000 during sea trials (Ref. section 2.5.1). Acceleration length, meter. As described in Turning procedures, this

SEATRIAL SETUP: parameter determine determiness the rudder rudder usage during during turns. turns. ACC LENGTH xxx m parameter

Turn mode to use for immediate turns; ROT for rate turns or RAD for SEATRIAL SETUP: TURN MODE aaa radius turns. Turn rate or radius to use for immediate turns, deg/min or nautical

SEATRIAL SETUP: TURN aaa vvvvvv miles.


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Precision Rudder activity factor. This parameter tells the autopilot how SEATRIAL SETUP: much rudder it should use to stay on course. RUDD GAIN is initially RUDD GAIN x.x°/º set according to the rudder efficiency but can be adjusted later to achieve optimal performance. Reducing RUDD GAIN causes reduced rudder activity and thereby possible bigger deviations from set course. A value which is too high will give quick and increasing oscillations (sing) around set course. Economy rudder activity, percentage of precision rudder factor. SEATRIAL SETUP: ECON RUDD % xx Track response filter factor. Higher factor gives slower cross track SEATRIAL SETUP: TRACK RSP x.x controller. Warning limit for sharp turn; turn rate allowed at service speed. The

SEATRIAL SETUP: warning sounds when turn rate × rate × spe speed ed is is about to exceed TURN WARN xx º/m º/m TURN WARN × SRV SPEED .

Determines the minimum rudder angle command, degrees. The paSEATRIAL SETUP: MIN RUDD º rameter is used on vessels with poor rudder efficiency around zero x.x rudder angle. Minimum difference between rudder angle commands, degrees. The

SEATRIAL SETUP: DEADBAND x.x° result of increasing this value is less rudder commands. SEATRIAL SETUP: INIT ANGLE

Default course change in off-track manoeuvres, degrees. The value is found in the OFFTRACK PRESET panel panel each time the cross-track controller is restarted.

SEATRIAL SETUP: XTE FILTER

Cross track controller filter time constant. The output from the cross track controller is sent through a second order low pass filter. By increasing this value it is possible to slow down the response from sudden changes in the cross track error. This can be useful when track steering at very low speed.

SEATRIAL SETUP: XTE DAMP

Cross track controller filter damping factor. This parameter normally only applies when using traditional navigator.

SEATRIAL SETUP: Minimum turn radius during off-track manoeuvres and navigator turns, MIN RADIUS naut. miles.

2.3.5 Dockside setup These parameters are to be set during installation, and adjusted if required to match new installed equipment. DOCKSIDE SETUP: RUDD ccc aaa

Displays commanded rudder and actual rudder angle. – = port. Used for rudder feedback alignment (Ref. section 4.5, last page).


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DOCKSIDE SETUP: WATER LOG aaa

DOCKSIDE SETUP: WLOG FILT 10.0s

DOCKSIDE SETUP: GROUND LOG aaa

DOCKSIDE SETUP: GLOG FILT 10.0s

2-18

Water log; 200 (pulses per n. mile), VBW, VHW, VTG (NMEA 0183) or NAV NAV. Note that physically there is only one pulse and one NMEA log log input. input. Speed Speed can can also be be taken taken from the the NMEA NMEA 0183 VBW sentence on the navigator serial line, if present. To enable this, select NAV. Filter time constant for water log signal. Increase value to get more stable signal. If the signal is heavily filtered before being sent out from the water log, the value should be decreased to avoid double filtering. Notee that duri Not during ng autom automati aticc steering steering the amou amount nt of rudde rudderr is direct directly ly influenced by the water speed. If the water log is unstable, the steering performan perfo rmance ce may be be improve improved d by increa increasing sing the the filter filter value. value. If If the filter value is too high, the steering performance during speed changes will be decreased, especially for small ships. Ground log; 200 (pulses per n. mile), VBW, VHW, VTG (NMEA NAV. Note that physically there is only one pulse and one 0183) or NAV NMEA log log input. input. Speed Speed can can also be be taken taken from the the NMEA NMEA 0183 VBW sentence on the navigator serial line, if present. To enable this, select NAV. Filter time constant for ground log signal. Increase value to get more stable signal. If the signal is heavily filtered before being sent out from the ground log, the value should be decreased to avoid double filtering. Notee that Not that during during track track stee steering ring the the groun ground d log influ influence encess turning turning accuracy. If the ground log is unstable, the turning performance may be impro improved ved by by increa increasin sing g the fil filter ter valu value. e. If the the filte filterr value value is too too high, high, the steering performance during speed changes will be decreased, especially for small ships.

DOCKSIDE SETUP: New wayp waypoin ointt alarm alarm will will sound sound 30 30 second secondss before before a navig navigati ation on turn turn is aaa activated. TURN ACKN DOCKSIDE SETUP: aaa ALM SOUND

DOCKSIDE SETUP: BACKUP START DOCKSIDE SETUP: RESTORE START

Alarm sounder enabled, ON, or disabled, OFF. If the sounder is disabled, the autopilot must be connected to an external alarm system through the alarm output switch. To save current parameters for later restoring press INCREASE. Will read DONE if the operation succeeded or FAILED if not.

To load parameters stored earlier. Will read DONE if the operation succeeded or FAILED if not.


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2.3.6 Master setup/Master reset These parameters are to be set during installation. They are special in the sense that to change any of them, a master reset of the adaption system must be made. During normal operation the parameter values can only be viewed. Ship’s service speed, knots. The value must be set somewhere MASTER SETUP: SRV SPEED kn kn between maximu maximum m speed speed and and the half half of of maximu maximum m speed. speed. xx Ship’s Length at Water Line, meter MASTER SETUP: xxx SHIP LWL m Rudder efficiency or manoeuvrability class; LOW, MED or HIGH. ComMASTER SETUP: RUDD EFF other vessels vessels with with same same length length and speed. speed. aaaa pared to other MASTER SETUP: OPTIONS PRESS PASSWORD TO MASTER RESET

Software option code. To be zero unless specified otherwise in x appendices. To make a master reset, press the OFF button while at the same time pressing pressing INCREASE. Hold both down until all displays are blank. The system will now start from scratch, using its factory default settings.

2.3.7 Service setup These parameters are to be set during installation, and adjusted if required to match new installed equipment. Only authorized personnel should adjust these values. SERVICE SETUP: aaa NAVIGATOR

Navigator cross-track cross-track sentence; OFF, APB for traditional navigators, or TNT for ANTS navigators.

SERVICE SETUP: FU/A SCALE xx º

Determines the scaling of the follow-up input, degrees of rudder command wanted with follow-up tiller in extreme hardover position.

SERVICE SETUP: RUDD COMM aa

Indicates the rudder control method to be used: ANLG for analogue (± 10V), or SOLN for solenoid (bang bang) control.

Scale factor used to adjust rudder deflection to equalize measured SERVICE SETUP: RUDD SCALE x.x rudder angle and commanded rudder angle. Only used for analogue output from autopilot (D93 Distribution Unit). SERVICE SETUP: SER GYRO aa SERVICE SETUP: WAVE ADAPT aaa

SERVICE SETUP: WF FACTOR xxx SERVICE SETUP: RUDD FILT x.xs

Selection of gyro serial input protocol; NONE, HDT (NMEA) or RGC11 (proprietary). Wave frequency estimation; ON or OFF.

Wave filter noise variance factor; Gives the factor between noise variance of the ship and noise variance of the wave filter. Rudder command low pass filter constant. Increase value to get more slowly varying rudder commands.


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SERVICE SETUP: STRIPCHART aaa

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Debug data to be transmitted on the serial debug channel (refer to section 4.6). TSF is the original stripchart sentence designed to be displayed online using a LabVIEW application on a portable PC while TSG, TSE and TSF is designed for logging and offline processing. TSG is a collection of the most important autopilot data. TSE consist of parameter parameter identi identificat fication ion data. data. TSN transmit navigation data used by the autopilot.


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2.4

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Dockside preparations This sections describes the procedures to follow when starting up the autopilot for the first time and how to ensure that everything is ready for sea trial.

2.4.1 First startup 1.

Make sure that the mode selector is in position “manual”, to disengage the autopilot. Assuming that the electrical installation has been completed; power up the autopilot by pressing the AUTO ON button. After a brief initialization period, one of two ( a) or b)) situations arise... a)

The lower line of the info display shows “.... AUTOPILOT ”. Check that the master set-up parameters have been set correctly. These are accessed by pressing INFO, until the INFO the INFO SELECT panel panel shows “MASTER SETUP PRESS INCREASE ”. At this point, press INCREASE once to view the first parameter in the master set-up list. Advance through the list by pressing INFO. If chang c hanges es are a re requi r equired red to to the master set-up (refer to section 2.3.6), 2.3 .6), includin including g SEA TRIAL which should read 9999; press INFO until the display flashes “PRESS PASSWORD TO MASTER RESET ”. Then press the OFF button while at the same time pressing INCREASE. Hold both down until all displays are blank. The system will start from scratch using the factory default settings. Now repeat point 1. If no chang c hanges es are require req uired d proceed proceed to point 2.

b)

Note !

The info display shows “PRESS INFO TO MASTER SETUP”. In this case, press INFO and supply the correct master set-up parameters before proceeding.

The SRV SPEED setting must be set between maximum and the half of maximum speed. 2.

Press COMPASS SELECT and ensure that the correct MAIN COMPASS is enabled. Also make sure that the reading in the course display is correct. Press CLEAR to return to the MAIN panel. panel.

3.

Check that all dockside set-up parameters are as wanted. The procedure procedure for accessin accessing g them is found found in Accessing Accessing and adjusting parameters, paragraph 2.3.2. 2.3 .2. Adjust if needed.


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2-22

4.

Give reasonable values to the seatrial seatria l setup setup parameters: These ACC LENGTH , TURN MODE and TURN aaa. parameters parameters are important important for the vessel’s vessel’s performance performance during turns. It is recommended to read about in Theory of operation page 1-10. 1-10.

5.

Return to the main panel by pressing CLEAR . If the lower line of the info display shows “ECON AUTOPILOT ”, press PREC / ECON to make it show “PREC AUTOPILOT ”.

2.4.2 Autopilot test setup In order to test that the autopilot actually gain control of the rudder when in automatic steering mode it is necessary to simulate speed input. This can be done by setting WATER LOG and GROUND LOG to a NMEA sentence not present (section 2.3.5). The autopilot will then use the entered SRV SPEED as speed input and move the rudder accordingly. When this is done, engage automatic steering as described in the Quick reference, section 2.1. The alarms Water log and Ground log will sound. Mute the alarm sound and ignore the flashing info display. Three things need to be tested before the autopilot is ready: 1. Rudder moves in the right direction. When a port course change is made (CCW turn on the rotary knob), the rudder shall move to port. If not, check the electrical connections, eventually exchange port and starboard cables to the steering gear. 2. Rudder feedback is correct mounted and calibrated. See Adjusting in RF14XU Rudder Feedback Unit, section 4.5, for details. 3. Actual rudder equals rudder command. To verify this, set RUDD LIMIT to 10° and make a course change. When the Rudder Limit alarm sounds and the rudder stops, the feedback should read 10. If not, check D90/D91/D92/D93 Distribution Unit, section 4.4 to see if the right adjustments are made. When using analogue rudder signal it may be required to use RUDD SCALE (section 2.3.4 to obtain proper adjustment of the rudder control signal from the autopilot.


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2.5

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Sea trial procedure This section describes the procedures to follow when the autopilot is in use for the first time or after a master reset . The activity is here called the sea trial . The purpose is to let the autopilot learn the ships manoeuvring characteristics. During seatrial the autopilot is extra sensitive to the ships heading changes and rudder movement and it is therefore important that the procedure below is followed carefully. The (automatic steering) procedure will normally take 30 to 60 minutes to perform. perform.

2.5.1 Automatic steering Do not use the autopilot before reaching open waters. The waters should allow speeds close to the vessel’s service speed, and a lot of manoeuvring. The autopilot might not perform well right after a master reset. 1. When in open waters, enter the automatic steering mode as described in the Quick reference. re ference. Immediately; Immediately; start making a series of port and starboard course changes. Start with a magnitude of 5 degrees to both port and starboard. Increase the course changes in steps of 5 to 40 degrees.

Note !

During this manouvring the speed of the vessel should at least be 80% of the service speed. While manoeuvring you should regularly check on Seatrial setup the SEA TRIAL parameter. This is a quality indicator, starting at 9999 after a master reset, and decreasing decreasing to to 0000, which indicate that the sea trial is finished. Each digit plays a specific role, indicating (from left to right) the further need for port turns, turns , port rudder usage, star usage, starboar board d rudder ru dder usage usage and star and starboard board turns. turns . It is likely that the turn indicators turn indicators will reach 0 before the rudder indicators. To make these indicators decrease faster it is necessary to make the autopilot use more rudder. This can be done by starting a turn and then, before the turn is finished make a new turn in the opposite direction. However, when the SEA TRIAL indicator have reached 0330 or lower and the steering is acceptable you may consider this part of the sea trial done and let the indicator continue to decrease during normal manoeuvring. 2. Tune the following seatr following seatrial ial setup setup parameters of the course-keeping controller: RUDD GAIN , MIN RUDD and DEADBAND . Their functions are explained in section Seatrial setup, section 2.3.4. Useful hints can be found in section Control system s ystem performanc per formance, e, section 2.6.6. Due to the need for exposure to different disturbance patterns, patterns, the parameters parameters may have to be readjusted readjusted after gaining gaining experience with the autopilot.


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3. Return to the main panel by pressing CLEAR . If the lower line of the info display shows “PREC AUTOPILOT ”, switch to the economy submode by pressing PREC / ECON. The display shows “ECON AUTOPILOT ”. Now tune the ECON RUDD parameter in the same way as above. A ECON RUDD of 75% indicates that the economy submode will allow 25% more course deviation than precision preci sion submode given under the same weather and load conditions. 4. Finally, tune the seatri the seatrial al setup set up parameters parameters determining the vessel’s behav behavior ior during during turns turns:: ACC LENGTH , TURN MODE and TURN aaa. Again it is recommended to read about in Theory of operation, operation, paragraph 1.3.2.

2.5.2 Navigator control To tune the cross-track controller; program a long, straight leg on the navigator. Enter the navigator control mode as described in paragraph paragraph 2.1.12. 2.1.12. 1. Adjust parameter TRACK RSP which determines the effect of the corrections made by the cross-track controller. Increasing TRACK RSP means less corrections. The optimal setting will often depend on the accuracy of the position data, and the filtering made within the navigator. Check the navigator user manual for adjustment possi possibi bili litie ties. s. 2. Try one or two off-track manoeuvres. Readjust TRACK RSP if necessary. 3. Return to the automatic steering mode; on the navigator, program and load a route containing a series of typical turns. If you use a conventional navigator (GPS) you may also wish to adjust the navigator’s waypoint arrival circle (not implemented yet). Reenter the navigator control mode. Ideally the reference point of the navigator’s position should be the vessel’s pivot point. That is the point point about which which the ship seems seems to rotate when when respond responding ing to the rudder. You may be able to define the reference point when setting up the navigator. Moving this point aft delays Wheel-Over, and vice verca. If the ship is turning “inside” track the pivot point should be moved aft on the ANTS navigator and vice versa.

2.5.3 Save settings After the sea trial procedure, it is important to save the settings for later use. This is done by turning off the autopilot as described in the Quick reference, section 2.1. In order to restore these settings later, in case of a malfunction, it is necessary to make a backup copy of current settings. There are two ways of doing this:


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Internal backup

The internal backup is stored in the non-volatile memory of the autopilot. How to make an internal backup is described in the Dockside setup, paragraph 2.3.5. External backup

The external backup is stored on a special backup diskette. How to use this diskette is described in External parameter backup and restore, section 5.2. It is recommended to both make an internal backup and an external backup backup after the the sea trial trial procedure procedure is finish finished. ed.

2.5.4 Table of settings The following table lists all possible settings, their range and initial values. Space is provided to fill in the settings made before and after the sea trial, and for adjustments at a later time.


Manual AP2000

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