PR-9000-D - Adjustment Manual (E) (Training Document Vol.1) 2017.12.18

ADJUSTMENT MANUAL
AUTOPILOT PR-9000-D
Training Document vol.2
Issued: 7-Jul-2017
(Revised: 20-Dec-2017)
AUTOPILOT PR-9000-D
ADJUSTMENT MANUAL
Document No.: Training Document vol.2
Issued First Edition: 7-Jul-2017
Revised: 20-Dec-2017
2-16-46, MINAMI-KAMATA, OHTA-KU, TOKYO

144-8551, JAPAN
Tel. (81) 3-3732-6583 FAX. (81) 3-3732-5050
Notice: This manual must not be copied or reproduced without expressed written
permission of TOKYO KEIKI.
AUTOPILOT PR-9000-D ADJUSTMENT MANUAL Training Document vol.2
- CONTENTS -
0 WORK FLOW OF THE INSTALLATION ----------------------------------------------------------- 3

1 WORKING TABLE AT REPLACEMENT OF SOME PARTS---------------------------------- 4
2 PREPARATIONS BEFORE START WORK ------------------------------------------------------- 5
3 CHECK THE SUPPLIES -------------------------------------------------------------------------------- 6
4 INTERUNIT WIRING ------------------------------------------------------------------------------------- 6
5 INSTALL REPEAT BACK UNIT ---------------------------------------------------------------------- 7
6 CHECK AND CONNECT POWER SUPPLY ----------------------------------------------------- 10
7 CONFIRM NFU (Non Follow Up) STEERING --------------------------------------------------- 11
8 ZERO-ADJUST LINEAR SYNCHRO VOLTAGE ------------------------------------------------ 12
9 ADJUST F/B ZERO and SPAN (analog) --------------------------------------------------------- 13
10 CONFIRM SETTINGS OF RUDDER SPECIFICATION --------------------------------------- 15
11 F/B ANGLE CALIBRATION -------------------------------------------------------------------------- 16
12 HELM ANGLE CALIBRATION ----------------------------------------------------------------------- 18
13 ADJUST RUDDER SENSITIVITY ------------------------------------------------------------------- 20
13 ADJUST FU ORDER LIMIT --------------------------------------------------------------------------- 31
14 CONFIRM ACCURACY OF STEERING SYSTEM --------------------------------------------- 32
15 ADJUST ANALOG ORDER SIGNAL OUTPUT (Option) ------------------------------------ 34
16 CONFIRM INPUT/OUPUT SIGNAL ---------------------------------------------------------------- 35
17 SETTING FOR AUTO STEERING ------------------------------------------------------------------ 38
18 RECORD NCT PARAMETER BEFORE SEA TRIAL (for ADPT mode) ----------------- 41
19 SETTING FOR TCS ------------------------------------------------------------------------------------- 42
20 CONFIRM AUTO STEERING ------------------------------------------------------------------------ 43
21 CONFIRM OFF HEADING ALERT------------------------------------------------------------------ 44
22 CONFIRM HEADING MONITOR ALERT --------------------------------------------------------- 44
23 CONFIRM OFF COURSE ALERT------------------------------------------------------------------- 45
24 CONFIRM PERFORMANCE OF AUTOPILOT AT SEA TRIAL ----------------------------- 45
25 RECORD NCT PARAMETER AFTER SEA TRIAL (for ADPT mode) -------------------- 46
26 EXPLAIN TO SHIP’S CREW ------------------------------------------------------------------------- 47
Appendix-1 Layout of SGCPU-D pwb -------------------------------------------------------------- 48
Appendix-2 Layout of HIFCPU pwb ---------------------------------------------------------------- 49
Appendix-3 About the compatibility PR-9000 type and P.W.B of PR-9000 ------------ 50
1 Revised: 20-Dec-2017
(Blank)
0 WORK FLOW OF THE INSTALLATION

Recommended number of workers: 2 persons or more
Prepare
1) Confirm the specification of product with “DRAWING FOR WORKS”
2) Check and prepare necessary documents and tools
3) Meet with PIC of shipyard to confirm the schedule and ship’s particulars
4) Check the supplies and wiring
Adjustment of equipments in steering gear room

5) Install repeat back unit [Repeat Back Unit]
6) Check and connect power supply [S/G room and Steering Stand etc.]
NFU and HAND steering

7) Adjust control box [Control Box]
8) Confirm NFU steering [Steering Stand]
9) Adjust F/B-zero of linear synchro [Repeat Back Unit]
10) Adjust F/B-zero and span [SGCPU-D pwb]
11) Calibrate F/B angle [SGCS service menu]
12) Calibrate Hand order angle [SGCS service menu]
13) Adjust rudder sensitivity [SGCS service menu/SGCPU-D pwb]
14) Confirm accuracy of steering system [Steering Stand and S/G room]
15) Adjust other contents [SGCS service menu]
AUTO steering
16) Initial set and confirm auto steering [HCU]
SEA TRIAL
17) Confirm performance of autopilot [Steering Stand at sea trial]
EXPLAIN
18) Explain to ship’s crew [Steering Stand and S/G room etc]
1 WORKING TABLE AT REPLACEMENT OF SOME PARTS
Replacement contents
Working contents Dx-DRVR PWB SGCPU PWB
Repeat back unit (in the control box)
HCU
1) Install repeat back unit O - - -
2) Adjust or
O - - -
confirm limit switch
3) Adjust FB-zero
O - - -
of linear synchro
4) Adjust control box - O - -
5) Confirm NFU steering O O O -
6) Adjust FB-zero
O O O -
and span(in SGCPU)
7) Calibrate FB angle O O O -
8) Calibrate HAND order
O O O -
angle
9) Adjust rudder sensitivity O O O -
10) Confirm accuracy of
O O O -
steering system
11) Adjust other optional
O O O -
contents
12) Set DipSW for HC
steering and HCU - - - O
service menu parameter
13) Confirm HC steering - - - O
(!!) When you replace some parts, you should be turn off the power supply for
Autopilot.
2 PREPARATIONS BEFORE START WORK

2-1 Basically like below tools will need to carry out the installation.
a. Screw Driver (+)
b. Screw Driver (-)
c. Adjustable Wrench (Dia.10-20mm) [for connecting lever etc]
d. Hex Key Wrench (Dia.3mm) [for repeat back unit/connecting lever]
e. Multi Digital Tester with Lead Wire [for Test Point]
f. Insulated Screw Driver (-) [for small VR/potentiometer on the pwb]
g. “DRAWING FOR WORKS” to check the wiring and specifications
2-2 Meet with person in charge of shipyard to confirm below items.

1) Master schedule of commissioning.
a. Main engine test
b. Steering gear adjustment
c. Deadweight survey
d. Confirmation of connection with other maker’s equipments
e. Class survey
f. Sea trial
g. Explanation to crew and deliver
2) Ship’s particulars for initial settings for auto steering

a. Ship’s type
b. Length (LPP and LOA)
c. Deadweight
d. Service speed
3 CHECK THE SUPPLIES

3-1 Check the type, quantity, exterior condition (=found no damage) and other specifications of
all supplied items.
4 INTERUNIT WIRING
4-1 Confirm the switch that system selection switch of steering stand and control box in steering
room are “OFF” position.
4-2 Refer to the DRAWING FOR WORKS, connect all cables to equipments and then check all
wiring. * PAY MOST ATTENTION TO CONNECTING POWER SUPPLY.
Steering Stand Steering Room

System selection switch Control Box
Power
Switch
SGTU
Maintenance
Switch
HCTU
Fig- 1: Power Switch
5 INSTALL REPEAT BACK UNIT

5-1 Set the actual rudder (=rudder tiller angle) to 0deg.
5-2 Confirm the cam which is installed on the center shaft, are not touching with any limit switch.
If the cam is touching, remove the connecting lever from main shaft and then rotate main
shaft for 180deg.
To show cam and switch, LINEAR SYNCHRO ASSY is removed in

these pictures. Don’t remove it on actual installation work.
- GOOD - - BAD -
The cam is not touching with limit switch. The cam is touching with limit switch.
TOP VIEW TOP VIEW

SIDE VIEW
Re-Install
Remove
Rotate the main

shaft for 180deg.
Connecting Lever
Hex key wrench (WAF=3mm)
3mm
Wrench (WAF=10mm)
10mm
Fig- 2: The cam for limit switch in the repeat back unit
5-3 Refer to drawing of steering gear and below Fig- 3 to adjust the length of connecting levers.
After adjustment, record the length of R1 and L1 to installation check sheet.
If these lengths were not correctly, the feedback rudder angle will not follow actual rudder
angle correctly.
The length “L” will affect Port/Stbd balance and the length “R” will affect value of
angle. The limit-switch position, the linear synchro and F/B-zero/span adjustments must be
re-adjusted after adjustment of these lengths.
L1
A Right Angle A Right Angle

R1 (90deg) (90deg) R2
L2
RUDDER TILLER
R1=R2 0
L1=L2
Rudder Tiller must be in 0deg
The center point of

repeat back unit
[For maximum angle 35~45deg] [For maximum angle 60~70deg]

Center is “Linear synchro” Center is “Outside shaft”
Center of Bolt
Center Mark
Fig- 3: The connection of repeat back unit and rudder tiller
5-4 Confirm that no obstruction in the moving range of the rudder tiller and connecting rod/lever
of repeat back unit.
The rudder tiller and

connecting rod/lever will move
according to the rudder angle.
Confirm the no obstruction

around the steering gear, 35
especially around the part
where are circled by red dot
line as right figure.
35
Fig- 4: Confirm the safety in moving range of steering gear
6 CHECK AND CONNECT POWER SUPPLY

[Outline of Power Supply]
440 / 380 / 220VAC 110VAC(for main power) 24VDC (for emergency)
Steering Steering Stand

Control box Group panel
motor
Switch board
starter
[Terminal]
Steering Control Box Steering Stand
Gear Input Output Main power Emergency
No.1 TB101 U / V TB1 AC1 / AC2 No.1 SGTU TB1 1AC1 / 1AC2
No.2 TB101 U / V TB1 AC1 / AC2 No.2 SGTU TB1 2AC1 / 2AC2 HCTU TB301
No.3 TB101 U / V TB1 AC1 / AC2 No.3 SGTU TB1 3AC1 / 3AC2 B+ / B-
No.4 TB101 U / V TB1 AC1 / AC2 No.4 SGTU TB1 4AC1 / 4AC2
Fig- 5: Outline of Power Supply

6-1 Before supply the power, disconnect above wires for [3] and [4] from terminal at steering
stand (SGTU and HCTU), cover the head of wire by vinyl tape and mark the name of
original terminal on all wires.
6-2 Adjust the control box at steering gear room by “CONTROL BOX Adjustment Procedure &
Check Sheet”. Refer to below table to find proper document code.
Document Code
Control box type
English Japanese
DM CSA-CK2089 CSA-CK2090
DW CSA-CK2084 CSA-CK2085
DT CSA-CK2100 CSA-CK2101
Table- 1: Reference of the adjustment procedures
6-3 Starts supply emergency power for AUTOPILOT at group panel/switch board. Confirm input
voltage and polarity at disconnected wire cable side in steering stand. Then stop supply the
power at group panel/switch board.
[Steering stand - Input]

Input terminal: HCTU TB301 B+ / B-
Voltage: 24VDC (+30%, -10%)
6-4 If all the power for AUTOPILOT is OK, re-connect all wires, start supply the power and
then re-check input power supply at steering stand side.
[Steering stand - Input]

Input terminal: SGTU TB1 xAC1 / xAC2
Voltage: 110VAC (+10%, -15%)
Frequency: 60Hz / 50 Hz (±5%)
7 CONFIRM NFU (Non Follow Up) STEERING

7-1 Set the mode selection switch to “NFU”.
7-2 Run one steering pump.
7-3 Set the system selection switch to “No.1” or “No.2”.
7-4 Turn the NFU lever to Port/Stbd directions, and then confirm that the rudder moves to same
direction as the NFU lever, moves while turning the NFU lever, and stops when returned the
NFU lever to center position.
[The rudder does not move / Moves to opposite direction]

The wiring for rudder order signal should be checked again.
SGTU TB1 xLPx / xLSx / xCC lines
[The rudder does not stop when returned NFU lever to center position]
When you turn the system selection switch to “OFF”...
The rudder stops: NFU circuit of autopilot should be checked
The rudder doesn’t stop: Steering gear should be checked
7-5 Repeat above item from 7-2 to 7-4 for all combinations of steering pump and system one by
one.
8 ZERO-ADJUST LINEAR SYNCHRO VOLTAGE
Repeat Back Unit Cover

Linear Synchro
Mark (Shaft side)
Mark (Body side)
Loosen 3 screws and

rotate body to correct
zero/direction of the
linear synchro.
Fig- 6: The adjustment of linear synchro
Set angle Measure / Adjust point Specification

0deg Repeat back unit LN1 / LN2 8.0±0.5VAC
Not adjustable
Repeat back unit LN3 / LN4 Less than 50mVAC
Direction of linear synchro body
Table- 2: Measurement rudder angle and standard F/B voltages

8-2 Run any steering pump.
8-3 Set the system selection switch to “No.1” or “No.2” (other than “OFF”).
8-4 Set actual rudder (=rudder tiller angle) to 0deg.
8-5 Remove the cover of linear synchro. There are 2 marks on the shaft and body. Confirm that
match up both marks. If these marks do not match, loosen the 3 screws and rotate body to
match roughly these marks. After adjustment, fix 3 screws and return cover.
8-6 Confirm the voltage at terminal LN1 / LN2 in repeat back unit is 8.0 ±0.5VAC.
8-7 Adjust the voltage of terminal LN3 / LN4 in repeat back unit to be less than 50mVAC by
rotating linear synchro body.
8-8 Do as above item from 8-4 to 8-7 for all repeat back unit.
Note
When you turn the system selection switch to “No.1” or “No.2”,
“all” linear synchro is powered.
9 ADJUST F/B ZERO and SPAN (analog)
Adjustment Item Max Angle Set Angle Specification

Zero All 0deg Less than 50mVDC
Span 35deg 20deg
5.00±0.1VDC at “Set Angle”
40deg / 45deg 25deg
Port: (+) / Stbd: (-)
60deg / 70deg 40deg
Target Steering Gear & Repeat Back Unit

Single Rudder Twin Rudder
Target pwb Measure / Adjust point
TP-F/B TP18-TP11(COM)
S/G No.1 & 3 S/G [Stbd] No.1 No.1
VR-Zero VR2
SGCPU-D pwb
RBU No.1 RBU [Stbd] No.1 VR-Span VR3
S/G No.2 & 4 S/G [Stbd] No.2 No.2
VR-Zero VR2
SGCPU-D pwb
RBU No.2 RBU [Stbd] No.2 VR-Span VR3
S/G [Port] No.1 No.1
VR-Zero VR4
SGCPU-D pwb
RBU [Port] No.1 VR-Span VR5
S/G [Port] No.2 No.2
VR-Zero VR4
SGCPU-D pwb
RBU [Port] No.2 VR-Span VR5
Table- 3: Measurement point and rudder angle and standard F/B voltages
9-1 Refer to above Table- 3 to find the measurement rudder angle, voltage test-point and VR.
9-4 Set the system selection switch to “No.1” or “No.2” (other than “OFF”).
Note
All SGCPU-D pwb is powered when the system is whether “No.1” or “No.2”.
9-5 Set the actual rudder (=rudder tiller angle) to 0deg.

9-6 Adjust “TP-F/B” voltage so that less than 50mVDC by “VR-Zero” at all SGCPU-D pwb.
9-7 Set the actual rudder (=rudder tiller angle) to “Set Angle” of Port.
9-8 Adjust “TP-F/B” voltage to just (+)5.00VDC by “VR-Span” at all SGCPU-D pwb.
9-9 Set the actual rudder (=rudder tiller angle) to “Set Angle” of Stbd.
9-10 Measure “TP-F/B” voltage at all SGCPU-D pwb.
9-11 If the difference of 9-8 and 9-10 is more than 0.2VDC, the length of connecting rod and
lever of repeat back unit should be corrected.
9-12 Re-adjust “TP-F/B” so that the difference of 9-8 and 9-10 to be half by “VR-Span” at all
SGCPU-D pwb. *see below sample
9-13 Set the actual rudder (=rudder tiller angle) to “Set Angle” of Port.
9-14 Confirm that “TP-F/B” voltage is within 4.90~5.10VDC at all SGCPU-D pwb.
Sample for adjustment (Feed Back)

In case the max rudder = 35deg, single rudder and 2pumps
(1) Set the mode selection switch to “NFU”.
(2) Run any steering pump.
(3) Set the system selection switch to “No.1” or “No.2”.
(4) Set actual rudder to 0deg.
(5) Adjust TP18-TP11(COM) voltage to be less than 50mVDC by VR2 at No.1
and No.2 SGCPU-D pwb.
(6) Set actual rudder to Port 20deg.
(7) Adjust TP18-TP11(COM) voltage to be (+)5.00VDC by VR3 at No.1 and
No.2 SGCPU-D pwb.
EXAMPLE The adjusted voltage is (+)5.00VDC [error=0.00V from spec.]
(8) Set actual rudder to Stbd 20deg.

(9) Measure TP18-TP11(COM) voltage at No.1 and No.2 SGCPU-D pwb.
EXAMPLE The measured voltage is (-)5.04VDC [error=0.04V from spec.]
(10) Re-adjust TP18-TP11(COM) voltage so that the error of (7) and (9) to be half
by VR3 at No.1 and No.2 SGCPU-D pwb.
EXAMPLE The adjusted voltage should be (-)5.02VDC

[error=0.02V from spec.]
(11) Set actual rudder to Port 20deg.

(12) Measure TP18-TP11(COM) voltage at No.1 and No.2 SGCPU-D pwb.
EXAMPLE The measured voltage may be approx. (+)4.98VDC

10 CONFIRM SETTINGS OF RUDDER SPECIFICATION

10-1 Open the service menu from ANN panel.
10-2 Confirm the rudder specifications. These settings should be done in factory. They can be
changed by dip-switch of SGCPU-D pwb if necessary.
Menu: Setting > Rudder

Setting
Rudder
Rudder >>
Adjust >
Ext. Equip. >
Alert >
User I/F >
Setting Code >
SET/ENT:Enter CNCL:Back
Related dip switch of

SGCPU-D pwb Setting - Rudder
[S11- 2, 3, 4] Max Rudder Angle[˚] 35
[S11- 5, 6, 7] Narrow Rudder Angle[˚] None
[S13- 7] Rudder Num Single
[S13- 3, 4, 5] Rudder Type D-type
F/B Signal ON ON
Limit Over Angle[˚] 2.0
11 F/B ANGLE CALIBRATION

Note
All SGCPU can be calibrated at once.

11-4 Open the service menu of F/B error correction from ANN panel as below.
Menu: Setting > Adjust > Angle Error Correction > Rudder F/B > Adjust Start
Setting
Rudder >
Adjust >>
Ext. Equip. >
Alert >
User I/F >
Setting Code >
Setting - Adjust Setting - Angle Error C… Setting - Rudder F/B

Rudder
Angle >
Error Correction > HELM > RudderStart
Adjust > >
RSA Setting > Analog Order > Correction Value List >
Rudder F/B > All Clear >
SET/ENT:Enter CNCL:Back SET/ENT:Enter CNCL:Back SET/ENT:Enter CNCL:Back
11-5 Select the “Setting Angle” (=target rudder angle of

correction) by ▲ / ▼ button and then push the SET/ENT
button to fix the angle as shown right figure.
[!]Ordinarily the angle should not be changed.
11-6 Set actual rudder (=rudder tiller angle) to the indicated

“Setting Angle”.
In case of right figure, the actual rudder (=rudder tiller
angle) should be set to “Port 35.0deg”.
The uncorrected actual rudder angles are indicated on
this screen.
11-7 Push the SET/ENT button, then calculated error angles

are indicated only while 3 seconds.
11-8 The next target angle will be indicated, and then repeat as
above item from 11-5 to 11-7 for all target angle.
In case of right figure, the actual rudder (=rudder tiller
angle) should be set to “Port 30.0deg”.
Repeat
11-9 If all error calculations were finished, “-Update-“will be
indicated as shown right figure.
11-10 Push the SET/ENT button to store all correction data.
[!] Instead push the CNCL button,

the correction will be aborted.
11-11 Refer to correction data list, confirm that all correction data were stored and then record
all data to data sheet.
Menu: Setting > Adjust > Angle Error Correction > Rudder F/B > Correction Value List
Total 3pages
1/3
2/3
3/3
12 HELM ANGLE CALIBRATION
Note
All SGCPU can be calibrated at once.
12-3 Open the service menu of HELM error correction from ANN panel as below.
Menu: Setting > Adjust > Angle Error Correction > HELM > Adjust Start
Setting
Rudder >
Adjust >>
Ext. Equip. >
Alert >
User I/F >
Setting Code >
Setting - Adjust Setting - Angle Error C… Setting - HELM

Rudder
Angle >
Error Correction > HELM >> RudderStart
Adjust > >
RSA Setting > Analog Order > Correction Value List >
Rudder F/B > All Clear >
12-4 Set the steering wheel to “Setting Angle” (=target wheel

angle of correction).
In case of right figure, steering wheel should be set to
“Port 35.0deg”.
12-5 Push the SET/ENT button, then calculated error angles

are indicated only while 3 seconds.
12-6 The next target angle will be indicated, and then repeat as
above item from 12-4 to 12-5 for all target angle.
In case of right figure, steering wheel should be set to
“Port 30.0deg”.
Repeat
12-7 If all error calculations were finished, “-Update-“will be

indicated as shown right figure.
12-8 Push the SET/ENT button to store all correction data.
[!] Instead push the CNCL button,
the correction will be aborted.
12-9 Refer to correction data list, confirm that all correction data were stored and then record
all data to data sheet.
Menu: Setting > Adjust > Angle Error Correction > HELM > Correction Value List
Total 3pages
1/3
2/3
3/3
13 ADJUST RUDDER SENSITIVITY
In case of max rudder angle is 35deg, set initially “Limit Over Angle” parameter to
2.0deg (limit angle = 37deg). Refer to item “13 ADJUST FU ORDER LIMIT”.
In FU mode, PR-9000-D outputs the order signal to control box (=PD) according
to the difference between “order” and “rudder F/B” angle.
The rudder sensitivity means that “how much angle of difference is needed to
turn/move the control actuator to maximum angle/stroke”, and it is required
adjustment to prevent the rudder from overshooting/hunting.
Refer to Fig- 7, Fig- 8, Fig- 9, Fig- 10, Fig- 11 and Fig- 12 for details.
Autopilot HCU
Difference Rudder F/B Angle HELM
Order Angle
PD signal (Difference between Order and F/B)

DM(2pumps): 10.0VDC @diff.=10deg [*1]
DM(3~4pumps): 10.0VDC @diff.=10deg [*1]
DW: 10.0VDC @diff.=10deg
Control DT: 10.0VDC @diff.=10deg
[*1] In conventional product, it was set to “3~5deg”.
Box
Control actuator angle/valve opening

DM(2pumps): Max TM angle @diff.=3~5deg [*2]
DM(3~4pumps): Max TM angle @diff.=3deg [*2]
DW: Max TM angle @diff.=3deg
DT: Max Valve op. @diff.=1.5deg
[*2] In conventional product, it was set to “10deg”.
Control
Actuator
Rudder sensitivity @1pump
Torque Motor
or DM(2pumps): 3~5deg
Solenoid Valve DM(3~4pumps): 3deg
DW: 3deg
DT: 1.5deg
Rudder
Fig- 7: The rudder control block diagram and rudder sensitivity
[Conventional] DM type (2pumps)

PD signal from autopilot to control box
PD signal to control box 10.0VDC@[Rudder deviation=3~5deg]
10.0VDC
Rudder deviation
(Order - F/B)
3~5deg 10deg
3deg on this figure
Control signal from control box to torque motor
Torque Motor angle 100%@[Rudder deviation=3~5deg]
100%@1pump
approx60%@2pump
In parallel pump running mode,

reduce the maximum Torque Motor angle.
Rudder deviation
(Order - F/B)
3~5deg 10deg
3deg on this figure
It should be set initially according to the power of 1pump (50%: 3deg /

100%: 5deg), and then adjust it if happen the overshooting/undershooting.
Overshoot: It should be increased / Undershoot: It should be decreased
Fig- 8: [Conventional] The rudder sensitivity of PR-9000-DM (2pumps)

[Current] DM type (2pumps)
PD signal to control box 10.0VDC@[Rudder deviation=10deg]
10.0VDC
Rudder deviation
(Order - F/B)
3~5deg 10deg
3deg on this figure
Torque Motor angle 100%@[Rudder deviation=3~5deg]
100%@1pump
approx60%@2pump

reduce the gain of Torque Motor angle.
Rudder deviation
(Order - F/B)
3~5deg 10deg
3deg on this figure
It should be set initially according to the power of 1pump (50%: 3deg /

100%: 5deg), and then adjust it if happen the overshooting/undershooting.
Overshoot: It should be increased / Undershoot: It should be decreased
Fig- 9: [Current] The rudder sensitivity of PR-9000-DM (2pumps)
DM type (3~4 pumps) DW type

10.0VDC
Rudder deviation
(Order - F/B)
3deg 10deg
Torque Motor angle 100%@[Rudder deviation=3deg]
100%@1pump
Approx60%@2pump
Approx50%@3pump
Approx40%@4pump In parallel pump running mode,

reduce the gain of Torque Motor angle.
Rudder deviation
(Order - F/B)
3deg 10deg
Appr.5deg Appr.6deg Appr.7.5deg
Fig- 10: The rudder sensitivity of PR-9000-DM (3~4pumps) and DW
DT type
10.0VDC
Rudder deviation
(Order - F/B)
1.5deg 10deg
Valve Opening 100%@[Rudder deviation=1.5deg]

Control signal from control box to solenoid valve
100%@1pump
Approx50%@2pump

reduce the gain of Valve Opening.
Rudder deviation
(Order - F/B)
1.5deg 10deg
Fig- 11: The rudder sensitivity of PR-9000-DT
13-1 INITIAL SETTING OF “DM Angle” PARAMETER
CAUTION for DM type

The standard value of “DM angle” parameter for DM type control box and adjustment
procedure of DM control box had been changed on around 2Q of 2015 (refer to Table- 4 and
Fig- 12).
So when readjust/tune the DM-DRVR pwb in control box for repair or maintenance except new
ship installation, check the “DM angle” parameter to know the type of gain adjustment.
1. In case of installation at new ship

[1] Gain adjustment of control box:
a. Power of one steering pump = 50%........... PD=3V as max angle of Torque Motor
b. Power of one steering pump = 100% ....... PD=5V as max angle of Torque Motor
[2] “DM Angle” parameter: Set to 10.0deg
2. In case of readjustment at repair/maintenance (=not installation)

[1] Gain adjustment of control box:
1) Existing “DM Angle” is “10.0deg”
a. Power of one steering pump = 50%...... PD=3V as max angle of Torque Motor
b. Power of one steering pump = 100% ... PD=5V as max angle of Torque Motor
2) Existing “DM Angle” is not “10.0deg” .... PD=10.0V as max angle of Torque Motor
[2] “DM Angle” parameter: Do not change
Adjust at control box Adjust at autopilot

Control Box
[1] Gain adjustment [2] “DM Angle” parameter
Type
Conventional Current Conventional Current
Max angle Max angle 3~5deg
DM (2pumps) 10.0deg
@PD=10.0V @PD=3~5V
Max angle Max angle 3.0deg
DM (3~4pumps) 10.0deg
@PD=10.0V @PD=3.0V
DW Max angle @PD=3.0V 10.0deg
DT Max angle @PD=1.5V 10.0deg
Table- 4: “DM Angle” and Gain adjustment
CONVENTIONAL PROCEDURE
PD signal from autopilot
10.0VDC
to control box
“DM Angle“
Parameter
Deviation
(deg)
3~5deg 10deg
100%
Torque motor angle
@1pump
approx60%
@2pump
Gain adjustment at control box
(Ratio of PD and TM angle)
PD (VDC)
10VDC 10VDC
CURRENT PROCEDURE
PD signal from autopilot
10.0VDC
to control box
“DM Angle“
Parameter
Deviation
(deg)
3~5deg 10deg
100%
Torque motor angle
@1pump
approx60%
Gain adjustment at control box
@2pump
(Ratio of PD and TM angle)
PD (VDC)
3~5VDC 10VDC
Fig- 12: Correlation of PD and Gain adjustment of DM
1) Refer to Table- 4 to find the “DM Angle” for each type of the control box.
2) Open the service menu from ANN panel.
3) Set the initial parameter as of “DM Angle” to value as described in Table- 4.
Menu: Setting > Adjust > RSA Setting > Calculation

Setting
Rudder >
Adjust >>
Ext. Equip. >
Alert >
User I/F >
Setting Code >
Setting - Adjust Setting - RSA Setting Setting - Calculation 1/2

Angle Error Correction > HELM
Calculation >> K 3.6
RSA Setting > Rudder > Tau(sec) 1.0
HELM > Relay ON(deg) 1.8
Relay OFF(deg) 1.35
RDC(deg) 2.7
Te(sec) 1.0
Open 2nd page

Setting - Calculation 2/2
WOC(deg) 5
DM Angle 10
10
13-2 ADJUST “PD” OUTPUT VOLTAGE

Adjustment
Set Deviation Specification
Item
Zero 0deg Less than 50mVDC
Same as 10.0±0.1VDC
Span “DM Angle” [!] It must be less than 10.2VDC
parameter The Order deviates from F/B to ... Port: (+) / Stbd: (-)
Target steering gear

& control box Target pwb Measure / Adjust point
Single Rudder Twin Rudder
TP-PD TP45/TP41(COM)
No.1
No.1 [Stbd] No.1 VR-Zero VR9
SGCPU-D pwb
VR-Span VR10
No.2
No.2 [Stbd] No.2 VR-Zero VR9
SGCPU-D pwb
VR-Span VR10
No.1
No.3 [Port] No.1 VR-Zero VR11
SGCPU-D pwb
VR-Span VR12
No.2
No.4 [Port] No.2 VR-Zero VR11
SGCPU-D pwb
VR-Span VR12
Table- 5: “PD” adjustment point
--- First step ---

1) Refer to Table- 5 to find adjustment point.
2) Set the mode selection switch to “NFU”.
3) Run any steering pump.
4) Set the system selection switch to “No.1” or “No.2”.
5) Set the actual rudder to approx. 0deg.
6) Stop all steering pump.
--- Zero adjust ---

7) Adjust “TP-PD” voltage so that less than 50mVDC by “VR-Zero” at all SGCPU-D pwb.
8) Set the mode selection switch to “HAND”.
--- Span adjust (Port) ---
9) Turn the steering wheel to more than 20deg for Port direction.
10) Adjust “TP-PD” voltage to (+)10.0VDC by “VR-Span” at all SGCPU-D pwb.
--- Span adjust (Stbd) ---

11) Turn the steering wheel to more than 20deg for Stbd direction.
12) Measure “TP-PD” voltage at all SGCPU-D pwb.
13) Re-adjust “TP-PD” so that the difference of 13-2-10) and 13-2-12) to be half by
“VR-Span” at all SGCPU-D pwb.
--- Confirmation (Port) ---

14) Turn the steering wheel to more than 20deg for Port direction.
15) Measure “TP-PD” voltage at all SGCPU-D pwb.
Sample for adjustment (PD output)

In case model=DM, “DM Angle”=10deg, max rudder= 35deg, number of
rudder=single rudder, number of steering pump=2pumps
(1) Set the mode selection switch to “NFU”, run any steering pump and then set the
system selection switch to “No.1” or “No.2”.
(2) Set the actual rudder to approx 0deg.
(3) Stop all steering pump.
(4) Adjust “TP45-TP41” voltage so that less than 50mVDC by “VR9” at No.1 and
No.2 SGCPU-D pwb.
(5) Set the mode selection switch to “HAND”.
(6) Turn the steering wheel to more than 20.0 (deg) for Port direction.
(7) Adjust “TP45-TP41” voltage to (+)10.0VDC by “VR10” at No.1 and No.2
SGCPU-D pwb.
EXAMPLE The adjusted voltage is (+)10.0VDC [error=0.00V from spec.]
(8) Turn the steering wheel to more than 20.0 (deg) for Stbd direction.
(9) Measure “TP45-TP41” voltage at No.1 and No.2 SGCPU-D pwb.
EXAMPLE The measured voltage is (-)10.1VDC [error=0.10V from spec.]
(10) Re-adjust “TP45-TP41” voltage so that the error of (7) and (9) to be half by
VR10 at No.1 and No.2 SGCPU-D pwb.
EXAMPLE The adjusted voltage should be (-)10.05VDC
(11) Turn the steering wheel to more than 20.0 (deg) for Port direction.
(12) Measure “TP45-TP41” voltage at No.1 and No.2 SGCPU-D pwb.
EXAMPLE The measured voltage may be approx. (+)9.95VDC
(13) If the voltage value of above (10) and (12) became more than 10.2VDC,
re-adjust from (6) to (12) to reduce the voltage value.
13 ADJUST FU ORDER LIMIT

This limit function affects only in HAND / RC (analog) mode.
The parameter of “Limit Over Angle” means that how much degree the autopilot
order angle can be over or under from the parameter of “Max Rudder Angle”.
This limit angle must be set more than 35deg and less than the activating angle of
limit switch inside the repeat back unit.
If the limit switch inside the repeat back unit activates before autopilot stops
output control signal to steering gear, the alert “RUD. ORDER” will be generated.
13-1 Open the service menu from ANN panel.

13-2 Set the parameter of “Limit Over Angle”.
Menu: Setting > Rudder
Setting Setting - Rudder

Rudder
Rudder >> Max Rudder Angle[˚] 35
Adjust > Narrow Rudder Angle[˚] None
Ext. Equip. > Rudder Num Single
Alert > Rudder Type FR-type
User I/F > F/B Signal ON
Setting Code > Limit Over Angle[˚] 2.0
0.8
SET/ENT:Enter CNCL:Back SET/ENT:Enter CNCL:Back
Ex)
a. “Max Rudder Angle” =35
FU limit angle=35.8deg
“Limit Over Angle” =0.8
b. “Max Rudder Angle” =70

FU limit angle=68.5deg
“Limit Over Angle” =-1.5
13-3 Confirm the actual rudder angle of Stbd-max and Port-max by turning the steering wheel.
Find the minimum value that the actual rudder angle can be over 35deg
certainly when turn the steering wheel to maximum angle.
And then, confirm that any alert does not occur on limit angle.
14 CONFIRM ACCURACY OF STEERING SYSTEM

14-1 Confirm the rudder speed in NFU and HAND mode based on installation check sheet.
14-2 Confirm the accuracy of rudder order and actual rudder (also rudder angle indicator) based
on installation check sheet.
“Max Rudder Angle” =35~45 Order 0deg = ±0.5deg

Order other angle = ±1.0deg
“Max Rudder Angle” =60~70 Order 0deg = ±1.0deg

Order other angle = ±2.0deg
14-3 To correct the angle error between the indicating “Act.” and actual rudder angle, refer to
following procedure.
Rudder tiller
A
0
B C
(Note)
Refer to following table.
It is different from check point by error case generated.
Error case generated and check point
No. Case Check point
1 A=B, A≠C, B≠C ▪ ANN service (Correction value list)
and/or
▪ SGCPU TP18-TP11(GND)
and/or
▪ Repeat back unit ~ tiller linkage
etc…
2 A≠B, A≠C, B=C ▪ Rudder sensitivity etc…
3 A≠B≠C ▪ ANN service (Correction value list)
and/or
▪ SGCPU TP18-TP11(GND)
and/or
▪ Repeat back unit ~ tiller linkage
and/or
▪ Rudder sensitivity
etc…
EX) Steering angle of "Port 20" at using No.1 pump has a little error(0.6), therefore correct the
angle to decrease error. (Case of No.1)
Before correction
▪ “Ord.” : Port 20.0 deg

▪ “Act.” : Port 20.0 deg
▪ Rudder tiller : Port 20.6 deg
▪ Error : 20.6-20.0=(+)0.6 How to correct error
Correction to Stbd: [Value SGx] + Error angle
Correction to Port: [Value SGx] - Error angle
(!!) Even if input error value to [Value SGx], may
Change the correction value not be able to correct actual rudder angle.
And then input value to [Value SGx] little by
Before: -00.8 After: (-0.8)+0.6=-0.2 little until disappear error.
After correction
▪ “Ord.” : Port 20.0 deg

▪ “Act.” : Port 20.0 deg
▪ Rudder tiller : Port 20.1 deg
▪ Error : 20.1-20.0=(+)0.1
Before correction After correction

Autopilot Correction Actual Actual Autopilot Correction Actual Actual
order angle value rudder angle rudder angle order angle value rudder angle rudder angle
(Ord.) (SG1) (by No.1 pump) (by No.2 pump) (Ord.) (SG1) (by No.1 pump) (by No.2 pump)
Port 35 -00.4 Port 34.9 Port 35.0 Port 35 -00.4 Port 34.9 Port 35.0
Port 15 00.0 Port 15.1 Port 15.0 Port 15 00.0 Port 14.9 Port 15.0
Port 10 00.1 Port 10.0 Port 9.9 Port 10 00.1 Port 9.9 Port 9.9
(!!) After correcting value, check the error at all angle again,
because one value change may affect to consecutive angles.
15 ADJUST ANALOG ORDER SIGNAL OUTPUT (Option)

Channel 1 (for Stbd rudder)
Target PWB Measure point Adjust VR Standard Output Terminal
HIFCPU pwb TP13-TP6(COM) Zero: VR1 HCTU TB11
Span: VR2 1[S-ODAN+]/2[S-ODAN-]
Channel 2 (for Port rudder)
Target PWB Measure point Adjust VR Standard Output Terminal
HIFCPU pwb TP15-TP6(COM) Zero: VR3 HCTU TB12
Span: VR4 1[P-ODAN+]/2[P-ODAN-]
Table- 6: Analog output adjustment point
15-1 Set the mode selection switch to “HAND”.
15-2 Run target steering pump.
15-3 Set the system selection switch to “No.1”.
15-4 Set the steering wheel to specified angle.
15-5 Adjust TP13-TP6(COM) voltage by VR1(for Zero) and VR2(for Span) at HIFCPU pwb.
15-6 Confirm the output voltage at HCTU TB11 1[S-ODAN+]/2[S-ODAN-] or specified
optional terminal.
15-7 Adjust TP15-TP6(COM) voltage by VR3(for Zero) and VR4(for Span) at HIFCPU pwb.
15-8 Confirm the output voltage at HCTU TB12 1[P-ODAN+]/2[P-ODAN-] or specified
optional terminal.
15-9 Change the system selection switch to “No.2” and then confirm above item 15-4 and
15-8.
16 CONFIRM INPUT/OUPUT SIGNAL

16-1 Set the parameter of “Ext. Equipment” and “Alert”, and then confirm the
communication with external equipments like as below.
1) Heading sensor (Gyro, Mag, GPS-c, etc)
2) Speed sensor (LOG, GPS)
3) GNSS (GPS)
4) ECDIS
5) INS/MFD/BM
6) BNWAS
7) AMS
8) VDR
9) Other
-Notice-
In case the gyrocompass built-in type, the autopilot PR-9000 can input the signal of LOG
and GPS through the gyrocompass.
If autopilot is connected with each sensor directly, the E2 jumper for each sensor on the
HCTU/HIFTRM pwb must be removed. Refer to below diagram.
Autopilot PR-9000
Gyrocompass TG-8000
GPS RX+ I/F
RX- circuit
LOG RX+
(Serial) RX-
LOG CN+
(200PPM) CN-
GTERM
J14 ···· 11 12 13 14 15 16 ····
Connect by maker harness
(only in case of built-in type)
J14 ···· 11 12 13 14 15 16 ····
1-2/3-4: GPS
HIFTRM
2 4 6 8 10 12
5-6/7-8: LOG (Serial)
E2 1 3 5 7 9 11 9-10/11-12: LOG (Pulse)
HIFTRM
TB2
1 I/F
2 circuit
3
4
5
6
For directly connecting
with sensors
1. Contact output for BNWAS

No Condition Target pwb Setting (S:Short / O:Open) In/Out terminal
1-1 Open @ HC/TC mode HIFIO pwb E8 [1-2]:O / [3-4]:S HIFTRM pwb
TB3 16[BNWAS1]
Close @HC/TC mode HIFIO pwb E8 [1-2]:S / [3-4]:O TB3 17[BNWAS2]
1-2 Open @ Operation HIFIO pwb E8 [5-6]:S / [7-8]:O HIFTRM pwb
TB3 18[BNWAS3]
Close @ Operation HIFIO pwb E8 [5-6]:O / [7-8]:S TB3 19[BNWAS4]
2. Contact input and output for AMS/INS etc
2-1 Open @ Off Heading HIFIO pwb E7 [1-2]:O / [3-4]:S HIFTRM pwb
TB3 1[OFHD1]
Close @ Off Heading HIFIO pwb E7 [1-2]:S / [3-4]:O TB3 2[OFHD2]
2-2 Open @ Heading Monitor HIFIO pwb E7 [5-6]:O / [7-8]:S HIFTRM pwb
TB3 3[HDDF1]
Close @ Heading Monitor HIFIO pwb E7 [5-6]:S / [7-8]:O TB3 4[HDDF2]
2-3 Open @ Off Course Alarm HIFIO pwb E7 [9-10]:O / [11-12]:S HIFTRM pwb
TB3 5[OFCS1]
Close @ Off Course Alarm HIFIO pwb E7 [9-10]:S / [11-12]:O TB3 6[OFCS2]
2-4 Open @ No.1 HCS Power Fail HIFIO pwb E6 [1-2]:O / [3-4]:S HIFTRM pwb
TB3 7 [1PWRF1]
Close @ No.1 HCS Power Fail HIFIO pwb E6 [1-2]:S / [3-4]:O TB3 8 [1PWRF2]
2-5 Open @ No.2 HCS Power Fail HIFIO pwb E6 [5-6]:O / [7-8]:S HIFTRM pwb
TB3 9 [2PWRF1]
Close @ No.2 HCS Power Fail HIFIO pwb E6 [5-6]:S / [7-8]:O TB3 10[2PWRF2]
2-6 Open @ No.1 HCS System Fail HIFIO pwb E6 [9-10]:O / [11-12]:S HIFTRM pwb
TB3 11[1SYSF1]
Close @ No.1 HCS System Fail HIFIO pwb E6 [9-10]:S / [11-12]:O TB3 12[1SYSF2]
2-7 Open @ No.2 HCS System Fail HIFIO pwb E6 [13-14]:O / [15-16]:S HIFTRM pwb
TB3 13[2SYSF1]
Close @ No.2 HCS System Fail HIFIO pwb E6 [13-14]:S / [15-16]:O TB3 14[2SYSF2]
2-8 No.1 SGCU No.1 SGTRM pwb
DSQC pwb E10 [1-2]:O / [3-4]:S TB2 23[1PFCN1]
Open @ No.1+No.3 SGCS ESQC pwb E10 TB2 24[1PFCN2]
Power Fail No.1 SGCU No.3 SGTRM pwb
ESQC pwb E10 TB2 24[3PFCN2]
No.1 SGCU No.1 SGTRM pwb
DSQC pwb E10 [1-2]:S / [3-4]:O TB2 23[1PFCN1]
Close @ No.1+No.3 SGCS ESQC pwb E10 TB2 24[1PFCN2]
2-9 No.2 SGCU No.2 SGTRM pwb
Open @ No.2+No.4 SGCS ESQC pwb E10 TB2 24[2PFCN2]
No.2 SGCU No.2 SGTRM pwb
Close @ No.2+No.4 SGCS ESQC pwb E10 TB2 24[2PFCN2]
2-10 HIFTRM pwb
Alert “ACK” Input
No setting No setting TB2 9 [AIN1]
(Close to ”ACK”)
TB2 10[AIN2]
2-11 Open@”ACK” output HIFIO pwb E9 [9-10]:S / [11-12]:O HIFTRM pwb
TB2 11[AOUT1]
Close@”ACK” output HIFIO pwb E9 [9-10]:O / [11-12]:S TB2 12[AOUT2]
Table- 7 Major JP/SW settings for Input/Output signal-1
3. Serial output for VDR/INS etc -1 (HTD/RSA/ROR sentence)

No Condition Mode Target pwb Setting (S:Short / O:Open) In/Out terminal
3-1 HC/TC HIFIO pwb E1 [1-2]:O / [3-4]:S
No.1 Output by 4800bps DSQC pwb E5 HIFTRM pwb
Other [1-2]:O / [3-4]:S
ESQC pwb E5 TB2 19[PTX1+]
HC/TC HIFIO pwb E1 [1-2]:S / [3-4]:O TB2 20[PTX1-]
No.1 Output by 38400bps TB2 21[P1SC]
DSQC pwb E5
Other [1-2]:S / [3-4]:O
ESQC pwb E5
3-2 HC/TC HIFIO pwb E2 [1-2]:O / [3-4]:S
No.2 Output by 4800bps DSQC pwb E6 HIFTRM pwb
Other [1-2]:O / [3-4]:S TB2 22[PTX2+]
ESQC pwb E6
HC/TC HIFIO pwb E2 [1-2]:S / [3-4]:O TB2 23[PTX2-]
No.2 Output by 38400bps DSQC pwb E6 TB2 24[P2SC]
Other [1-2]:S / [3-4]:O
ESQC pwb E6
4. Serial output for VDR/INS etc -2 (add TXT sentence to above 3. signals)
No Condition Mode Target pwb Setting (S:Short / O:Open) In/Out terminal
4-1 Exclude TXT sentence HC/TC HIFCPU pwb [S2 -1]:OFF
from 4800bps signal Other SGCPU pwb [S12-1]:OFF
4-2 Include TXT sentence in HC/TC HIFCPU pwb [S2 -1]:ON
4800bps signal Other SGCPU pwb [S12-1]:ON Refer to above item
4-3 Exclude TXT sentence HC/TC HIFCPU pwb [S3 -1]:OFF 3-1 and 3-2
from 38400bps signal Other SGCPU pwb [S12-1]:OFF
4-4 Include TXT sentence in HC/TC HIFCPU pwb [S3 -1]:ON
38400bps signal Other SGCPU pwb [S12-1]:ON
5. Serial input of GPS/LOG/Compass
5-1 Input GPS signal to PR-9000
HIFTRM pwb E2 [1-2]:O / [3-4]:O HIFTRM pwb
independently of Gyro TB2 1[GPSRX+]
Input GPS signal from Gyro TB2 2[GPSRX-]
HIFTRM pwb E2 [1-2]:S / [3-4]:S TB2 3[GPSSC]
through J14 harness
5-2 Input LOG serial signal to
PR-9000 independently of Gyro TB2 4[LOGRX+]
Input LOG serial signal from TB2 5[LOGRX-]
HIFTRM pwb E2 [5-6]:S / [7-8]:S TB2 6[LOGSC]
Gyro through J14 harness
5-3 Input LOG pulse signal to
PR-9000 independently of Gyro
TB2 7[LOGCN1]
Input LOG Pulse signal from TB2 8[LOGCN2]
HIFTRM pwb E2 [9-10]:S / [11-12]:S
Gyro through J14 harness
5-4 Input No.1 Heading sensor signal
HIFCPU pwb [S2-8]:OFF HIFTRM pwb
depending on HCU service menu TB1 1[G1RX+]
Input No.1 Heading sensor signal TB1 2[G1RX-]
HIFCPU pwb [S2-8]:ON TB1 3[G1SC]
by 4800bps
depending on HCU service menu TB1 4[G2RX+]
Input No.2 Heading sensor signal TB1 5[G2RX-]
HIFCPU pwb [S3-8]:ON TB1 6[G2SC]
by 4800bps
depending on HCU service menu TB1 7[ESRX+]
Input No.3 Heading sensor signal TB1 8[ESRX-]
HIFCPU pwb [S4-8]:ON TB1 9[ESSC]
by 4800bps
Table- 8 Major JP/SW settings for Input/Output signal-2
17 SETTING FOR AUTO STEERING

Set the dip-switch of HCCPU pwb, ADNCT2 pwb and parameter of HCU service menu
according to ship’s particulars for auto steering.
(for PID) RATE (Internal): HCCPU pwb S1 - 6, 7, 8
WEATHER (Internal): HCCPU pwb S2 - 1, 2, 3
（for ADPT） Ship type: HCU service menu “Ship Type”

Length (LPP): HCU service menu “Ship Length”
Service speed: HCU service menu “Service Speed”
Limit index: ADNCT2 pwb S1 - 5, 6, 7
17-1 SET DIP-SWITCH OF HCCPU PWB (for Internal RATE and WEATHER)
1) Find two setting codes from below Table- 9 by “Ship Type” and “Dead Weight”.
Ex) In case ... Type: Tanker / Lpp: 300m / DWT: 250,000t

Upper (Int. Rate) = 3: HCCPU S1 6=ON / 7=ON / 8=OFF
or = 4: HCCPU S1 6=OFF / 7=OFF / 8=ON
Lower (Int. Weather) = 3: HCCPU S2 1=ON / 2=ON / 3=OFF
0 1 2 3 4 5 6 7 8
Bulk Carrier (240>LPP>180m)
-Upper code-
Ship with high effectiveness
Bulk Carrier (LPP>240m)
Bulk Carrier (LPP<180m)

Small ship (LPP<100m)
Setting code of
Tanker (LPP>250m)
Tanker (LPP<250m)
(small/medium ship)
Internal Rate
Container/PCC
Ship
Type (Refer to Table- 10)
Other
-Lower code-
Setting code of
Internal Weather
(Refer to Table- 11)
D.W.T
5,000~ 1 1 1/2 1 0/1
9,999 1 1 2 1 1
10,000~ 1/2 2 2 2 1/2
49,999 2 2 2 2 2
50,000~ 2 3 3 2 2 3 2
99,999 2 2/3 2/3 2 2 2 2
100,000~ 2 3 3 2 2/3
199,999 2 3 3 2 2/3
200,000~ 2/3 3/4 2/3 3
299,999 2/3 3 2/3 3
300,000~ 3 4/5 3
499,999 3 3 3
500,000~ 3/4 5 3/4
more 3 3 3
Table- 9: Setting code of internal Rate and Weather
Heading Control Unit

HCTRM pwb
3) INTERNAL WEATHER
HCCPU pwb
Refer to Table- 11
S3
S2
S1
2) INTERNAL RATE
Refer to Table- 10
Fig- 13: Layout of HCCPU dip-switch
2) For “INTERNAL RATE”, set the dip switch S1 6, 7, 8 of HCCPU pwb by upper code of
17-1-1) with Table- 10.
Upper HCCPU pwb S1 Description Upper HCCPU pwb S1 Description
Code No.6 No.7 No.8 [sec] Code No.6 No.7 No.8 [sec]
0 OFF OFF OFF 2~15 4 OFF OFF ON 50~100
1 ON OFF OFF 10~30 5 ON OFF ON 70~140
2 OFF ON OFF 20~50 6 OFF ON ON 90~180
3 ON ON OFF 40~80 7 ON ON ON 120~240
Table- 10: Setting table of “INTERNAL RATE”
3) For “INTERNAL WEATHER”, set the dip switch S2 1, 2, 3 of HCCPU pwb by lower code
of 17-1-1) with Table- 11.
Lower HCCPU pwb S2 Description Lower HCCPU pwb S2 Description
Code No.1 No.2 No.3 [deg] Code No.1 No.2 No.3 [deg]
0 OFF OFF OFF 0.2 4 OFF OFF ON 0.6
1 ON OFF OFF 0.3 5 ON OFF ON 0.8
2 OFF ON OFF 0.4 6 OFF ON ON 1.0
3 ON ON OFF 0.5 7 ON ON ON 1.5
Table- 11: Setting table of “INTERNAL WEATHER”
17-2 SET PARAMETERS TO HCS SERVICE MENU

1) Open the service menu from HCU panel.
2) Set the parameter of “Ship Type”, “Ship Length(Lpp)” and “Service Speed”.
Menu: Setting > Ship
PR-9000 Setting Setting - Ship

Setting > Ship > User I/F > Ship Type Container
Maintenance > Rudder > Type Approval > Ship Length(Lpp)[m] 100
Initialization > Adjust > Setting Code > Service Speed[kn] 20
EXT. Equipment> Import Setting > IDENT. Parameter inherit Yes
Alert > IDENT. Status Display No
NCT Parameter >
KNOB:Select & Enter CNCL：Back KNOB:Select & Enter CNCL：Back KNOB:Select & Enter CNCL：Back
17-3 SET DIP-SWITCH OF ADNCT2 PWB (for ADPT)

1) Set the switch 5~7 of DIP switch (S1) on the ADNCT2 pwb. Refer to below Table- 12.
Limit Range of Period

Ship type Setting
Index Loa(m) (sec) *1
A-1 180~ 160~250

Example: LNG/LPG tanker, Container
A-2 carrier, Vehicle carrier. 120~179 100~160
[Set the ship not included in B-1/B-2]
A-3 ~119 60~100
Ships which draft condition vary in full or

B-1 ballast loading. 185~ 200~400
Example: Oil tanker, Chemical tanker,
Product tanker, Tanker miscellaneous,
B-2 Bulk carrier. ~184 120~200
[For tanker other than LNG/LPG]
0 Not specified (No limitation)
*1 When the yawing is generated, this period is used for the reference of the setting.
Table- 12: ADNCT2 setting
HCTRM pwb ADNCT2 pwb
S2 S1
Note-1
Keep and watch the heading in ADPT-OPN steering mode after course changing in ADPT auto
steering. When the ship doesn't approach the set course easily (when 1 or 2 degrees course
deviation from the set course is kept for 20 minutes or more), set switch 2 of DIP switch (S1) to
“ON”. (The integration gain doubles when switch 2 of S1 is set to “ON”.)
Note-2 Treatment when yawing is generated

Measure the yawing period any chance when the yawing is generated. Set the limit index again as
the measured period is corresponding to the period in the above Table- 12.
Example: Change the setting to A-1 in the ship as being set to A-2 when the yawing period is 180
sec (longer than 160 sec), or change the setting to A-3 when the yawing period is 60sec (shorter
than 100 sec). Change the setting to B-1 in the ship as being set to B-2 when the yawing period is
240 sec (longer than 200 sec).
18 RECORD NCT PARAMETER BEFORE SEA TRIAL (for ADPT mode)

18-1 Open the service menu from HCU panel.
18-2 Record the initial parameter to installation check sheet. These parameters will be
initialized automatically when change the parameter of “Service Speed”.
a. “IDENT. SPEED”
b. “Ship Type” !! It must be set to “None” !!
c. “Kn”
d. “Tn”
e. “T3n”
f. “Kvn”
g. “Tv3n”
Menu: Setting > NCT Parameter > Coefficient

PR-9000 Setting – NCT Parameter
Setting >
Coefficient
Coefficient >
Maintenance > IDENT. Speed[Kn] 10
Initialization > Ship Type None
KNOB:Select & Enter CNCL：Back KNOB: Select & Enter CNCL: Back
Setting – Coefficient
CW CCW
Kn 0.00 0.00
Tn 0.00 0.00
T3n 0.00 0.00
Kvn 0.00 0.00
Tv3n 0.00 0.00
KNOB: Select & Enter CNCL: Back
19 SETTING FOR TCS

19-2 Set two parameters (“Beta2 average” and “Curve mode delay time”) for TCS
depending on the setting of limit index as below. (Refer to item 17-3, Table- 12 and
Table- 13)
Menu: Setting > Adjust > Tracking Parameter

PR-9000 Setting Setting - Adjust
Setting > Ship > User I/F > Internal Rate Range[sec] 1～15
Maintenance > Rudder > Type Approval > Weather Ratio[°] 0.2
Initialization > Adjust > Setting Code > Max Rate Of Turn[°/min] 40
EXT. Equipment> Import Setting > Rate Order Update[%] 3
Alert > Tracking Parameter >
NCT Parameter > Angle Correction >
KNOB:Select & Enter CNCL：Back KNOB:Select & Enter CNCL：BACK KNOB:Select & Enter CNCL：Back
Setting - Tracking Parameter Setting - Tracking Parameter 2/2

COG notch filter type None Turn XTD gain ratio 1.0
Beta2 average[min] 4 Curve mode delay time[min] 4
XTE average[min] 1
Kd ratio x12
Delta Psi average[x10 sec] 1
XTD gain ratio 1.0
KNOB:Select & Enter CNCL：Back KNOB:Select & Enter CNCL：Back
Curve
Limit Range of Beta2 mode
Ship type
Index Loa(m) average delay
time
A-1 180~ 4 4
Example: LNG/LPG tanker, Container
A-2 carrier, Vehicle carrier. 120~179 3 3
[Set the ship not included in B-1/B-2]
A-3 ~119 2 2
Ships which draft condition vary in full or
B-1 ballast loading. 185~ 5 5
Example: Oil tanker, Chemical tanker,
Product tanker, Tanker miscellaneous,
B-2 Bulk carrier. ~184 4 4
[For tanker other than LNG/LPG]
0 Not specified (No limitation) 4 4
Table- 13: Reference for setting TCS parameter
20 CONFIRM AUTO STEERING

20-1 SET PID PARAMETER FOR TEST
1) Set the parameter of “HC METHOD” to “PID”.
2) Set the parameter of “RUDDER LIMIT” to “15.0”.
3) Set the parameter in “PID” menu as below.

“WEATH.”=0, “RUDDER”=4.0, “COUNT. RUDDER”=1.0
0 4.0 1.0 500m
20-2 CONFIRM COURSE CHANGE AND RUDDER LIMIT

1) Set the mode selection switch to “HAND”.
2) Run steering pump.
3) Set the system selection switch to “No.1”.
4) Set the mode selection switch to “HC”.
5) Push and rotate the SET HDG knob to change course Fig- 14 SET HDG knob
±10deg, the rudder will move after release the knob.
6) Confirm that the rudder stops at about 10deg of same direction as altered course.
7) Push and rotate the SET HDG knob to change course ±20deg, the rudder will move after
release the knob.
8) Confirm that the rudder stops at about 15deg of same direction as altered course. (Refer to
Fig- 15)
9) Set the mode selection switch to “HAND”. P/S mark
10) Set the system selection switch to “No.2”.

Rudder limit mark
11) Repeat as above item from 20-2-4) to
Fig- 15: Rudder Limit Indication
20-2-9).
21 CONFIRM OFF HEADING ALERT

21-2 Run steering pump.
21-4 Set the parameter of “OFF HEADING” to “TEST”.
21-5 Set the mode selection switch to “HC”.
21-6 Push and rotate the SET HDG knob to change course more than ±5deg, the rudder will
move after release the knob.
21-7 After about 6sec, alert “OFF HEADING” will be generated.
21-9 After above test, set the parameter of “OFF HEADING” to other than “TEST”.
21-11 Repeat as above item from 21-4 to 21-9.
22 CONFIRM HEADING MONITOR ALERT

22-4 Only in case of three heading sensors are connected, set the
parameter of “HDM SENSOR” to select the target heading
sensor.
22-5 Set the parameter of “HEADING MONITOR” that means
threshold of the alert.
22-7 Make the difference more than value of “HEADING
MONITOR” between selected heading and target heading.
22-8 After about 6sec, alert “HEADING MONITOR” will be
generated.
23 CONFIRM OFF COURSE ALERT

23-4 Only in case of three heading sensors are connected, set the
parameter of “OCA SENSOR” to select the target heading
sensor.
23-5 Set the parameter of “OFF COURSE” that means threshold
of the alert.
23-7 Make the difference more than value of “OFF COURSE”
between “SET HDG” and target heading.
23-8 After about 6sec, alert “OFF COURSE” will be generated.
24 CONFIRM PERFORMANCE OF AUTOPILOT AT SEA TRIAL

24-1 Confirm the performance of all steering mode/system during navigation.
24-2 Confirm that the rudder follows autopilot order during navigation and steering
performance test.
24-3 Confirm the performance of auto steering after tuning the parameter of “RUDDER” and
“COUNT. RUDDER” (for PID-mode) / do 10deg-zigzag steering to estimate the
characteristics of ship’s maneuverability (for ADPT-mode). The overshoot can be approx
10% of the course change as below Fig- 16. Record the adjustment value to check sheet.
Fig- 16: Performance check of auto steering

24-4 Confirm that our equipments are not adversely affected by ship’s vibration and/or
operation of other equipments.
25 RECORD NCT PARAMETER AFTER SEA TRIAL (for ADPT mode)

25-2 Record the result of ADPT steering to installation check sheet.
a. “IDENT. SPEED”
b. “Kn”
c. “Tn”
d. “T3n”
e. “Kvn”
f. “Tv3n”
Menu: Setting > NCT Parameter > Coefficient

PR-9000 Setting – NCT Parameter
Setting >
Coefficient
Coefficient >
Maintenance > IDENT. Speed[Kn] 10
Initialization > Ship Type None
KNOB:Select & Enter CNCL：Back KNOB: Select & Enter CNCL: Back
Setting – Coefficient
CW CCW
Kn 0.00 0.00
Tn 0.00 0.00
T3n 0.00 0.00
Kvn 0.00 0.00
Tv3n 0.00 0.00
KNOB: Select & Enter CNCL: Back
26 EXPLAIN TO SHIP’S CREW

26-1 EXPLAIN ABOUT BASIC OPERATION
1) Installed components, each functions and locations
2) How to change SYSTEM and MODE
3) How to operate display unit
4) How to operate each steering mode, and adjustment of auto steering (for PID/ADPT)
5) How to generate OFF HEADING and OFF COURSE alert
6) Etc.
26-2 EXPLAIN ABOUT EMERGENCY OPERATION

1) How to get alert name, code and history
2) How to change steering mode to “NFU” and its operation
3) How to change autopilot system to another one
4) How to change steering pump to another one
5) Etc.
26-3 EXPLAIN ABOUT MAINTENANCE

1) Explain about maintenance based on operator’s manual and check sheet. First time data of
the maintenance check sheet should be filled by engineer who attended installation works
and hand to ship’s crew.
End
Appendix-1 Layout of SGCPU-D pwb
Appendix-2 Layout of HIFCPU pwb
Appendix-3 About the compatibility PR-9000 type and P.W.B of PR-9000
1. Introduction of PR-9000 new P.W.B.

1-(1) DSQC PWB (Parts number. 11329423_05 or later)
(!!) The previous name is same to new P.W.B.
(a) This P.W.B is equipped in PR-9000-D/F.
(b) The setting of system number of the P. W. B is set by E20 on the P. W. B.
1-(2) SGTRM PWB (Parts number. 11329426_04 or later)
(!!) The previous name is same to new P.W.B.
(a) This P.W.B is equipped in except for PR-9000-ZZ and FR.
(b) If this P.W.B is equipped in the PR-9000, it doesn’t need to jumper line
which already connected on the past SGTRM PWB for loop back signal.
(c) However, must need to set new equipped jumper “J6”, ”J7” and “J8”
according to type of PR-9000.
(d) Must check these jumper’s setting. If you turn on the power
supply of PR-9000 with the PWB setting being wrong, it may
not only be burned, but also other parts will be burned.
(!!) Refer to “PR-9000 setting manual; part of Jumper & Dip Switch”
about detail setting of every PWBs.
2. About the compatibility PR-9000 type and P.W.B of PR-9000

PR-9000 type
P.W.B
E1/L E0/E2/E3 D FP FR ZZ
ESQC-E1 PWB
1. (11329437_) ○ × × × × -
ESQC (*)1
PWB ESQC-E2 PWB
(11329438_) × ○ × × × -
2. DSQC PWB
DSQC (11329423_) × × ○ ○ ○ -
PWB
SGCPU-E PWB
(11329418_) ○ ○ × × × -
3. SGCPU-D PWB
SGCPU (11329419_) ○ ○ ○ × × -
PWB SGCPU-F PWB
(11329420_02) ○ ○ ○ ○ ○ -
(*)2
SGTRM PWB
4. (11329426_) ○ ○ ○ ○ × -
SGTRM (*)3
PWB SGTRM2 PWB
(11329429_) × (*1) × × × ○ -
SSR-AC PWB
(11329441_) ○ × - - × -
5.
SSR PWB SSR-DC PWB
(11329442_) ○ ○ - - × -
HIFCPU PWB
(11329405_) ○ ○ ○ ○ ○ ×
6.
HIFCPU HIFCPU PWB
PWB (11329416_) ○ ○ ○ ○ ○ ○
(*)4
(*1) Revaised 2017.12.11
○: Usable
×: Cannot use
-: Not applicable
(!!) "The sales sect. of Marine service Dept. of Tokyo-keiki Marine system
company”(Previous “Tokyo-keiki Customer Servece Inc.”) stocks only SGCPU-F
PWB about SGCPU PWB.
Therefore "the sales sect." doesn't stock SGCPU-E PWB and SGCPU-D PWB.
(!!) "The sales sect. of Marine service Dept. of Tokyo-keiki Marine system
company”(Previous “Tokyo-keiki Customer Servece Inc.”) stocks only HIFCPU
PWB(11329416_).
Therefore the sales sect. doesn’t stock HIFCPU PWB(11329405_).

PR-9000-D - Adjustment Manual (E) (Training Document Vol.1) 2017.12.18

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ADJUSTMENT MANUAL

Training Document vol.2

2-16-46, MINAMI-KAMATA, OHTA-KU, TOKYO

0 WORK FLOW OF THE INSTALLATION ----------------------------------------------------------- 3

0 WORK FLOW OF THE INSTALLATION

Adjustment of equipments in steering gear room

NFU and HAND steering

1 WORKING TABLE AT REPLACEMENT OF SOME PARTS

2 PREPARATIONS BEFORE START WORK

2-2 Meet with person in charge of shipyard to confirm below items.

2) Ship’s particulars for initial settings for auto steering

3 CHECK THE SUPPLIES

Steering Stand Steering Room

Fig- 1: Power Switch

5 INSTALL REPEAT BACK UNIT

To show cam and switch, LINEAR SYNCHRO ASSY is removed in

TOP VIEW TOP VIEW

Rotate the main

Hex key wrench (WAF=3mm)

A Right Angle A Right Angle

Rudder Tiller must be in 0deg

The center point of

[For maximum angle 35~45deg] [For maximum angle 60~70deg]

Fig- 3: The connection of repeat back unit and rudder tiller

The rudder tiller and

Confirm the no obstruction

Fig- 4: Confirm the safety in moving range of steering gear

6 CHECK AND CONNECT POWER SUPPLY

Steering Steering Stand

Fig- 5: Outline of Power Supply

[Steering stand - Input]

[Steering stand - Input]

7 CONFIRM NFU (Non Follow Up) STEERING

[The rudder does not move / Moves to opposite direction]

8 ZERO-ADJUST LINEAR SYNCHRO VOLTAGE

Repeat Back Unit Cover

Mark (Body side)

Loosen 3 screws and

Fig- 6: The adjustment of linear synchro

Set angle Measure / Adjust point Specification

8-1 Set the mode selection switch to “NFU”.

9 ADJUST F/B ZERO and SPAN (analog)

Adjustment Item Max Angle Set Angle Specification

Target Steering Gear & Repeat Back Unit

9-5 Set the actual rudder (=rudder tiller angle) to 0deg.

Sample for adjustment (Feed Back)

EXAMPLE The adjusted voltage is (+)5.00VDC [error=0.00V from spec.]

(8) Set actual rudder to Stbd 20deg.

EXAMPLE The measured voltage is (-)5.04VDC [error=0.04V from spec.]

EXAMPLE The adjusted voltage should be (-)5.02VDC

(11) Set actual rudder to Port 20deg.

EXAMPLE The measured voltage may be approx. (+)4.98VDC

10 CONFIRM SETTINGS OF RUDDER SPECIFICATION

Menu: Setting > Rudder

Related dip switch of

11 F/B ANGLE CALIBRATION

11-1 Set the mode selection switch to “NFU”.

Setting - Adjust Setting - Angle Error C… Setting - Rudder F/B