Operator manual PR 6000 part 1 MÁY ĐIỆN HÀNG HẢI

Bài giảng Máy điện hàng hải biên soạn có nội dung trình bày các kiến thức cơ bản về máy đo sâu hàng hải, tốc độ kế, la bàn con quay, máy lái tự động. Tham khảo nội dung bài giảng để hiểu rõ hơn về các nội dung trên. Hi vọng tài liệu sẽ cung cấp kiến thức cho các bạn

PR-6000-EO AUTOPILOT

COMPOSITION OF OPERATOR'S MANUAL

PR-6000 OPERATOR'S MANUAL INDEX

PERIODICAL CHECK TABLES

I Document No I E 11-1264H I

PR-6000 STEERING STAND

OPERATOR1S MANUAL

2006.10

TOKIMEC INC

SAFETY PRECA UnONS

J Safety symbol indications and definitions used in this manual and products are as follows

& DANGER Indicates avoided, will an imminently result in death or serious injuryhazardous situation which, if not

AI WARNING Indicates a potentially hazardous situation which,

ili avoided, could resull in death or serious injury

ii not

& CAUTION avoided, may Indicates a potentially hazardous result in minor or moderate injury situation which, or property if not

damage accident

( I )

4 Safety pl'ecautions, etc., described in this manual are summarized here (pages

described are shown in parentheses.)

(1) Warning for use of this system (Refer lO page 1·1.)

.Malfunctions caused by failure of this system and mis-operation caused by operator's

mistake may cause such disasters at sea as collision with other ship or stranding

resultant property damage and environmental contamination and further hazardous situation resulted in death or serious injury

• Great care should be taken to use this syslem being well acquainted with limitalions of performances and characteristics of this system and familiar with the operating method

(2) General items to be warned for the operating method (Refer to page 3·1 )

~WARNING .Each steering mode of HAND, AUTO and remote (RC) has specific attention points for use These are shown in the corresponding clauses with .&: CAUTION and .&:

WARNING, etc Observe strictly these items

• Periodical repeated training for emergency steering should be performed to deal with smoothly in an emergency status from anywhere in the ship

(3)

(6) Warning when selecting steering mode (Refer to page 3-3.)

If not, an unexpected large rudder may be taken

• Hold the mode selection switch surely with hand and turn it correctly to the mark 0 which shows the correct position

Interrupting the selection on the way may cause malfunction

In this case make sure that the steering mode is switched correctly with the steering mode display lamp ( I AUTO I, I HAND I I NFU I I RC I)

• Loosened play in fixing the knobs for the mode selection switch I MODE I system selection switch I SYSTEM I and non-follow up lever I pc:;.S I may cause wrong switching or operation

Retighten the two screws fixing the knob to the switch or contact TOKIMEC service department

(7) Warning to set the maximum rudder angle (Refer to 3-8.)

.When the rudder angle selection switch is installed setting of the max rudder angle selection switch should be used only in the narrow rudder angle side other than when the steering is required a large rudder angle Otherwise an unexpected large rudder angle may be taken to cause a dangerous steering situation

( 5)

(10) Warning regarding remote aUlO steering (NAY) (Refer to page 3-\ \.)

LhWARNING

000 not use the remote auto steering (NA V) in confined sea areas or narrow channels as

a rule

For using it by any chance in such areas, suitable navigational means such as securing

safety around or reducing speed should be taken If not, prompt action cannot be made, and may cause collision or stranding

• Keep a strict "look out" (watch), in particular, during remote auto steering Careless

"look out" (watch) may cause collision or stranding

Olf an alarm generated in the autopilot or gyro-compass, heading monitor (option),

speed log (option) and tracking navigational equipment side during the remote auto

sleering, make sure at once of the content When an abnormality affecting the steering

is generating, switch at once to one of the other sleering modes

(11) Warning regarding remote hand steering (remote control) (Refer to page 3-13.)

LhWARNING

000 not use the remote hand steering (Re) in confined sea areas or narrow channels

Prompt avoidance is not in time and may cause collision or stranding

OOuring the remote hand steering, always confirm the rudder angle and its direction displayed on the rudder angle receiver (indicator) If not, when failure generated in the remote control steering line, discovering the failure may be delayed to cause collision

or stranding

OSet the remote control steering knob at the center before switching to the remote hand steering mode from the other steering mode If not, a large rudder may be taken after

switching to cause collision or stranding

Olf an alarm generated in the autopilot or remote control unit side during the remote hand steering, make sure at once of the content When an abnormality affecting the steering is generating, switch at once to the other steering mode

(12) Warning regarding override steering (Refer to page 3-16.)

(15) Warning regarding aCitopdot mainten nce (Refer to page 5-1:,

9The steering gear connected to this amopilo[ may callse, although ,ery r~r e l y, hydro

lock, etc., which makes the rudder disabled to steer

• Although main parts of the autopilot consist of electronic circuitry having high reliability, it cannot be said failure does not occur a solutdy

in this chapter to exclude these dangers as long as possible and to maintain performance of this system

If not, detecting sign of failure delays and it yields failure of the system and may result

When trouble is discovered and cannot be recovered on board, contact TOKIMEC service department or its sales agency of your area

(16) Warning in installation (Refer to page 5- 8 )

taking a rudder may suddenly start and is dangerous

,

~CAUTION

.Taking a large rudder is dangerous when 5witch.ing to the external override unit Pa y

JttentLon on such a thing to w the order knob (lever) at the neutral positio

OConfirm safelY around when steering with the override anit

.When switching to the override steering during the auto steering or remote aut a

o steering (AUTO-NAV), and switching again to the auto steering or remote aut steering from the override steering after a while, a quick turning of the ship may occu r

Before switch.ing to the auto steering, set the ship's heading at that time as the set COUf S e for keeping the course, and make the original set course and NAV course invalid

When the ship is to be kept on the original course or on the new course, operate th course setting knob or stop the remote auto steering once and switch to the remote aut

o When the alarm generated, confirm the content of the generating alarm at once and tak e

a suitable means according to the failure phenomena list

.\Vhen failure generates, check and take a countermeasure at non-dangerous sea are a after confirming safety around, and with the ship stopped as a rule (Refer to page 3-7

clause 3.2.4 Emergency steering method)

(22) Caution in troubleshooting (Refer to page 4-3.)

Remaining the switch at ON position may cause electric shock and failure

• When checking and taking necessary measures are performed for the failure, check and tak e a

hip countermeasure at non-dangerous sea area after confirming safety around, and with the s stopped as a rule

&CAUTION

ODo not rcleas~ hands from the iacia panel tiilthe panel is fixed with the two stoppers

If not, may cause injury

• D,-, not give the faCia panel subject to strong vibration or shock when it is fixed with the stopper

Dropping the iacia panel due to loosing the stopper may C:lUse failure of i:quipment or injury

( I 1 )

4 Prohibitions and notes for protection of the system (protecting equipment itself from

Observe the following for protection of the system

For detail refer to corresponding pages of this operator's manual COlTesponding pages are

shown in [ 1

Prohibition - - - - Items must not do

PROHIBITION

(I )Wetling the autopilot operation unit (facia panel) by water or drink may cause

PROHIBITION

(13)

(2) ~'ote for storage of autopilot (Refer to page 5-7.)

NOTE

Observe the following items for storage

(l) Turn all power switches of this system to OFF position, and cut the alarm power (DC 24V) supplied to the autopilot stand

(2) Storage temperature should be between _200

- +55T

A void the place with high humidity as far as possible

High humidity may cause rust

(3) Prevent the storage place from generation of corrosive gas, breeding of

bacteria such as mold or intrusion of insects and small animals

(4) Cover the system with a vinyl sheet, etc., when generation of dust is

3.4 Description for an optional Override steering feature 3-31

3.4.2

3.4.3

4.4 Countermeasure Table . . . , . ' ,' , , ,.4-7

6.1 General " , , 6-1

(I 7 )

CHAPTER 1 GENERAL DESCRIPTION

method

NOTE

present

full attention should be paid on use of this system

mode of the autopilot

situation

repair the troubled point

t - J

CD Type of steering stand

• Shows the steering stand type The gylot type contains the g ro-compass in it

I : Stand type (stand alone type without a built-in gyro-compass)

:: Gylot type (stand alone type with a built-in gyro-compass)

3 • Console type (collective table type with a built-in gyro-compass)

4 : Unit type (unH assembled type without a built-in gyro-compass)

5: Console type (collective table type without a built-In gyro-compass)

7 : Gylot type (stand alone type with dual built-in gyro-compasses)

S Console type (collective table type with dual built-in gyro-compasses)

9: Unit type (unit assembled in type wllh dual built-in gyro-compasses)

@) Type of gyro-compass

The gyro-compass azimuth signal is to be serial TOKlMEC TG-6000ffG-8000 compass outputs serial signal

gyro-NONE : TG-6000

G> Type of steering gear control system

Shows the type of steering gear control system combined

Note PR-6000 output signal is shown in ( )

(Torque motor fmation control signal)

OW Single loop steering gear made by KAWASAKI HEAVY IND

(Torque motor rotation control signal)

DT Single loop steering gear made by HATLAPA

(Proportional solenoid valve control signal)

DB Single loop steering gear made in Russia

(Megger torque motor rotation control signal)

EO : Solenoid valve control type (Solenoid valve control signal)

EO: Dry contact point only (p tential free) EI: 11 OV AC ON • OFF signal

E3: IIOVDC ON· OFF signal - - - Power should be supplied by steering

gear maker

Lo : Electro hydraulic type (Cylinder reciprocating signal - mechanicai stroke; Note: Uses vane pumps

LS : L type standard

LL : L type with the Low level alarm

LP : L type with the Low pressure alarm - - - for LR rule

LF L type with the Low level and Low pressure alarms

pO Electric type steering gear made by MITUBISHI HEAVY IND (Piston reciprocating signal - - - mechanical stroke)

PL : P type with limit switch - for LR rule

I · 3

1.1.2 Kinds of steering functions

These steering func ons are selected with the mode selection switch I MODE I on the facia

In (he three steering modes except for the non-follow up steering, the rudder order signal J5

applied to the steenng gear control system through (he rudder servo amplifier The rudder

to the order rudder angle ( ollow up steering)

In the n n-follow up steenng mode, the NFU steering lever switching signal is directly sent

to the steering gear control system bypassing the Internal rudder servo amplifier (n n-follow

up steering)

J Fo ow up steering (Fo ow up control)

Course is automatically kept with course setlillg

The auto steering has two kinds of controls; PID (proportIOnal, integral, differenrial)

control' and ADPT (adaptive) control*

a PID control

(b) In the PID control, the rudder ra o control (RUDDER ; (aking rudder angle

(RATE ; scale I - 9) are adjusted

(c) The pilot watch alarm (PILOT WATCH; scale 5 - IS') and the rudder ilmit

(a) Auto steering by the adaptive control

(b) The ADPT control is selected by selting the ADPT !WEA THER knob in the

1 OPN I is used for sailing in open sea in which the econ mic condition is preferred

to the course keeping capability, and the I CNF I is used when the course keeping

capability is preferred When changing a course, the steering mode is automa

ti-cally switched to the course changing mode, and the ship turns most efficiently

rate angle of turn

(c) The pilot watch alarm and the rudder limit can be set in the same way as those

in the PID control

, Refer to Glossary in CHAPTER 7

I - 5

1.2 Relcl'ant Instruction Manual

There are various equipment which are used together wiih tile autopilot PR-6000

Instruction manuals of these system are provided separately Read them thoroug!lly

(l) Steenng gear instructIon manual

(2) Instruction manual of gyro-compass connected

(3) Instruction manual of external steering system or external navigational system

12 months after delivery of this system

TOKIMEC will immediately undertake to repair this system without

charge in the event of breakdown, failure or defect caused clearly by

TOKIl'vIECs design, manufacturing or materials supplied by TOKIMEC

Items to which walTanty is not applied Warranty is not appJted to the following items:

I Failure or damage caused by misuse contrary to maintenance, handhng and operation

described in the manual

2 Sections modified by user without relation (0 TOKIMEC and failure caused by that modification

3 Successive or indirect loss caused by failure of this system

4 Failure or damage caused by repair by service company not specified by TOKIMEC

5 In case of force majeure such as earth quake, fire, etc

Provided, however, that when other walTanty provisions have been determined separately in

writing, those should have priority

I 7

CHAPTER 2 SPEC[FICAHON AND CONFIGURATION

2.1 Genel'al

In this chapler, the configuration, specification and constructio , etc , are explailled

This manual does not describe Items related (0 installation of this system For InstallatJoll,

refer to the separate autopilot finished plan (documents) kept in the ship

2.2 Configuration

The system is configured as shown In the tables below according to each type

(1) PR·6000·0M (for single loop steering gear made by MITSUBISHI HEAVY IN·

DUSTRY and HITACHI SHIP BUILDING, torque mOlor control)

L Steering stand I Steering control, display stand Installed in wheel house

2 Repeat back unit 2 OM type Installed in steering gear

room

3 Control box 2 For OM type single loop autopilot "

4 Control motor unit 2 TM 60 (made by TOKIMEC) ' /

5 Conlrol selwion box I Power supply I SIgnal selection It is provided when

3-4 pumps are used

(2) PR·6000·0W (for single loop steering gear made by KAW ASAKI HEAVY IN·

D USTRY , torque motor contro I )

I Steering stand I Steering control, display stand Installed in wheel house

2 Repeat back unit 2 DW type Installed 10 steenng

gear room

3 Control box 2 For OW type single loop autopilot

4 Control sele llOfi box I Power supply I Signal selection It IS provided when

3-4 pumps are used,

(3) PR·6000·0T (for single loop steering gear made by HATLAPA, proportional valve control )

I Steering stand I Steering control, display stand Installed in wheel house

2 Repeat back unit 2 DT type Installed in steering gear

room

3 Control box 2 For DT type single loop autopilo / /

2 t