Operator manual PR 6000 part 2 MÁY ĐIỆN HÀNG HẢI

3.2.3

Stop (including emergency stop)
Turn the steering wheel to set the pointer of the rudder angle indicator at the ce nter.
Turn the mode selection switch MODE to HAND
Turn the system selection switch SYSTEM to OFF and turn OFF the power.
Make sure that various illuminations and displays go off.
Then, perform operation for ending at the steering gear side a nd operation for confirming
ending, as necessary.
Perform (1) - (3) in the same way for emergency stop.

(1 )

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(2)
(3)
(4)
(5)
(6)

3.2.4

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Emergency steering method

If a trouble or failure occurs during stee ring, perform the following emergency steering.
(1)

I Emergency steering I I

a.

b.

[wheel house]

~'hen a trouble or failure occurs during the AUTO steering (gyro-compass or magnetic compass

is being used), the JLWD steering, remote auto steering or remote hand steering modes, take
navigational safety means first such as reducing the ship's speed.
Tum the mode selection switch MODE to NFU I (non-follow up steering) and steer with the
non-follow up steering lever.

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(2) I Emergency steering 2 I [wheel house]
If the non·follow up steering cannot be regained, turn the system selection switch I SYSTEM:
to another system (from 'No.1' position to 'No.2' position or vice versa). Then, steer with
the non·follow up steering lever.
(3)

! Emergency steering 3 I [wheel house]
If the steering control still cannot be regained, stop the abnormal steering gear and steer
with the another steering gear.

(4)

I Emergency steering 4 i

[wheel house I steering gear room]

a.

When the steering control cannot be regained by the above methods, take a means such
as ordering astern of the engine, etc., to stop the ship safety.

b.

Make the emergency steering according to the emergency steering procedure for the
steering gear.

3·7



3.2.6 Auto steering method
Refer to 3.2.11 for adjustment of auto steering control knobs , etc., used for auto steering.

&WARNING
.Do not use the auto steering in confined sea areas or narrow channels. In ~ddition, do
not switch to the auto steering too.

Prompt avoidance is not in time and may cause collision or stranding .
• When the rudder angle selection switch is installed. select the maximum rudder angle
of 50' during auto steering.
If the maximum rudder of 70' is set and used as is. own ship may overturn with a rudder
of 70' caused by malfunction of auto course changing .
• When the PID control mode is used, the auto steering adju sting kn obs [RUDDER
(ratio). RA TE. WEATHER] should surely be readjusted if the load condition and the
ship's speed are changed or weather and sea state vary.
The set course cannot be maintained when these knobs are set improperly or not being
readjusted. and may cause collision of the ship or stranding .
• Keep a strict "look out" (watch), in particular. during auto steering. Careless "look
out" (watch) may cause collision or stranding .
• When trouble happens on the gyro-compass. heading monitor (option) or the speed log
(option). make sure the repeated condition of the bearing of the gyro-compass and the
speed of the speed log (option). (Push the switch I of times. then make sure the bearing and the speed. For that method. refer to 3.2 .12.)
If these data are not correct. the auto steering may not operate properly .
• When manual ship's speed input is selected and if ship's speed is not set correctly , the
autopilot can not operate properly due to yawing etc •.
Therefore. when manual ship's speed input is selected. set the ship's speed referring to
3.2.12 (I).

&WARNING
.While the ship's speed is low. when the mode is switched to the auto steering frolllthe
other steering modes, the set course may not be able to maintain . Steer under
monitoring the ship's motion .
• Make sure of the safety around own shi p befo re changing the course during auto
steering .
• Course changing during auto steering can be made to 359' of right or left direction by
rotating the course selling knob. A large angle course changing. however, is

dangerous. and a course changing wit.hin 45' should be made at a time and repeat that,
if necessary. to deal with unexpected dangerous situation.
When a larger course changing than this is performed by any chance. monitor
malfunctions and dangerous conditions till completion of the course changing. and
take a navigational safety means if necessary.

ACAUTION
eDuring the auto steering PID control mode is used. various knobs in the auto steering
adjusting section should be adjusted according to the ship's speed. load condition and
weather, etc. Remaining at the initial settings as they are may cause sailing without
optimum conditions.
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At this time, when the course deviati o n (CO. DEV : COURSE DEVIATION ) of
the bar-graph selection indicator of the AUTO un it is lightin g. the deviati on is
shown in (he bar-graph indicator, and the course de viation reduces with the
turning aud goes off when the ship is on the new course.
• ROT (rate of turn) L1ncler turning is controlled with in the specified turn rat e se t
value.
(4) Auto steeling with magnetic compass (When the bearing sensor is
a.

Confirm the magnetic compass variation

b.

Turn the ship's heading by hand steering to the desired course.

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magnetic compass.)

Confirm that the ship sails along the desired course .
c.

Confirm the selling positions of various adjusting controls for aut o steering.

d.

Turn the mode selection switch MODE Ito the AUTO positi on
The ship goes straight along the set course (course keeping).

e.

Auto course changing
For course changing during auto steering, turn the course setting knob of the AUTO
unit to input the desired magnetic course bearing into the SET. COURSE display ,
and the rudder is automaticall y taken for the ship to turn , and the ship enters the new
course (when the variation has been corrected at the magnetic compass side, input
the tlue heading).

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(5) Refer to 3.2. I I for adjusting method of the auto unit adjusting controls for auto

steering .

3.2,7 Remote auto steering (NAV) method (ol)lion)
[Remote auto steering (NAV) is equivalenl to TRACK control steering.]

011 the remote auto s teering (NAY) method, two methods are inc luded and AUTO-NA V
which is controlled w ith selling course or RC· NA Y which is co ntroll ed wi th order rudder
angle can be selected .
On the AUTO-NA V which is controlled with selling course , the ship's rudder is controlled
w ith the received data fo r automatic steering from external navigation equipment
automatically.
On the RC-NA V which is controlled with order tUdder angle, the ship's rudder is controlled
with the received order rudder angle signal from external navigation equipmellt directly.
The operation of both method is almost same then operation for AUTO-NAY is explained in
this section. Also some differed ports of RC-NA V are included.

&WARNING
.00 not use the remote auto steering (NA V) in confined sea areas or naJTQw channels as a rule .
For using it by any chance in such areas, suitable navigational means such as secllling
safety around or reducing speed should be taken . If not, prompt acti on cannot be
made, and may cause collision or stranding .
• Keep a strict "look out" (watch), in particular, during remote aUla steering. Careless
"look out" (watch) may cause collision or stranding .
• If an alarm generated in the autopilot or gyro-compass, heading monitor (option) ,
speed log (option) and tracking navigational equipment side during the remote auto
steering, make sure at once of the content. When an abnormality affecting [he steering
is generating, switch at once to one of the other steering modes.
3 - II

(6) Note that the setting for RUDDER LIMIT on the AUTO UNIT is not efTective in the course changing
during remote auto steering.
(7) When communication with the external navigation equipment becomes abnonnal. "Communication is

IRc Ml. E09 .1 and E09 .3/E09.2 and E 09.4} occur.
indicator [R] blinks. I AUTO I is lit. Wllen these alarm occur in the

invalid" alarm / "Not Ready" alarm tAUTION.
TIlen the steering mode

course changing(tum modeJ, the ship is automatically changed to the set course(next leg course) as
displayed on the SET. COURSE display. and dIe ship is kept going on the course. When these alarm
occur in the course keeping[straight leg modeJ. the ship is kept going on the set course(the received
last normal set course) as displayed on the SET. COURSE display.
(8) According to the speci.fjcation of the connected navigation equipment and during [AUTO-NAV]. the
course keeping mode selection can select only the ADPT control mode (cannot select the PID control
mode) on the some systems.

3_2.8 Remote hand steering (RC : Remote Control) method (option)

A\WARNING
e Do not use the remote hand steering (RC) in confined sea areas or narrow channels.
Prompt avoidance is not in time and may cause collision or stranding.
e During the remote hand steering, always confirm the rudder angle and its direction displayed on
the rudder angle receiver (indicator). ff not. when failure generates in the remote control
steering line. discovering dle failure may be delayed to cause collision or stranding.
eSet the remote control steering knob at the center before switching to the remote hand steering
mode from the odler steering mode. rf not, a large rudder may be taken afier switching to cause
collision or stranding_

elf an alaml generated in the autopilot or remote control unit side during the remote hand
steering, make sure at once of the content. When an abnonnality affecting the steering is
generatinR, switch at once to the other steering mode.
(I) For the specification in which confirmation aclion at the remote hand steering location is not
determined.
a.

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When the mode selection switch MODE is turned to ~ • the mode becomes the RC mode
not selected condition. (The steering mode indicator ~ blinks. The hand steering is possible.)

0

b.

switch. of the remote selection unit while pressing the steering
At this time. pressing the
location switch moves the mode to the remote steering mode and the lamp of the steering location
comes on. The steering mode indicator [!£J becomes continuous lighting from blinking.
Turn the remote control steering knob to steer.

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(3) For the ~p ecifi c a ti o n in whi ch the steering selec,ion sw itc h is in tlie remote hand
steering location (the loc ation where the remote control is connected) .

a. When the steering mode selection switch of the facia panel has been in RC
press
the steering selection switch in the remote control steering location, and the buzzer
sounds and the selection indicator blinks. When pressin g the steering selec tion
switch co ntinuously till the indicator lights , the remote control at that locati o n
becomes possible. When pressing the steering selection switch at the other loca tion
or changing the steering locatioll at the remote control selection lInit of the facia
panel or turning the mode selection switch to the other positions than RC
the
buzzer sounds again and the selection indi cator goes off, and the re mote control at
that location becomes impossible.
b. Turn the remote cOlltrol steering knob to steer.

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3.2,9 Non-follow up steering (NFU) method

&CAUTION
.Perfonn non-follow up steering to confirm operation of the steering system at least
once every time when the operator changes .
• The rudder is taken continuously during the lever is kept turned . Steer while seeing the
rudder angle receiver (indicator) . A s maller or larger rudder angJe than an expected
value may cause trouble in steering and may result in collision or stranding.

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(1) Turn the steering mode selection switch to the non-follow up position NFU
The steering mode becomes the non-follow up steei'ing and the steering mode
indicator NFU lights.
(2) Throwing the non-follow up steering lever in one direction moves the rudder in the

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same direction . The rudder is taken during turning the lever, and the rudder stops
motion when the lever is returned to the neutral position.
(3) To return the rudder to the center, turn the lever in the reverse direction tili the rudder
returns to the center while seeing the rudder angle receiver (indicator).

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And selection of ADPT/PlD is made by selling ADPT course keeping mode I PID
manual weather adjustment.
In the PID or ADPT steering mode, these control knobs perfonn adjusllnents (selections)
shown in Table 3-1.
Table 3-1 Auto steering adjusting control knobs (fullctions) for AUTO modes

AUTO modes

Control item

PID

ADPT
option)

(Control knobs)

Weather adjustment (WEATHER)- - - Manual only with ADPT

0
0
0

Course keeping mode selection (OPN/CNf)

-

Pilot watch setting (PILOT WATCH)

0
0

Rate of turn (RATE)
Rudder ratio (RUDDER)

Rudder angle limit selling (RUDDER LIMIT)

-

0
0
0

Note: 0 shows function . - shows no function .
(3) Although these conU'ols have correctly been adjusted by TOKIMEC service engineers in

the trial run at the shipyard, the proper values may vary depending on the ship load
condition and sea state. Readjust these controls in the procedures shown below .
ADPT course keeping mode (OPN/CNf) (option)
PID weather adjustment (WEATHER)
Rate of turn (RATE)

Rudder angle limit
(RUDDER LIMIT)

ROOOER
l .... '

Rudder angle limit
(RUDDER LIMIT)

Pilot watch
(PILOT WATCH)

Rudder ratio
(RUDDER)

No.1 System

No .2 System
Fig. 3-7

Auto steering adjusting section (A UTO unit)

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\Vhen not overshoot of ship's heading and it doesn't enter a set course easily, RATE knob is
lowered by I ~ 2 graduation as shown in the figure below

Amount

of course
cnangmg

~ ~~---------------------------------------Tl!Tle

Fig. 3-7a(3) Case of RATE value large (Not overshoot of ship's heading)

b.

Rudder angle ratio (RUDDER)
The optimum value of rudder ratio changes depending on the ship's speed.
Set the RLUDER knob at the optimum position till now (if unknown, set at [4].).
Set the RATE knob at the optimum position.
When adjusting RUDDER, set to the WEATHER knob at [01.
Under such a condition, change the RUDDER by 1-2 graduation under observing the yawing width

in the straight going in about 10 minutes, and set the RUDDER at the position where the yawing
width becomes minimum.
<Supplement>
When the setting of the rudder angle ratio is large, ship's heading tends to swing at a short cycle
and to grow gradually the width of swinging. Moreover, the amount of steer at course keeping I
course changing grows. \Vhen course changing overshoot grows.
When the setting of the rudder angle ratio is smail, ship's heading tends to swing at a long cycle
compared with a large setting. Moreover, the function to settle ship's heading to the influences of
external disturbances such as waves and the winds is degraded though the amount of the steer of
course keeping ! course changing rudder becomes small.

c.

Weather adjustment (WEATHER)
Weather adjustment has automatic weather adjustment(fOPN I CNF(with ADPT controljor fAUTO
(without ADPT control)]) and manual weather adjustment (O~ I 0).
Refer to the clause of the course keeping mode selection for fOPN ; I fCNF J (with ADPT control)
setting.
With position of f AUTO;, when setting this position weather adjustment is automatically done. If
sets to automatic weather adjustment and there is no problem in the steer, set this position.
When manual weather adjustment, it adjusts it according to the change of the weather and sea
condition by the following methods.
It is a desirable condition that the ship goes straight with a rudder angle as small as possible (a lower
angle than SO is desirable.) and a less number of rudder operations (less than 6 times a minute is
desirable .).
The course keeping capability becomes better with [ a smaller value 1than the optimum value, but the
number of rudder takings with a large rudder angle becomes more than necessity
3-19

&WARNING
• This system has a functi on to specify the tum rate at the automatic course changing in the auto
steering or remote auto steering (AUTO-NAY), but sometimes the specified tum rate may not be
attained due to weather, sea condition, ship speed, load, draft, trim, ship-motion character, and the
amount of course changing, etc_ In such case, always conflrnl surrounding safety whenever the
auto steering is being steered in the auto steering or remote auto steering (AUTO-NAY) because
there is possibility that the actual COurse has changed from the expected one. In the event of failure
to confirm the surrounding safety, it may cause collision of the ship or stranding.
(4)

Specified turn rate order (

I R.OT. I rate of tum)

Pressing the AUTO unit 1<1 SEL. I switch a number of times lights the data selection indicator
I KO.T. I and shows the rate of tum (unit deg/min).
At this time, pressing the DATA CHANGE switch located at the lower right shows the turn
rate order and the displayed value can be changed by pressing
or
while pressing
DATA I CHANGE I
This value becomes the tum rate order during automatic course changing. The setting, however,
cannot be changed during automatic course changing and remote auto steering with setting
course (AUTO-NAY) (option).
~'hen this setting is OFF, the ship does not turn at the constant rate of tum. The I R.O.T. I
display blinks during turning at the specified tum rate order in automatic course changing.
The tum rate order from external navigation equipment is displayed when auto steering with
setting course (AUTO-NAV) is selected.
However OFf is displayed when no turn rate order type equipment is used.

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1-0 I I+@I



... _ - .. _ - - - - - - -- - - -- - - - - - - - -

(2) Rudder Angle Indi cator (opti o n)
All data selection indicators and bar graph selection indicator put out the lights when
pressing the I back unit is displa yed a numerical value and baf graph in the data di splay and har
graph display . ''~ODd '' is displayed in the data display. Refer to 2.4 (2)

® a and b.

(3 ) Alarm detail display (ERR display)

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The ERR of the data selection indicator lights when pressing the I switch number of times, and the alarm detail number is displayed . When plural
alarms generate, the other alarm delail number is displayed by pressing [QJ or

~ while pressing the DATA CHANGE switch . Refer to 4.3 the
troubleshooting countermeasure table for the meanings and countermeasures .

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(4) Rate of turn (R.OT) display
The I R.O.T. 1 of the data selection indicator lights when pressing the I switch number of times, and the rate of turn (R.O.T.) (unit deg/ min ) is di splayed .
The turn rate order can be specified when the R.OT is displayed . For that method,
refer to 3.2.11 (4).
(5) Ship's heading (HOG) display
The HDG of the data selection indicator lights when pressing the I number of times, and ship's head ing (unit de g) is displayed in the data display.

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(6) All display lamps light by pressing the LAMP TEST switch and the buzzer
sounds. At this time. the dimmer is released and aU lamps light with the highest
illumination .
(7 ) Dimmer (DIMMER)

Illumination of display lamps, etc., darkens by pressing the I -0 Iswitch and brightens

by pressing the ~ switch. Adjust it to match brightness around.

3.2.13

OI1eJ"ating method when alarm gencl"aled
(I) Operation when alarm is generating
After confirming the name of the blinking indicator lamp in the AUTO unit . press the
ALARM ACK switch to stop tbe buzzer sound. The group alarm indicator
changes from blinking to continuous lighting. Lighting of the individual alann indicator
shows continuation of the alarm condition, and not lighting of the individual alarm
indicator shows recovery of the alarm condition.

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(2) Confirmation of generating alarm detail number
When the generating alarm detailed content is to be known for check and maintenance.
Further, by
press the I pressing I -0 I or 00 while pressing the OAT A I CHANGE 1switch, the other
alarm detail number can be called up.
Every pressing the ~ switch displays Ihe alarm generated after currently

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3.2.14

Initial selling proceuun> for Lhe GYI'o-Log III'
. The following procedure is required to execute whenever the gyro bearing output is olher
Ihan serial signal (when sLep/synchro signal) .
. This operation must be performed while not in turning.
(I) Place the system selection switch in "No. I" or "No.2" position.
OFF

N°rJJ5'

NO Y7XOI
\LJ
OFF

OFF

NO ~O '
OR

(2) Confirm Ihal the mode selection switch is ill HAND position (other than "AUTO" I

·'ROT"· "NAV").

f
U
AUTOm
fWD

RC

(Optional)

(3) Confirm that the data display of AUTO unit displays heading ("HOG" lamp is IiI). If
"HOG" is notliL, make "HOG" lit by pushing "SEL" switch some limes.

IHDGII ROT I
ISPD II ERR I
(4) Continue to push "CHANGE" switch of AUTO unit until to the ilem (7).
(Do not remove "CHANGE" switch until the iuitial heading input completed.)

ICHANGE I

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'-_+:.....

L I_ _

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Continue Lo push it. (After 5 seconds it proceed to (5)
(5) "GY rc" is displayed in the data display of AUTO unit.
(The display of "GYre " means that illums into Ihe inilial inpul mode .)

D8JBD
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3.3

MislIse (Mis-ope.·alion) 311d Countermeasures

PROHIBITION
(I )Wetting the autopilot operation unit (facia panel) by water or drink may caLIse

growing mold or performance reduction.
Do not steer or operate with drinking water, etc .
Wipe off liquid at once if the stand is wetted.

Proper use of this system gives full functions of the system.
The following phenomena (operation), however, will occur by miss LIse or miss handling for
other than the original purpose, which TOKIMEC can fore se.e.

NO Phenomena (operation) in misuse
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Countermeasure

CD

When operating the steering mode

Be sure to confirm that when the steering

selection switch instead of the system

mode selection switch or the system

selection switch or vice versa by mistake .

selection switch is operated, the steering
mode indicator or the system indicator
is changed over.
(2)

Understand the difference between the
steering mode selection switch and the
system selection switch by each position
of the left and right, shapes of knobs and
length of switching sound.

2

Course does not change even by turning

The course does not change by turning the

the course setting knob .

knob only to prevent malfunction.
Turn the course setting knob while pressing the
knob.

3

The display of the SET. COURSE display Stop turning and release the hand from the
changes during turning the course setting

knob. The system recognizes completion of

knob, but the course does not change.

the course selling, and the ship starts course
changing.

4

Adjusted values do not change even by

Use control knobs (5 pes) located at the right side

turning knobs of the auto steering

when No.1 system is selected with the (pilot)

adjusting section.

system selection switch, and knobs located at the
left side (5 pes) when No.2 system is selected.
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Countermeasure

NO Phenomena (operation) in misuse

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The compass repeater cannot be

Synchronize the repeater after turning

sy nchronized. (The repeater

repeater switch located at the lower left repeater

.,yncllronizing knob is too heavy to tum)

unil to OFF (Refer to 3.2.1 (I) b about

The compass repeater does not follow-up synchronizing method).
Be sure to return the repeater switch to ON

the gyro bearing.

after synchronizing the repeater.
9

The dimmer (illumination adjustment) for The dimmer for the compass repeater or the
the compass repeater or the order rudder

order rudder angle indicator is independently

angle indicator is inoperative.

adjusted .

Adjust with the adjusting knob in

each unit.
10

The

I WHL

OFF

I alarm generales in

In the steering mode without using the steering

other modes Iban the hand steering

wheel, be sure to position Ihe steering wheel at

(HAND) mode when turning the steerillg the center.

11

For details of this alarm , refer to

wheel.

TS-14 in Table 4.2 of this lD3.nuaL

The ship's speed indicator (option) of the

When pressing the

data displa y is not correct.

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SPD

lighL~,

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I indicator the data selection indicator

the ship's speed input setting is displayed

by pressing the

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CHANGE

I switch.

When this setting is manual , change the set
value to match the current ship's speed.

For

olher selling. select Ihe inpul signal source
according to 3.2. 12 (I) of this manuaL
12 The Data selection indicator is off and
only
"000 d" is displayed in the data
display, or nothing displayed.

The display of " 000 d" indicates Ihe rudder
angle senl from the following transmilter and it
means that the rudder is in center position (with
optional specs.).
What nothing displayed is due 10 simply in blank
display and HDG goes 10 lit by pushing Ollce
to 2-4 (2) @b).

3 -29



3.4

Description for an optional Override steering feature

3.4.1

Construction

· Override reset unit (Normally installed in steering stand)
Either one of follows should be selected.
· NFU steering lever type (OVERRIDE NFU CONTROLLER [to be used with Override reset unit j)
· FU

3.4.2

steering knob type (Fe OVERRIDE UNIT)

Steering modes available witb override steering
Override steering is normally available other than non-follow up steering. (In accordance with a

specific steering specification, the steering modes available with override is changed.)
When the Ready lamp is lit, override steering is available . (Refer to Fig. 3-11 , 3-12)

3.4.3 Override steering method
3.4.3.1 In case of NFU override
(I) Starting of override steering
a.

Conftrm that a Ready lamp for OVERRIDE NFU CONTROLLER (Override Reset Unit) is turned
on.

b.

Pull the pin stopper inserted in the OVERRIDE NrU CONTROLLER out and turn the lever as
desired direction, Then steering control is overtaken to the OVERRIDE NFU CO'ITROLLER and is

available with the lever. (~ indicator of this controller is lit.) At this time, a intermittent sound
sounds at the steering stand side, and the then chosen steering mode indicator blinks. And ~ lamp
in the Override Reset Unit is lit.

c.

The rudder is taken during turning the lever, and the rudder stops motion when the lever is returned to
the neutral position.

d. To return the rudder to the center, turn the lever in the reverse direction till the rudder returns to the
center while seeing the rudder angle receiver (indicator).
e.

Note that settings for PILOT WATCH and R UDDER LIMIT are not effective while override steering.

f.

While this steering lever is kept turned and the rudder follow normally during override steering, a
quick intermittent sound "Pip, pip, pip, --." sounds at the steering position.

(2) Stop 0 f override steering
a. For releasing override steering, push the

IRESETjswitch

on the Override Reset Unit at the steering

position or in the steering stand to return to the original steering mode. The other way to release is to
turn the mode selection switch to the other steering mode like non-follow up (NFU) steering mode.
b. After releasing override steering, when to the auto steering, the actual heading just after the override

steering is used as the auto steering set course.
c, After releasing override steering, when to the remote auto steering (NAV) , the actual heading just after
the override steering is used as the auto steering set course. At the moment, a heading order if provided
from any external navigation equipment is invalid for auto steering and then the alarm for the external
set course invalid (k:AUTIONl ~ E 13.1) is activated. If the remote auto steering is desired to resume,
once turn the mode selection switch to the other steering mode and select the remote auto steering
agatn.
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