Anschutz 139-159.NG003 Operator's And Service Manual

Anschütz GmbH
Zeyestr. 16-24
24106 Kiel
Germany
www.anschuetz.com
FU Amplifier Proportional AS
Operator and Service Manual
Type: 139-159.NG001, NG002, NG003
Edition: 001
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Copyright
Dieses Dokument sowie dessen Inhalt sind urheberrechtlich
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Änderungen dieses Dokuments und dessen Inhalt bleiben vorbehal- Changes and modification to this document and its content reten.
served.
FU Amplifier Proportional AS
Table of Contents
Table of Contents
List of Figures...................................................................................................................................................... V
List of Tables...................................................................................................................................................... VII
List of Abbreviations.......................................................................................................................................... IX
Introduction........................................................................................................................................................ 1
Preliminary Remarks..................................................................................................................................... 1
Change History.............................................................................................................................................. 1
Safety............................................................................................................................................................. 1
General Safety Regulations.....................................................................................................................1
General Safety Instructions..................................................................................................................... 2
Electrostatic Discharge............................................................................................................................ 2
List of Further Documents.............................................................................................................................3
List of Annex Documents.............................................................................................................................. 3
1 Description....................................................................................................................................................... 5
1.1 Purpose.....................................................................................................................................................5
1.2 System Overview.................................................................................................................................... 5
1.3 Technical Data..........................................................................................................................................5
1.3.1 Interfaces..........................................................................................................................................5
1.4 Technical Description............................................................................................................................... 6
1.5 Operating Elements and Indicators..........................................................................................................6
1.6 Functional Description.............................................................................................................................. 7
1.6.1 Modes of Operation......................................................................................................................... 7
1.6.2 Normal Operation.............................................................................................................................7
1.6.2.1 Operation Mode Bridge...........................................................................................................7
1.6.2.2 Operation Mode Local............................................................................................................ 8
1.6.2.3 Signalling................................................................................................................................. 8
1.6.2.4 Unload Device.........................................................................................................................8
1.6.2.5 Rudder Control Circuit............................................................................................................ 9
1.6.3 Emergency Operation.................................................................................................................... 10
1.6.4 CAN Bus Technology.................................................................................................................... 10
1.7 Dependence on Peripheral Systems / Devices......................................................................................11
1.8 Outfit and Accessories........................................................................................................................... 12
2 Operation........................................................................................................................................................ 13
2.1 Preliminary Remarks.............................................................................................................................. 13
2.2 Safety Instructions for Operation........................................................................................................... 13
2.3 Setting into Operation.............................................................................................................................14
2.3.1 Pre-Operation Procedures after Longer Time Setting out of Operation........................................14
2.3.2 Switch Power On........................................................................................................................... 14
2.4 Normal Operation Procedures................................................................................................................14
2.4.1 Select Operation Mode..................................................................................................................14
2.4.2 Move the Rudder via the FU Amplifier Proportional AS............................................................... 15
2.5 Emergency Operation Procedures......................................................................................................... 15
2.6 Setting out of Operation......................................................................................................................... 15
2.6.1 Power Off....................................................................................................................................... 15
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Table of Contents
2.6.2
Procedures for Longer Time Setting out of Operation.................................................................. 15
3 Troubleshooting.............................................................................................................................................16
3.1 Alert / Status Message Handling............................................................................................................16
3.2 Alert List..................................................................................................................................................16
4 Installation and Maintenance....................................................................................................................... 18
4.1 Safety Instructions for Installation and Maintenance............................................................................. 18
4.2 General Information................................................................................................................................ 18
4.2.1 Reference to ISPC.........................................................................................................................18
4.2.2 Special Tools, Measurement and Test Equipment....................................................................... 19
4.2.3 List of Consumables...................................................................................................................... 19
4.3 Installation............................................................................................................................................... 19
4.3.1 Installation of 3 Ferrite Rings........................................................................................................ 19
4.3.2 Cable Connections.........................................................................................................................19
4.3.2.1 Safety Instructions for Cable Connections........................................................................... 19
4.3.2.2 General Remarks about Preparing Cable Connections....................................................... 20
4.3.2.3 General Remarks about Preparing Common Ground Connections..................................... 22
4.3.3 Terminal Settings........................................................................................................................... 22
4.3.3.1 Terminal Settings Mains Supply Module.............................................................................. 22
4.3.3.2 Terminal Settings NFU PCB.................................................................................................24
4.3.3.3 Terminal Settings FU PCB................................................................................................... 27
4.3.3.4 Terminal Settings and Termination of CAN Bus Distribution Unit........................................ 30
4.3.4 Jumper and DIP Switch Overview (FU)........................................................................................ 30
4.3.5 Initial Operation Procedures.......................................................................................................... 32
4.3.5.1 Adjust Power Resistor R1.................................................................................................... 32
4.4 General Configuration............................................................................................................................ 32
4.4.1 Basic Parameters Configurable via Service Tool only.................................................................. 33
4.4.1.1 Rudder No.............................................................................................................................33
4.4.1.2 NFU Direct / Main................................................................................................................. 33
4.4.1.3 Feedback Input..................................................................................................................... 33
4.4.1.4 Wire Break Alarm..................................................................................................................34
4.4.1.5 CAN Group............................................................................................................................34
4.4.1.6 CAN Number.........................................................................................................................34
4.4.1.7 Unit ID................................................................................................................................... 34
4.4.1.8 Restore Factory Settings...................................................................................................... 34
4.4.2 Parameter Settings and Indication via Function Buttons and Display.......................................... 35
4.4.2.1 Rudder Scaling: Rudder Feedback (for Analog Feedback)..................................................37
4.4.2.1.1 Set Parameter Rudder Scaling.................................................................................... 38
4.4.2.1.2 Set Parameter Rudder Offset Setting.......................................................................... 38
4.4.2.1.3 Set Parameter Rudder Deflection Port........................................................................ 38
4.4.2.1.4 Set Parameter Rudder Deflection Starboard............................................................... 39
4.4.2.2 Rudder Scaling of Torque Motor.......................................................................................... 39
4.4.2.2.1 Set Parameter Rudder Scaling (Torque Motor)...........................................................39
4.4.2.2.2 Set Parameter Torque Motor Deflection Port.............................................................. 40
4.4.2.2.3 Set Parameter Torque Motor Deflection Starboard..................................................... 40
4.4.2.3 Parameter PA1 - Coarse / Fine Setting of Rudder Feedback (All Steering Gear)................40
4.4.2.3.1 Set Parameter.............................................................................................................. 41
4.4.2.4 Parameter PA2 - Motor Setting Range Port (3-Phase and Torque Motor)...........................41
4.4.2.5 Parameter PA2 - Maximum Valve Current (Proportional Solenoid Valve)........................... 41
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Table of Contents
4.4.2.6 Parameter PA3 - Motor Setting Range Starboard (3-Phase and Torque Motor)..................42
4.4.2.7 Parameter PA4 - Offset of Valve Null Position (3-Phase Motor)..........................................42
4.4.2.8 Parameter PA5 - Valve Basic Current Port (Proportional Solenoid Valve)...........................42
4.4.2.8.1 Set Parameter PA5...................................................................................................... 43
4.4.2.9 Parameter PA6 - Valve Basic Current Starboard (Proportional Solenoid Valve)..................43
4.4.2.9.1 Set Parameter PA6...................................................................................................... 43
4.4.2.10 Parameter PA7 - Motor Basic Current Starboard (Torque Motor)......................................44
4.4.2.10.1 Set Parameter PA7 for Torque Motor........................................................................44
4.4.2.11 Parameter PA7 - Dither Amplitude (Proportional Solenoid Valve)..................................... 44
4.4.2.11.1 Set Parameter PA7 for Proportional Solenoid Valve................................................. 45
4.4.2.12 Parameter PA8 - Motor Basic Current Port (Torque Motor)...............................................45
4.4.2.12.1 Set Parameter PA8.................................................................................................... 45
4.4.2.13 Parameter PA8 - Dither Frequency (Proportional Solenoid Valve).................................... 46
4.4.2.14 Parameter PA9 - Proportional Range (All Steering Gear)..................................................46
4.4.2.15 Parameter PA10 - Proportional Amplification Factor Kp (Torque Motor)........................... 46
4.4.2.16 Parameter PA10 - Ramp Time for Rising Ramp (Proportional Solenoid Valve).................47
4.4.2.17 Parameter PA11 - Ramp Time for Falling Ramp (Proportional Solenoid Valve)................ 47
4.4.2.18 Parameter PA12 - Velocity Amplification Factor Kv (3-Phase Motor)................................ 47
4.4.2.19 Parameter PA12 - Velocity Amplification Factor Kv (Torque Motor).................................. 47
4.4.2.20 Parameter PA12 - Threshold for Ordered Value (Proportional Solenoid Valve, Low
Current Version)............................................................................................................................. 48
4.4.2.21 Parameter PA13 - Null Width Input (All Steering Gear)..................................................... 48
4.4.2.22 Parameter PA14 - Hydraulic Lock: Differential Motor Setting (All Steering Gear).............. 48
4.4.2.23 Parameter PA15 - Hydraulic Lock: Delay Time (All Steering Gear)................................... 49
4.4.2.24 Parameter PA16 - Steering Fail: Difference (All Steering Gear)........................................ 49
4.4.2.25 Parameter PA17 - Steering Fail: Delay Time (All Steering Gear)...................................... 49
4.4.2.26 Parameter PA18 - Motor Speed (3-Phase Motor)..............................................................49
4.4.2.27 Parameter PA18 - Unload Device or FU-Amplifier Proportional AS Status
(Proportional Solenoid Valve).........................................................................................................50
4.4.2.28 Parameter PA19 - Current Amplification Factor (Proportional Solenoid Valve)..................50
4.4.2.29 Parameter PA20 - Steering Fail: Rudder Speed Setting (All Steering Gear)..................... 50
4.4.2.30 Parameter PA21 - Proportional Range, 2 Pump Operation (All Steering Gear)................. 50
4.4.2.31 Parameter PA22 - Proportional Range, 3 Pump Operation (All Steering Gear)................. 51
4.4.2.32 Parameter PA23 - Proportional Range, 4 Pump Operation (All Steering Gear)................. 51
4.4.2.33 Parameter PA24 - Proportional Range, 5 Pump Operation (All Steering Gear)................. 51
4.4.2.34 Parameter PA25 - Rudder Limit Angle (All Steering Gear)................................................ 52
4.4.2.35 Reset Software....................................................................................................................52
4.4.3 Show Set Parameter..................................................................................................................... 52
4.4.4 Unit Status..................................................................................................................................... 59
4.5 Care and Maintenance........................................................................................................................... 61
4.5.1 Safety Instructions for Maintenance.............................................................................................. 61
4.6 Care and Maintenance........................................................................................................................... 61
4.7 Repair......................................................................................................................................................61
4.7.1 Reference to ISPC.........................................................................................................................61
4.8 Repair Procedures..................................................................................................................................62
4.8.1 Replace Mains Power Module...................................................................................................... 62
4.8.2 Replace FU PCB........................................................................................................................... 63
4.8.3 Replace NFU PCB.........................................................................................................................63
4.8.4 Replace CAN Bus Distribution Module......................................................................................... 64
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4.9 Monitoring............................................................................................................................................... 65
4.9.1 Power Resistor R1 Setting............................................................................................................ 65
4.9.1.1 Check Power Resistor R1.................................................................................................... 65
4.9.2 Check NFU Voltage 24 V..............................................................................................................65
5 Troubleshooting.............................................................................................................................................67
5.1 Troubleshooting Table............................................................................................................................ 67
6 Transport and Storage..................................................................................................................................69
6.1 Preservation, Packing and Storage....................................................................................................... 69
6.2 Transport.................................................................................................................................................70
7 Illustrated Spare Parts Catalog................................................................................................................... 71
7.1 General Remarks................................................................................................................................... 71
7.2 Definitions............................................................................................................................................... 71
7.3 FU Amplifier Proportional AS................................................................................................................. 72
8 Annex.............................................................................................................................................................. 73
8.1 Quick Reference..................................................................................................................................... 73
8.1.1 Parameter Configuration Quick Reference Guide.........................................................................73
8.2 Drawings................................................................................................................................................. 76
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FU Amplifier Proportional AS
List of Figures
List of Figures
Fig. 1: Electrostatic Discharge, Protected Area..................................................................................................... 2
Fig. 2: FU Amplifier Proportional AS, Operating Elements and Indicators.............................................................6
Fig. 3: Rudder Control Circuit, Principle...............................................................................................................10
Fig. 4: CAN Bus, Jumper for Termination............................................................................................................11
Fig. 5: Prepare a Cable Connection.....................................................................................................................20
Fig. 6: Prepare a Cable Entry.............................................................................................................................. 21
Fig. 7: Example for Cable Connections............................................................................................................... 21
Fig. 8: Prepare a Common Ground Connection.................................................................................................. 22
Fig. 9: Mains Supply Module, Normal Connected................................................................................................23
Fig. 10: Mains Supply Module, Cross Connected................................................................................................23
Fig. 11: NFU PCB, Terminal Settings.................................................................................................................. 24
Fig. 12: NFU PCB, Terminal Settings (continued)............................................................................................... 25
Fig. 13: NFU PCB, Motor Connections................................................................................................................ 25
Fig. 14: NFU PCB, Motor Connections................................................................................................................ 26
Fig. 15: FU PCB, Torque Motor, Terminal Settings............................................................................................. 27
Fig. 16: FU PCB, 3-Phase Motor and Proportional Solenoid Valve, Terminal Settings....................................... 28
Fig. 17: FU PCB, Terminal Settings.....................................................................................................................29
Fig. 18: CAN Bus Distribution, Terminal Settings................................................................................................ 30
Fig. 19: Location of Solder Strap......................................................................................................................... 32
Fig. 20: FU PCB, Operating Elements and Indications........................................................................................36
Fig. 21: FU PCB, DIP Switches B4, Indication.................................................................................................... 36
Fig. 22: FU PCB, Display, Indication Multi-Pump Operation................................................................................37
Fig. 23: Unit Status Indication.............................................................................................................................. 59
Fig. 24: FU PCB, Mains Power Module, Electrical Connections......................................................................... 62
Fig. 25: NFU PCB, Electrical Connections...........................................................................................................64
Fig. 26: 00-0000....................................................................................................................................................72
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List of Figures
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FU Amplifier Proportional AS
List of Tables
List of Tables
Tab. 1: Change History...........................................................................................................................................1
Tab. 2: List of Further Documents......................................................................................................................... 3
Tab. 3: Dimensional Drawings................................................................................................................................3
Tab. 4: Wiring Diagrams......................................................................................................................................... 3
Tab. 5: Installation Instructions and Configuration Form....................................................................................... 4
Tab. 6: FU PCB, Operating Elements and Indicators............................................................................................ 6
Tab. 7: NFU PCB, Operating Elements and Indicators......................................................................................... 7
Tab. 8: CAN Bus, Cable Requirements............................................................................................................... 11
Tab. 9: Alert List................................................................................................................................................... 16
Tab. 10: Function of Jumpers and DIP Switches on FU PCB............................................................................. 30
Tab. 11: Steering Mode........................................................................................................................................ 60
Tab. 12: FU Amplifier Proportional AS, Troubleshooting Table........................................................................... 67
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List of Tables
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FU Amplifier Proportional AS
List of Abbreviations
List of Abbreviations
CAN
CPU
EPA
ESD
FU
GND
ISPC
NFU
stbd
Edition: 001
Controller Area Network
Central Processing Unit
ESD Protected Area
Electrostatic Discharge
Follow-Up
Ground
Illustrated Spare Parts Catalog
Non-Follow-Up
Starboard
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List of Abbreviations
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FU Amplifier Proportional AS
Introduction
Introduction
Preliminary Remarks
The present manual is a description and reference book only. It is intended to answer
questions and to solve problems in the quickest possible manner.
Read and follow the instructions and notes in this manual before operating the equipment.
For this purpose, refer to the table of contents and read the corresponding chapters
thoroughly.
If you have any further questions, contact us under the following address:
Anschütz GmbH
Tel. +49 431 / 3019 - 0
Zeyestr. 16 - 24
24106 Kiel
Email: [email protected]
Germany
www.anschuetz.com
All rights reserved. It is not allowed to copy any part of this manual, neither mechanically,
electronically, magnetically, manually nor otherwise. It is not allowed to store it in a
database, or distribute or forward it without written permission of Anschütz GmbH.
Copyright:
Anschütz GmbH
Zeyestr. 16 - 24
24106 Kiel
Germany
Errors can hardly be avoided in the documentation despite all efforts. Therefore, we
appreciate any remarks and suggestions.
Subject to alterations.
Change History
Tab. 1: Change History
Change
Remarks
Edition: 001
Replaces document 4199
Safety
General Safety Regulations
The following safety symbols are used in this manual:
Edition: 001
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FU Amplifier Proportional AS
Introduction
WARNING!
Warning statements indicate a hazardous situation that, if not avoided,
could result in minor, moderate or serious injury, or death
Consequence
•
Preventive action
CAUTION!
Caution statements indicate a hazardous situation that, if not avoided,
could result in material damage
Consequence
•
Preventive action
Note
Notes indicate information considered important but not hazard-related.
General Safety Instructions
Electrostatic Discharge
Fig. 1: Electrostatic Discharge, Protected Area
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1
Table Mat
2
Ground Cord
2
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FU Amplifier Proportional AS
Introduction
3
Dissipative Shoes
4
Floor Mat
5
Wrist Band
6
Wrist Strap
7
Common Ground
8
Ground Point
Any product which is labeled as shown is electrostatic sensitive.
If proper Electrostatic Discharge (ESD) precautions are not taken, handling or working on
this product results in damage. Every action must be done under ESD protection.
The product and all electronic parts of the product are susceptible to ESD. The product
must be handled with ESD protection especially when removing the covers, touching the
connectors or handling the product components.
All ESD sensitive parts must be packed in metallized protective bags during shipping and
handling outside any ESD Protected Area (EPA). ESD protected spare parts packages
must not be opened / closed out of an EPA.
All necessary equipment for these protective measures can be supplied (on special order)
by Anschütz.
List of Further Documents
Tab. 2: List of Further Documents
Documentation No.
Designation
3963
Service Tool AS NB42-232
4076
Alarm Signal Unit AS 135-111
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CAN Bus Distribution Unit AS 138-128
List of Annex Documents
Tab. 3: Dimensional Drawings
Documentation No.
Designation
139-159.HP005
FU Amplifier Proportional AS
Tab. 4: Wiring Diagrams
Edition: 001
Documentation No.
Designation
139-159.HP007
FU Amplifier Proportional AS (NG001)
139-159.HP008
FU Amplifier Proportional AS (NG002)
139-159.HP009
FU Amplifier Proportional AS (NG003)
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FU Amplifier Proportional AS
Introduction
Tab. 5: Installation Instructions and Configuration Form
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Documentation No.
Designation
139-159.HP012
Installation Instructions
139-159.HP010
Amplifier Configuration Sheet
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FU Amplifier Proportional AS
1 Description
1
Description
1.1
Purpose
The FU Amplifier Proportional AS for proportional rudder control is the central component
of the rudder control system. It controls the hydraulic valves of the steering gear until the
rudder's actual value has reached the set value of the rudder.
1.2
System Overview
The FU Amplifier Proportional AS contains the following equipment:
•
•
•
•
•
•
•
1.3
FU card
FU card
CAN Bus distribution module
Mains power module card
Mains transformer
Power resistor for current setting in NFU operation
Operating elements and indicators, see chapter 1.5
Technical Data
Height 475 mm
Dimensions
Width 500 mm
Depth 220 mm
Weight
35 kg
Protection Class
IP 44
NG001 400 V / 460 V
Voltage Supply
NG001 115 V / 230 V
NG001 400 V / 460 V
1.3.1
Edition: 001
Power Input
approx. 150 VA
Operation Temperature
-25 °C to +55 °C
Compass Safe Distance
Standard: 2.3 m, steering 1.3 m
Interfaces
Supply for setting motor
38 V DC ±15 %
Supply for proportional valve
38 V DC ±15 %
Power output (3/2/2 phase)
3 A max. / 90 V A
Potential-free alarm contacts
max. load 24 V DC / 1 A, Ohmic load
Analogue rudder feedback input (5 kΩ potentiometer)
±3 V DC to ±7 V DC
Normalized actual rudder value output
±10 V DC
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FU Amplifier Proportional AS
1 Description
1.4
Status input steering selector switch
24 V DC ±15 %
NFU switching signals (port / stb)
24 V DC ±15 %
Limit switching signals
24 V DC ±15 %
Technical Description
The FU Amplifier Proportional AS operates proportional. The hydraulic valves are opened
less as the controller deviation decreases and the rudder movement speed is reduced. The
rudder reaches the set value without overshooting.
FU tillers, NFU tillers or autopilots serve as set rudder input.
The FU Amplifier Proportional AS controls 3-phase DC motors, torque motors or
proportional solenoid valves.
In addition, an NFU operation via pushbuttons on the FU Amplifier Proportional AS itself is
possible.
1.5
Operating Elements and Indicators
Fig. 2: FU Amplifier Proportional AS, Operating Elements and Indicators
Element
Remarks
Selector switch
Selects operation mode:
•
•
BRIDGE
LOCAL
LED BRIDGE
ON = The steering gear is controlled from the bridge
LED LOCAL
ON = The steering gear is controlled directly at the FU Amplifier
Proportional AS
Pushbutton PORT with
LED for local NFU operation
Press and hold moves the rudder to port
Pushbutton STBD with
LED for local NFU operation
Press and hold moves the rudder to starboard
LED ON = Port rudder is moving
LED ON = Starboard rudder is moving
Tab. 6: FU PCB, Operating Elements and Indicators
Element
Remarks
4-digit display
Shows function, parameter or value
Dots indicate number of pumps in operation and decimal point
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Pushbutton Function
Selects function or parameter
Pushbutton +
Increases value
Pushbutton -
Decreases value
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FU Amplifier Proportional AS
1 Description
Tab. 7: NFU PCB, Operating Elements and Indicators
1.6
Element
Remarks
LED H3
Lights up yellow in steering mode Main
LED H4
Lights up red if port rudder limiting position is reached (limit
port)
LED H5
Lights up green if starboard rudder limiting position is reached
(limit starboard)
LED H1
Lights up red when operating the tiller to port
LED H2
Lights up green when operating the tiller to starboard
Functional Description
The steering gear control can have up to 5 independent pumps. The pumps can be
operated separately or simultaneously. 1 FU Amplifier Proportional AS is required per
pump.
The set rudder signals on the CAN bus are read by the micro controller. If the steering
mode selector switch is switched to Main, the micro controller calculates the control
signals for the rudder machinery according to the current rudder angle and the motor
angle.
1.6.1
Modes of Operation
There are 2 operation modes in normal operation:
•
•
Bridge, see chapter 1.6.2.1
Local, see chapter 1.6.2.2
The current operating mode is indicated at the bridge.
1.6.2
Normal Operation
1.6.2.1
Operation Mode Bridge
In operation mode BRIDGE the rudder machinery is controlled from the bridge. The
selected steering mode determines the function of the FU Amplifier Proportional AS.
When steering mode Main is selected via the steering mode selector switch, the relay D1
on the NFU PCB is energized; the control signals for the rudder machinery, calculated at
the FU PCB, are interconnected to the rudder machinery, see chapter 1.6.2.5.
When steering mode NFU Direct is selected via the steering mode selector switch, relay
D4 (port) or D5 (starboard) on the NFU PCB is energized and the 36 V DC control voltage
is interconnected to the rudder machinery. The rudder moves at maximum speed to the set
direction as long as the tiller is operated.
If the rudder reaches its limit position, the corresponding limit switch of the rudder feedback
unit closes and the corresponding relay (D2 for port or D3 for starboard) on the NFU PCB
is energized. Control of the rudder machinery is stopped.
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FU Amplifier Proportional AS
1 Description
1.6.2.2
Operation Mode Local
In operating mode LOCAL the rudder machinery is controlled by the pushbuttons PORT
and STBD of the FU Amplifier Proportional AS. Operating mode LOCAL is normally only
used for service work or in an emergency. No operation from location BRIDGE is possible.
When operating mode LOCAL is selected, the relay D1 on the NFU PCB is released. By
pressing the pushbutton PORT, relay D4 on the NFU PCB is energized and the 36 V DC
control voltage is interconnected to the rudder machinery. The rudder moves at maximum
speed to the set direction for as long as the pushbutton is pressed.
If the rudder reaches its limit position, the corresponding limit switch of the rudder feedback
unit closes and the corresponding relay (D2 for port or D3 for starboard) on the NFU PCB
is energized. Control of the rudder machinery is stopped.
1.6.2.3
Signalling
Potential-free relay contacts are available (FU card) to indicate statuses or errors, which
can be set as normally open or normally closed:
Relay
Designation
Function
D1
FU FAIL
Is released if there is a system failure in the FU Amplifier
Proportional AS
D2
HYDRAULIC LOCK
Is released if there is an error in the valve control
D3
STEERING FAIL
Is released if the difference between the set and actual
value is too large.
D4
WIRE BREAK
Is released if there is a broken cable
D5
UNLOAD VALVE
Is switched on in normal operation
For a complete error message list see chapter 3.2.
1.6.2.4
Unload Device
In order to avoid the danger of an immediate standstill of the rudder, the rudder machinery
unloads operation under load via a bypass valve through the function Unload Device. This
valve is controlled by the operating function of the FU Amplifier Proportional AS.
Operating conditions and the function Unload:
Switching on the Rudder Machinery
When the rudder machinery is switched on, the function Unload is activated for 2 to 3
seconds until the hydraulic pumps of the rudder machinery have run up to speed and it is
possible to operate under load.
Steering Mode NFU direct
If the limit switches of the rudder feedback units are activated in operation (rudder limiting),
the bypass valve is opened by the function Unload until it is controlled to the opposite
direction and the rudder limiting has stopped.
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FU Amplifier Proportional AS
1 Description
Steering Mode Main
In steering mode Main the limit switches cannot be operated in the rudder feedback unit,
as the control limit does not permit this. If the limit switches in the rudder feedback units
are activated in steering mode Main (rudder limiting), the bypass valve is opened by the
function Unload until it is controlled to the opposite direction and the rudder limiting has
stopped.
Emergency Mode
When the emergency switch is operated, the bypass valve supply is interrupted and the
function Unload is forced immediately.
Unload function data of the NFU PCB 139-155.12
Power supply:
100 V AC / 50 Hz at
L1.19; L1.20
Output:
100 V AC / 50 Hz at
L1.22; L1.29 (Pin 22 of relay DR1)
Activating the time func- Potentiometer R2 with setting range 1 s - 3 s
tion:
1.6.2.5
Rudder Control Circuit
The ship's rudder control consists of the controlled system (actuator and steering
gear), the controller (FU Amplifier Proportional AS), and cascaded feedback loops. The
benefit of different feedback loops is distinguished control accuracy and an increased
dynamic behavior of the control loop. Inner loops must always be faster for proper control
performance.
For a wide difference between nominal rudder and actual rudder the controller moves the
rudder at the maximum speed. If the set rudder angle has almost been reached, i.e. the
controller is in the proportional range, the rudder movement speed is constantly reduced to
avoid overshooting of the rudder.
Automatic adaptation of the proportional range to single or multiple pump operation always
ensures optimum startup conditions for the rudder.
Steering Failure Monitoring
The steering failure monitoring compares the set rudder angle with the actual rudder angle.
If there is an assigned difference in rudder angles over a time period an alarm is triggered.
Hence the cause of the steering failure alarm is an open control loop.
Hydraulic Lock
In order to monitor the rudder control, the control angle of the setting motor is compared
cyclically with the actual rotating angle applied. The position is determined independently
of the system via a resolver feedback or by an inductive linear voltage differential
transceiver. If this comparison reveals an excessively high differential over a period of
approx. 2.5 seconds, the hydraulic lock alarm is triggered.
The cause of the alarm can be due to mechanical blockage in the system or defective
electronic control of the setting motor. If there is a broken cable in the motor follow-up
circuit, the rudder control remains switched off.
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1 Description
Fig. 3: Rudder Control Circuit, Principle
1.6.3
Emergency Operation
If the steering gear is provided with an emergency switch, it is possible to deactivate the
FU Amplifier Proportional AS by use of the switch.
1.6.4
CAN Bus Technology
The Controller Area Network (CAN) bus is a multi-master bus allowing the connection of all
devices and systems regardless of their tasks and functions. This means that any number
of devices can be connected. These devices must be designed for CAN bus technology.
For the CAN bus it is essential that every CAN bus participant is addressable via a
unique address. This address is set within each CAN bus participant or via a component
(participant) which is able to look into the CAN bus architecture.
Note
The CAN bus address can be set with a special service tool by the service personnel only.
It cannot be changed without the service tool.
Each CAN bus participant can send and receive data via the CAN bus. For data
transmission the data is combined with a header (address from the data source), a
heartbeat and the data itself. The data is transmitted to the CAN bus cyclically. Each CAN
bus participant monitors the CAN bus to take off the relevant data.
The CAN bus must be terminated at both ends (within an application) via an ohmic resistor
(120 Ω). The terminating resistor is set by the jumpers at the respective connection, see
Fig. 4.
The termination has to be set between the termination terminals (T) and the CAN low
terminal (L).
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Note
2 CAN bus layout options are possible in an application:
•
•
Single CAN bus
Dual CAN bus
The difference between a single CAN bus and a dual CAN bus application is a CAN bus
redundancy.
In most cases the single CAN bus is duplicated for redundancy, but this feature is for a
redundancy of the respective device not for the CAN bus itself.
Fig. 4: CAN Bus, Jumper for Termination
4
CAN bus termination (T)
5
CAN bus low (L)
The minimum cable requirements for the CAN bus are:
Tab. 8: CAN Bus, Cable Requirements
1.7
Term
Designation
Type
2 x 2 x 0.75 mm , screened, twisted pair (twisted pitch length
< 80 mm)
Impedance
120 Ω ± 10 %
Capacitance
max. 50 pF/m
Cable line delay
max. 5 ns/m
Cable length
max. 400 m (termination to termination)
2
Dependence on Peripheral Systems / Devices
The normal FU Amplifier Proportional AS operations are dependent on following systems
and devices:
•
•
•
•
•
•
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FU tiller, NFU tiller, handwheel or autopilots
Override signal unit
Steering selector switch
CAN bus distribution unit
Rudder feedback unit AS (optional)
Power supply
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1.8
Outfit and Accessories
This system or equipment comprises no outfit or accessories.
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2
Operation
2.1
Preliminary Remarks
User Rights
The manual is a complete documentation of the system or equipment. Some functions may
not be accessible depending on user rights.
All functions or operations are described irrespective of the actual user rights of the user.
Markup Elements
The manual uses different markup elements for hardware and software.
Markup Element
Description
This markup is used for the following elements:
•
•
•
•
Bold
Pushbuttons / Switches
Softkeys
Labeling
Defined areas
This markup is used for the following elements:
Italic
2.2
•
•
Menus
Dialogs
Safety Instructions for Operation
WARNING!
Danger due to improper operation and use for other than the intended
purpose
Risk of serious injury and material damage
•
•
•
•
Use the product only for the intended purpose.
The system must not be used for navigation.
Perform operation steps according to this manual.
Do not make any product modifications without authorization.
WARNING!
Danger due to operation by unskilled personnel
Risk of serious injury and material damage
•
•
Edition: 001
Keep all unskilled personnel away from the operation area.
Perform all operation only by skilled personnel.
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2 Operation
2.3
Setting into Operation
2.3.1
Pre-Operation Procedures after Longer Time Setting out of
Operation
This system or equipment requires no special pre-operation procedures after longer time
setting out of operation.
2.3.2
Switch Power On
Procedure
Note
There is no separate power ON/OFF switch.
1. Make a choice out of the following options according to the installation of the
application:
a) If the FU Amplifier Proportional AS is supplied with the same power supply as
the steering gear, switch the status contact Pump ON of the power supply of the
steering gear to ON.
b) If the FU Amplifier Proportional AS is supplied via the mains' power supply and the
status contact Pump ON is jumpered in the unit, switch the power supply to ON via
the pump selector switch.
2.4
Normal Operation Procedures
2.4.1
Select Operation Mode
Procedure
1. Make a choice out of the following options:
a) Switch the mode selector switch to BRIDGE to select operation mode BRIDGE.
► The corresponding LED is lighted.
► If the steering mode selector switch is switched to NFU Direct, the steering is
controlled by the main NFU tiller.
► If the steering mode selector switch is switched to Main, the steering is controlled
by the activated CAN bus unit (autopilot, handwheel or tiller)
b) Switch the steering mode selector switch to LOCAL to select operation mode
LOCAL.
► The corresponding LED is lighted.
► Control is done via the pushbuttons on the FU Amplifier Proportional AS, see
chapter 1.5.
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Note
The operation mode of the FU Amplifier Proportional AS is indicated at the alarm panel
via potential-free contacts.
The status is also distributed via the CAN bus and can be displayed by means of an
Alarm Signal Unit AS, type 135-111 alternatively.
2.4.2
Move the Rudder via the FU Amplifier Proportional AS
Requirements
Operation mode LOCAL is selected, see chapter 2.4.1.
Procedure
1. Make a choice out of the following options:
a) Press and hold the pushbutton PORT to move the rudder to port.
► Rudder can be moved until the rudder limit position is reached.
b) Press and hold the pushbutton STBD to move the rudder to starboard.
► Rudder can be moved until the rudder limit position is reached.
2.5
Emergency Operation Procedures
This system or equipment has no emergency operation function.
2.6
Setting out of Operation
2.6.1
Power Off
The FU Amplifier Proportional AS does not have its own ON/OFF switch.
It is automatically switched off when the associated pump of the steering gear is switched
off.
2.6.2
Procedures for Longer Time Setting out of Operation
This system or equipment requires no special procedures for longer time setting out of
operation.
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3 Troubleshooting
3
Troubleshooting
3.1
Alert / Status Message Handling
Disturbed operation of the FU Amplifier Proportional AS is indicated at the alarm panel via
potential-free contacts.
These error messages are also distributed via the CAN bus and can be displayed by
means of a Signal Unit AS alternatively.
3.2
Alert List
Note
Alerts will be displayed at the alarm panel or a Signal Unit AS.
Tab. 9: Alert List
No.
Failure
Possible Cause
Remedy
Failure of the power supply
CPU failure
FU FAIL
1
Operation in steering
mode Main is not possible.
Internal voltage failure
(5 V DC / ±15 V DC /
+24 V DC / +36 V DC
Select steering mode NFU
Direct, see chapter 2.4.1.
Overcurrent / short circuit
*)
CAN bus failure
Switch OFF the effected
pump system and switch
ON the redundant pump
system.
HYDRAUL. LOCK
2
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Check the hydraulic system.
Steering gear drive does
not follow the rudder command.
Check parameters for
hydraulic lock alarm
(PA14, PA15), see chapter 4.4.2.22
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No.
Failure
Possible Cause
Remedy
Select steering mode NFU
Direct, see chapter 2.4.1.
STEERING FAILURE
3
Actual rudder does not follow the rudder command.
Switch OFF the effected
pump system and switch
ON the redundant pump
system.
Check the hydraulic system.
Check parameters for
steering fail alarm (PA16,
PA17 and PA20), see
chapter 4.4.2.24.
WIRE BREAK
4
Select steering mode NFU
Direct, see chapter 2.4.1.
Wire break in the steering gear control loop. The
rudder stopps.
Check the wiring.
*) The overcurrent monitoring unit works independently and is detected by software. Once
the overcurrent has been detected, the FU Amplifier Proportional AS is automatically
reactivated. This procedure is repeated every 2 seconds; after 5 attempts FU FAIL is
triggered.
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4
Installation and Maintenance
4.1
Safety Instructions for Installation and Maintenance
WARNING!
Danger due to maintenance and service by unskilled personnel
Risk of serious injury and material damage
•
•
Keep all unskilled personnel away from the working area.
Perform all maintenance and service only by skilled personnel.
WARNING!
Danger due to electrical current
Risk of death or serious injury that is caused by electrical shock
•
•
•
Switch off voltage supply before starting work.
Secure against switching on again.
Perform work on the electric system only by skilled electricians.
CAUTION!
Hazard due to wrong disposal of harmful substances
Risk of environmental damage that is caused by wrong disposal
•
•
Observe all national and regional disposal rules and regulations.
Observe all disposal instructions that are placed on the components or
described in related documentation.
4.2
General Information
4.2.1
Reference to ISPC
All maintenance tasks comprise information about the support equipment, consumables
and spare parts that are used in this task.
Besides the designation and the quantity, a reference to the Illustrated Spare Parts
Catalog (ISPC) is given. The format of the reference is as follows:
aa-aaaa bb
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Value
Description
aa-aaaa
Reference to the illustration in the ISPC
bb
Position number on the illustration in the ISPC
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Note
All spare parts that are produced by Anschütz GmbH are identified in the ISPC by a
seven-digit part number. This part number is included in the serial number on the type
plate of the equipment. The first 7 digits of the serial number are formed by the part
number.
4.2.2
Special Tools, Measurement and Test Equipment
The maintenance and repair of the system or equipment requires no special tools,
measurement and test equipment.
4.2.3
List of Consumables
The maintenance and repair of the system or equipment requires no consumables.
4.3
Installation
4.3.1
Installation of 3 Ferrite Rings
See Installation Instruction in the annex, see chapter 8.
4.3.2
Cable Connections
4.3.2.1
Safety Instructions for Cable Connections
WARNING!
Danger due to electrical current
Risk of death or serious injury that is caused by electrical shock
•
•
•
•
Disconnect voltage supply before starting work.
Ensure all cables are dead. If necessary, measure the voltage
beforehand and/or disconnect the relevant distributor.
Secure against switching on again.
Perform work on the electric system only by skilled electricians.
WARNING!
Danger due to damaged cable coating
Risk of fire or electrical shock
•
•
•
Edition: 001
Do not bend cables to an acute angle, pinch, twist, or impact excessive
force while connecting cables to the equipment.
Observe cables for cracks and damage to the cable coating.
Perform work on the electric system only by skilled electricians.
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4.3.2.2
General Remarks about Preparing Cable Connections
WARNING!
Danger due to electrical current
Risk of death or serious injury or material damage
•
•
Make sure that all cables are disconnected from the power supply.
If necessary, measure the voltage beforehand and / or disconnect the
relevant distributor.
In order to ensure that the system operates correctly, it is essential that you adhere to the
following procedures for preparing cable connections.
1. Strip approx. 180 mm off the cable. Do not damage the shielding layer.
2. Strip off the shielding as shown in Fig. 5.
Fig. 5: Prepare a Cable Connection
3. Remove the cable gland from the respective housing and push the screw connection
components over the cable. It is absolutely essential that the sequence (see Fig. 6) is
adhered to.
4. Check the cone and counterpart on the earthing insert for corrosion and, if necessary,
remove corrosion.
5. Push the counterpart of the earthing insert as far as the end of the cable shield.
6. Push the earthing insert cone below the shielding against the counterpart. Observe a
shared even distribution of the shielding via the cone (see Fig. 6).
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Fig. 6: Prepare a Cable Entry
7. Insert the earthing insert, the seal, and the washer into the cable gland, place the
counter nut last and tighten the nut hand-tight.
8. Strip the cable cores to a length of approx. 15 mm, twist slightly and clamp on the
cable end sleeves. Connect the cable wires in the respective housing. Hand-tighten the
terminal screws concerned.
9. Check whether the connection is firm by pulling lightly.
Fig. 7: Example for Cable Connections
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4.3.2.3
General Remarks about Preparing Common Ground
Connections
In order to comply with the stringent requirements, please follow the instructions given
below regarding cable connections. Use the cable types specified.
CAUTION!
Damage to Equipment and Components
It is essential to make sure that any equipment and any additional
component (options) have common reference to the ship's common ground.
•
Connect any equipment and additional component to the common
ground.
Fig. 8: Prepare a Common Ground Connection
All common ground connections must be prepared as shown in Fig. 8. The earthing cable
2
attached to the cable bracket must have a cross-section of minimum 1.5 mm . The cable
bracket must be mounted between 2 toothed washers. Common ground connections must
be free of corrosion and well fastened.
4.3.3
Terminal Settings
Each of the electronic cards, the mains power supply module, the FU card, CAN Bus
distribution, and the NFU card have their own connecting terminal strip.
The terminal connections of the NFU card depend on the actuator that is to be used (threephase motor, torque motor, or proportional solenoid valves).
4.3.3.1
Terminal Settings Mains Supply Module
Power supply is done via the pump power supply. The single-phase supply voltage is
connected to L3.4 and L3.6.
Current matching is done via connections, see Fig. 9 and Fig. 10.
Power supply voltage:
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NG001, NG003
460 Veff
NG002
230 Veff
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Fig. 9: Mains Supply Module, Normal Connected
Power supply voltage:
NG001, NG003
400 Veff
NG002
115 Veff
Fig. 10: Mains Supply Module, Cross Connected
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4.3.3.2
Terminal Settings NFU PCB
Fig. 11: NFU PCB, Terminal Settings
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Fig. 12: NFU PCB, Terminal Settings (continued)
Fig. 13: NFU PCB, Motor Connections
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Fig. 14: NFU PCB, Motor Connections
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4.3.3.3
Terminal Settings FU PCB
Fig. 15: FU PCB, Torque Motor, Terminal Settings
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Fig. 16: FU PCB, 3-Phase Motor and Proportional Solenoid Valve, Terminal Settings
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Fig. 17: FU PCB, Terminal Settings
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4.3.3.4
Terminal Settings and Termination of CAN Bus Distribution
Unit
Fig. 18: CAN Bus Distribution, Terminal Settings
4.3.4
Jumper and DIP Switch Overview (FU)
Tab. 10: Function of Jumpers and DIP Switches on FU PCB
Designation
Function
Jumper B2
Not used
DIP Switch B4
The DIP switch is a service switch for setting to work.
In normal operation all switches are to be set to CLOSE (ON)
Rotary switch B8
Not used
Jumper B9
Set for the type of rudder machinery controller: 3-phase motor,
torque motor, or proportional solenoid valve
3-Phase motor: B9 1-2 open and B9 3-4 open
Torque motor: B9 1-2 open and B9 3-4 closed
Proportional solenoid valve: B9 1-2 closed and B9 3-4 open
Proportional solenoid valve (low current version): B9 1-2 closed
and B9 3-4 closed
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Designation
Function
Jumper B10
Signal level of the actual rudder value output
B10 1-2 fixed 10V maximum (default)
B10 2-3 adjustable (R47)
Jumper B12
Not used
Jumper B15
Jumper to terminate CAN bus
B15 1-2 jumper inserted (for all steering gears)
Jumper B17
Jumper for current monitoring output stage
B17 inserted (for all steering gears)
Jumper B18
Setting the reference voltage of the positioning encoder (3phase motor, torque motor, LVDT)
B18 1-2 jumper inserted
Jumper B19
Factory setting
B19 must never be inserted for all steering gears
Jumper B21
Not used
Jumper B24
Not used
Jumper B25
Not used
Solder strap L11-L12
Torque motor: jumper soldered-in
3-Phase motor: jumper soldered-out
Proportional solenoid valve: jumper soldered-in
Proportional solenoid valve (low current version): jumper soldered-in
Note
Make sure this jumper is used in a correct way according to
the connected steering gear.
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Fig. 19: Location of Solder Strap
4.3.5
Initial Operation Procedures
For initial start-up, a multimeter is required and a tool, for example: Configuration Tool AS,
type NB42-232 (Service Tool) with an adapter, which must be connected to the dual CAN
bus.
Note
The limit switches at the feedback unit have to be adjusted in that way, that the end
position is tested in NON FOLLOW-UP MODE, not in FOLLOW-UP MODE.
For example: The rudder scaling of the system is set to 35°. The mechanically position
of the limit switch in the feedback unit is 35.5°. By this, the mechanically end position in
FOLLOW-UP MODE is not reached because the FOLLOW-UP system stops at 35°.
4.3.5.1
Adjust Power Resistor R1
Procedure
1. See chapter 4.9.1.1.
4.4
General Configuration
All configurations can be made via Service Tool.
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Note
Only Anschütz service personnel is permitted to use the Service Tool.
For proper operation, the CAN Bus Distribution Unit, see Tab. 2, has to be configured as
follows:
•
•
Single CAN bus (B2 ….B5) should be activated
CAN bus telegram (CAN bus type should be FFFF and the output interfaces Dual CAN
and Single CAN) should be activated
Note
This configuration procedure is for the first time startup strongly recommended.
The use of the internal display for configuration together with the function buttons is for
parameter value changes, chapter 4.4.2.
4.4.1
Basic Parameters Configurable via Service Tool only
•
•
•
•
•
•
•
4.4.1.1
Rudder No., see chapter 4.4.1.1
NFU Direct / Main, see chapter 4.4.1.2
Feedback Input, see chapter 4.4.1.3
Wire Break Alarm, see chapter 4.4.1.4
CAN Group, see chapter 4.4.1.5
CAN Number, see chapter 4.4.1.6
Unit ID, see chapter 4.4.1.7
Rudder No.
Assigns a follow up amplifier to a rudder blade.
Entry: 1 (default) to 5
Rudder 1 is defined as the master rudder. Up to 5 follow up amplifier can be assigned to
the same rudder (multi pump operation).
4.4.1.2
NFU Direct / Main
Enables the options:
•
•
CAN input (steering selector signal is send to CAN bus from another device than a
follow up amplifier)
Status input (steering selector is wired to the (every) follow up amplifier)
Default: Status input enabled
4.4.1.3
Feedback Input
Enables the options:
•
•
Analog feedback
CAN bus feedback (Rudder Feedback Unit AS)
Default: Analog feedback enabled
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4.4.1.4
Wire Break Alarm
In case of using analog feedback input, the wire break monitoring can be enabled /
disabled.
Default: Wire break alarm enabled
4.4.1.5
CAN Group
Extends the number of CAN numbers, see chapter 4.4.1.6.
Entry: 6 to 9
Default: 6
4.4.1.6
CAN Number
Specifies this device with an unique address within the steering control system.
Entry: 1 to 63
Default: 0 (only allowed during configuration)
4.4.1.7
Unit ID
Reflects the number of this unit in a CAN network according to the system connection
diagram.
Entry: 1 to 255
Default: 0 (only allowed during configuration)
4.4.1.8
Restore Factory Settings
Procedure
WARNING!
Danger due to reset to factory settings
Risk of malfunction and unexpected behavior
•
Configure all necessary parameters before setting into operation.
Note
By executing the following procedure, all currently stored values will be irreversible erased
and set to factory default values.
1. Switch the proportional-amplifier to ON.
2. Switch the operation mode switch to LOCAL.
3. Switch DIP switches of B4 to
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4. Switch the proportional amplifier to OFF.
5. Wait approx. 10 seconds and switch the proportional amplifier to ON.
► The display shows flashing
6. Switch DIP switches of B4 to
7. Switch the FU Amplifier Proportional AS to OFF.
8. Wait approx. 10 seconds and switch the FU Amplifier Proportional AS to ON.
► All values are set to factory default.
4.4.2
Parameter Settings and Indication via Function Buttons and
Display
WARNING!
Danger due to rudder movements during service work
Risk of serious injury and material damage
•
Make sure that no persons or materials are placed at risk by the rudder
or rudder machinery.
Settings are shown on a display and parameters are configured via DIP switches B4 and
pushbuttons on the FU PCB.
Note
Steering failure monitoring is switched off.
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Fig. 20: FU PCB, Operating Elements and Indications
Fig. 21: FU PCB, DIP Switches B4, Indication
Indication of Multi-Pump Operation
Depending on the amount of connected pumps an LED (additional to the decimal point
LED) lights up (only during the operating modes Follow Up, Manual and Automatic and
only during operating mode MAIN).
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Fig. 22: FU PCB, Display, Indication Multi-Pump Operation
Single-pump operation: only the decimal-point lights up
Selection of Parameters and Functions
Note
To change parameters, DIP switches B4.1 and 4.2 must be set to OPEN.
The following functions and parameters are available:
Display
Designation
RudH
Not used
RudA
Not used
Rudder scaling: Feedback (for analog feedback only)
RudF
Potentiometer directly connected to the FU PCB or ±10 V connected directly to the FU PCB
PA1
to
Parameters 1 to 25
PA25
4.4.2.1
Rudder Scaling: Rudder Feedback (for Analog Feedback)
The working range of the rudder steering control is entered in FU operation.
The parameters are configured via pushbuttons and display on the FU card.
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4.4.2.1.1
Set Parameter Rudder Scaling
Procedure
1. Press the pushbutton Function repeatedly until the display shows RudF.
2. Open DIP switches B4.1 and B4.2.
► The current rudder scaling is shown on the display.
3. Press the pushbuttons - or + to adjust the value (values from 35° to 75° are possible).
4. Press the pushbutton Function to accept the value.
► The display Rud.F flashes briefly.
► The value is saved.
5. Close DIP switch B4.2.
4.4.2.1.2
Set Parameter Rudder Offset Setting
Procedure
1. Press the pushbutton Function repeatedly until the display shows RudF.
2. Open DIP switches B4.1 and B4.4.
3. Move the rudder to 0° position.
► The offset voltage is shown on the display. The ideal value is 0 V. Values <2 V are
accepted and are later taken into consideration for the calculations.
► If the display flashes to indicate an error for values >1.9 V, the null setting and offset
of the rudder (ZERO) must be checked.
4. Press the pushbutton Function to accept the value.
► The display rudF flashes briefly.
► The value is saved.
5. Close DIP switch B4.4.
4.4.2.1.3
Set Parameter Rudder Deflection Port
Procedure
1. Press the pushbutton Function repeatedly until the display shows RudF.
2. Open DIP switches B4.1 and B4.3.
3. Set the rudder to the port stop and hold it in place (do not trigger the limit switch).
► The output voltage is shown on the display. The ideal value is -10 V. Values <-6 V
are accepted and are later taken into consideration for the calculations.
► The display flashes to indicate an error in the event of
– an error for values >-5.9V. The rudder is not fully put over or has not been set
(GAIN)
– incorrect polarity (positive voltage)
4. Press the pushbutton Function to accept the value.
► The display rudF flashes briefly.
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► The value is saved.
5. Close DIP switch B4.3.
4.4.2.1.4
Set Parameter Rudder Deflection Starboard
Procedure
1. Press the pushbutton Function repeatedly until the display shows RudF.
2. Open DIP switches B4.1 and B4.5.
3. Set the rudder to the starboard stop and hold it in place (do not trigger the limit switch).
► The output voltage is shown on the display. The ideal value is +10 V. Values >6 V
are accepted and are later taken into consideration for the calculations.
► The display flashes to indicate an error in the event of
– an error for values <5.9V. The rudder is not fully put over or has not been set
(GAIN)
– incorrect polarity (negative voltage)
4. Press the pushbutton Function to accept the value.
► The display rudF flashes briefly.
► The value is saved.
5. Close DIP switch B4.5.
4.4.2.2
Rudder Scaling of Torque Motor
Enters the rudder scaling of the torque motor.
The parameters are configured via pushbuttons and display on the FU card.
4.4.2.2.1
Set Parameter Rudder Scaling (Torque Motor)
Procedure
1. Open DIP switches B4.1 and B4.4.
2. Bring the torque motor in the 0° position.
► The scaled output is shown on the display. The ideal value is 0. Values <1 are
accepted and are later taken into consideration for the calculations.
► If the display flashes to indicate an error for values >1, the null position and setting
of the torque motor (ZERO) must be checked.
3. Press the pushbutton Function to accept the value.
► The display I PH flashes briefly.
► The value is saved.
4. Close DIP switch B4.4.
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4.4.2.2.2
Set Parameter Torque Motor Deflection Port
Procedure
1. Open DIP switches B4.1 and B4.3.
2. Set the torque motor to the port stop and hold it in place (do not trigger the limit switch).
If necessary, open temporarily the limitation screw (first installation).
► The scaled output is shown on the display. The ideal value is -2.0. Values <-3 are
accepted and are later taken into consideration for the calculations.
► The display flashes to indicate an error in the event of
– an error for values >-3. The torque motor is not fully at the limit position or has
not been set (GAIN).
– incorrect polarity (positive voltage)
3. Press the pushbutton Function to accept the value.
► The display I PH flashes briefly.
► The value is saved.
4. Close DIP switch B4.3.
4.4.2.2.3
Set Parameter Torque Motor Deflection Starboard
Procedure
1. Open DIP switches B4.1 and B4.5.
2. Set the torque motor to the starboard stop and hold it in place (do not trigger the limit
switch). If necessary, open temporarily the limitation screw (first installation).
► The scaled output is shown on the display. The ideal value is 2.0. Values <3 are
accepted and are later taken into consideration for the calculations.
► The display flashes to indicate an error in the event of
– an error for values >3. The torque motor is not fully at the limit position or has not
been set (GAIN).
– incorrect polarity (negative voltage)
3. Press the pushbutton Function to accept the value.
► The display I PH flashes briefly.
► The value is saved.
4. Close DIP switch B4.5.
4.4.2.3
Parameter PA1 - Coarse / Fine Setting of Rudder Feedback (All
Steering Gear)
According to the feedback limit voltage range, it is necessary to configure the rudder
feedback input.
Entry:
00 (> ± 5 V (FU card L1.22, L1.25 GND))
01 (≤ ± 5 V)
Default: 01
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4.4.2.3.1
Set Parameter
Procedure
1. Press pushbutton Function repeatedly to select the parameter.
► The parameter is shown in the display.
2. Open DIP switches B4.1 and B4.2.
► The current value is shown in the display.
3. Press the pushbuttons - or + to adjust the value.
4. Press the pushbutton Function to accept the value.
► The display flashes briefly.
► The value is saved.
5. Close DIP switch B4.2.
4.4.2.4
Parameter PA2 - Motor Setting Range Port (3-Phase and
Torque Motor)
Maximum motor angle for setting ranges port and starboard in degrees.
Entry:
15.0° to 40.0° for torque motor
10.0° to 25.0° for 3-phase motor
Default: 20.0°
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.5
Parameter PA2 - Maximum Valve Current (Proportional
Solenoid Valve)
Maximum valve current in mA (details given by the manufacturer of the valve).
Entry:
500 mA to 1500 mA (standard valve)
50 mA to 1500 mA (low current valve)
Default:
900 mA (standard valve)
200 mA (low current valve)
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Note
Check the rudder speed from 30° port position to 35° starboard position.
Minimum rudder speed should be 28 seconds (1 pump).
Make sure that the valve is fully opened. Adjust parameter PA2 again in case the
demanded speed is not reached.
Maximum current is allowed 10% over nominal valve current. Use a digital ampere-meter
to control the maximum current.
Base valve current is set to the valve current indicated by the manufacturer. It is
not allowed that the rudder machine starts creeping only by basic current, see also
chapter 4.4.2.8 and chapter 4.4.2.9.
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.6
Parameter PA3 - Motor Setting Range Starboard (3-Phase and
Torque Motor)
Maximum motor angle for setting ranges port and starboard in degrees.
Entry:
15.0° to 40.0° for torque motor
10.0° to 25.0° for 3-phase motor
Default: 20.0°
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.7
Parameter PA4 - Offset of Valve Null Position (3-Phase Motor)
A null position offset caused by the electrical and mechanical defects in the valve setting
circuits is taken into consideration by means of this parameter. The displayed value is used
as the correct null relative position.
Note
The motor must be in the middle position (the pumps are not operated).
The display value corresponds to the mechanical / electrical offset in degrees.
Entry: 0.0° to 359.9°
Default: 270°
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.8
Parameter PA5 - Valve Basic Current Port (Proportional
Solenoid Valve)
The amount of the valve basic current is set in a way that it is not possible to see any
rudder movement.
Entry: 1 mA to 300 mA
Default:
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20 mA (standard valve)
14 mA (low current valve)
4.4.2.8.1
Set Parameter PA5
Procedure
1. Press pushbutton Function repeatedly to select the parameter.
► The parameter is shown in the display.
2. Open DIP switches B4.1 and B4.2.
► The current value is shown in the display.
3. Press the pushbutton + until it is possible to see a movement of the rudder.
4. Press the pushbutton - until it is no longer possible to see any movement of the rudder.
5. Open DIP switch B4.4.
► Basic current port is shown on the display.
6. Press the pushbutton + to increase the value until rudder starts moving.
7. Press the pushbutton Function to accept the value.
► The display flashes briefly.
► The value is saved.
8. Close DIP switches B4.2 and B4.4.
4.4.2.9
Parameter PA6 - Valve Basic Current Starboard (Proportional
Solenoid Valve)
The amount of the valve basic current is set in a way that it is not possible to see any
rudder movement.
Entry: 1 mA to 300 mA
Default:
20 mA (standard valve)
14 mA (low current valve)
4.4.2.9.1
Set Parameter PA6
Procedure
1. Press pushbutton Function repeatedly to select the parameter.
► The parameter is shown in the display.
2. Open DIP switches B4.1 and B4.2.
► The current value is shown in the display.
3. Press the pushbutton + until it is possible to see a movement of the rudder.
4. Press the pushbutton - until it is no longer possible to see any movement of the rudder.
5. Open DIP switch B4.4.
► Basic current starboard is shown on the display.
6. Press the pushbutton + to increase the value until rudder starts moving.
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7. Press the pushbutton Function to accept the value.
► The display flashes briefly.
► The value is saved.
8. Close DIP switches B4.2 and B4.4.
4.4.2.10
Parameter PA7 - Motor Basic Current Starboard (Torque
Motor)
The amount of the motor basic current is set in a way that it reacts with a good sensitivity
and that the torque motor is in zero position without rudder set value.
Entry: 1 mA to 390 mA
Default: 100 mA
4.4.2.10.1
Set Parameter PA7 for Torque Motor
Procedure
1. Press pushbutton Function repeatedly to select the parameter.
► The parameter is shown in the display.
2. Open DIP switches B4.1 and B4.2.
► The current value is shown in the display.
3. Press the pushbutton + until it is possible to see a movement of the rudder.
4. Press the pushbutton - until it is no longer possible to see any movement of the rudder.
5. Open DIP switch B4.4.
► Basic current starboard is shown on the display.
6. Press the pushbutton + to increase the value until rudder starts moving.
7. Press the pushbutton Function to accept the value.
► The display flashes briefly.
► The value is saved.
8. Close DIP switches B4.2 and B4.4.
4.4.2.11
Parameter PA7 - Dither Amplitude (Proportional Solenoid
Valve)
The valve hysteresis is compensated with the dither amplitude. Either the amplitude
value to be set is taken from the setting requirements (details from the manufacturer) or is
determined by carefully setting the rudder with the handwheel or tiller.
Note
If the rudder does not follow continuously and standstill phases can be seen, the basic
current and dither settings must be checked.
Entry: 1 to 10
Default: 1
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4.4.2.11.1
Set Parameter PA7 for Proportional Solenoid Valve
Procedure
1. Press pushbutton Function repeatedly to select the parameter.
► The parameter is shown in the display.
2. Open DIP switches B4.1 and B4.2.
► The current value is shown in the display.
3. Press the pushbutton + until the rudder follows the setting signal from the handwheel or
tiller without any noticeable hysteresis.
4. Press the pushbutton - to reduce the amplitude value somewhat.
Note
Set the amplitude as low as possible to avoid losses in the valve. The setting is to be
observed with slow input of the rudder setting values.
5. Press the pushbutton Function to accept the value.
► The display flashes briefly.
► The value is saved.
6. Close DIP switches B4.2 and B4.4.
4.4.2.12
Parameter PA8 - Motor Basic Current Port (Torque Motor)
The amount of the motor basic current is set in a way that it reacts with a good sensitivity
and that the torque motor is in zero position without rudder set value.
Entry: 1 mA to 390 mA
Default: 100 mA
4.4.2.12.1
Set Parameter PA8
Procedure
1. Press pushbutton Function repeatedly to select the parameter.
► The parameter is shown in the display.
2. Open DIP switches B4.1 and B4.2.
► The current value is shown in the display.
3. Press the pushbutton + until it is possible to see a movement of the rudder.
4. Press the pushbutton - until it is no longer possible to see any movement of the rudder.
5. Open DIP switch B4.4.
► Basic current port is shown on the display.
6. Press the pushbutton + to increase the value until rudder starts moving.
7. Press the pushbutton Function to accept the value.
► The display flashes briefly.
► The value is saved.
8. Close DIP switches B4.2 and B4.4.
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4.4.2.13
Parameter PA8 - Dither Frequency (Proportional Solenoid
Valve)
The valve hysteresis is compensated with the dither frequency. The value to be set must
be taken from the setting requirements (details from the manufacturer).
Entry: 1 to 75
Default: 1
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.14
Parameter PA9 - Proportional Range (All Steering Gear)
Setting of the proportional setting range is done when only 1 pump is switched on.
Note
In case of multi pump operation, use parameters PA21 to PA24.
The range is set in degrees.
PA9 has to be optimized avoiding rudder overshoots. Rudder speed should slow down in
time before set rudder value is reached. This can be obtained by increasing PA9 step by
step.
Entry: 1.0° to 10.0°
Default:
5° (3-phase motor and torque motor)
1.8° (proportional solenoid valve)
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.15
Parameter PA10 - Proportional Amplification Factor Kp
(Torque Motor)
The dynamic behavior of the rudder controller.
Note
If the torque motor operates not in full range, raise factor until maximum deflection is
reached.
Entry: 0.1° to 10.0°
Default: 1.0°
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Setting procedure, see chapter 4.4.2.3.1.
4.4.2.16
Parameter PA10 - Ramp Time for Rising Ramp (Proportional
Solenoid Valve)
Valve opening speed in 1/10 seconds.
Entry: 1 to 100
Default: 1 (equivalent to 0.1 s)
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.17
Parameter PA11 - Ramp Time for Falling Ramp (Proportional
Solenoid Valve)
Valve closing speed in 1/10 seconds.
Entry: 1 to 100
Default: 10 (equivalent to 1 s)
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.18
Parameter PA12 - Velocity Amplification Factor Kv (3-Phase
Motor)
The dynamic behavior of the controller, setting for consistent rudder movement.
Note
High values of PA12 are causing an intermittent motor turn (fast movements with stops)
until zero position is reached.
Try to optimize the motion together with PA9, see chapter 4.4.2.14, and PA21 to PA24,
see chapter 4.4.2.30 to chapter 4.4.2.33, for multi pump operation.
Entry: 0.1 to 12.5
Default: 7.0
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.19
Parameter PA12 - Velocity Amplification Factor Kv (Torque
Motor)
The dynamic behavior of the controller, setting for consistent rudder movement.
Note
PA12 must be adjusted carefully (best values between 2.3 and 2.6. At higher values the
torque may start swinging.
High values of PA12 are causing an intermittent motor turn (fast movements with stops)
until zero position is reached.
Try to optimize the motion together with PA9, see chapter 4.4.2.14, and PA21 to PA24,
see chapter 4.4.2.30 to chapter 4.4.2.33, for multi pump operation.
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For proper torque adjustment use also PA10, see chapter 4.4.2.15.
Check: Turn the torque lever manually to maximum and let it swing back to zero position.
The lever should come back without hunting. During normal operation the torque should
always shoe a steady motion.
Entry: 0.1 to 4.0
Default: 2.6
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.20
Parameter PA12 - Threshold for Ordered Value (Proportional
Solenoid Valve, Low Current Version)
If ordered valve current is more than threshold, a status is set (jumper B9 3-4 is set).
Entry: 1 mA to 1500 mA
Default: 2 mA
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.21
Parameter PA13 - Null Width Input (All Steering Gear)
Null width in input rudder setting in 1/10 degrees.
Entry: 0.1° to 1.0°
Default:
0.1° (3-phase motor and torque motor)
0.8° (proportional solenoid valve)
0 = Off
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.22
Parameter PA14 - Hydraulic Lock: Differential Motor Setting
(All Steering Gear)
The maximum permissible differential between the valve setting and the actual valve given
in degrees.
Note
By default, hydraulic lock is switched off.
An alert will be generated in FU mode for proportional solenoid valves, 3-phase motor and
torque motor if the rudder angle and the feedback of connected steering gears become a
difference.
Proportional valve types do not have a feedback of the current working point and without
a feedback, the hydraulic lock alert is not available. This requires a good device quality to
guarantee the once adjusted oil flow amount over a long time.
In case the proportional valves provide an on/off status to indicate that they are activated
or not, these proximity signals are connected to terminal L1 of the NFU card.
Port solenoid signal at L1.2 and L1.3 (currently reserve2).
Starboard solenoid signal at L1.33 and L1.34 (currently reserve1).
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If these signals are available, a hydraulic lock alarm can also be achieved for proportional
valves.
Entry: 0.0° to 10.0°
Default: 0.0°
0 = Off
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.23
Parameter PA15 - Hydraulic Lock: Delay Time (All Steering
Gear)
Maximum permissible delay time in seconds.
Entry: 1 s to 10 s
Default: 3 s
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.24
Parameter PA16 - Steering Fail: Difference (All Steering Gear)
Maximum permissible difference between the set / actual rudder settings in degrees.
Note
By default, steering fail monitoring is switched on.
Entry: 0.0° to 5.0°
Default: 5.0°
0 = Off
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.25
Parameter PA17 - Steering Fail: Delay Time (All Steering Gear)
Maximum permissible delay time in seconds.
Entry: 1 s to 10 s
Default: 3 s
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.26
Parameter PA18 - Motor Speed (3-Phase Motor)
Maximum permissible turning speed in degrees per second.
Entry: 10 °/s to 120 °/s
Default: 90 °/s
Setting procedure, see chapter 4.4.2.3.1.
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4.4.2.27
Parameter PA18 - Unload Device or FU-Amplifier Proportional
AS Status (Proportional Solenoid Valve)
Function of relays D4 and D5 on FU PCB, see Fig. 16.
Entry:
0 (unload device)
1 (ordered value / status of FU Amplifier Proportional AS)
Default: 0
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.28
Parameter PA19 - Current Amplification Factor (Proportional
Solenoid Valve)
Amplification of the current controller (dynamic behavior).
Entry: 01 to 10
Default: 01
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.29
Parameter PA20 - Steering Fail: Rudder Speed Setting (All
Steering Gear)
Maximum rudder turning speed in degrees per second.
Note
Check Steering Fail by turning the rudder from hard starboard to hard port with 1 pump in
operation. If Steering Fail alert comes up without any reason, reduce PA20 value.
Entry: 0.1 °/s to 9.9 °/s
Default: 1.0 °/s
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.30
Parameter PA21 - Proportional Range, 2 Pump Operation (All
Steering Gear)
Motor setting range in degrees.
Entry: 1.0° to 15.0°
Default: 8°
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Setting procedure, see chapter 4.4.2.3.1.
4.4.2.31
Parameter PA22 - Proportional Range, 3 Pump Operation (All
Steering Gear)
Motor setting range in degrees.
Entry: 1.0° to 25.0°
Default: 15°
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.32
Parameter PA23 - Proportional Range, 4 Pump Operation (All
Steering Gear)
Motor setting range in degrees.
Entry: 1.0° to 25.0°
Default: 20°
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.33
Parameter PA24 - Proportional Range, 5 Pump Operation (All
Steering Gear)
Motor setting range in degrees.
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Entry: 1.0° to 25.0°
Default: 25°
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.34
Parameter PA25 - Rudder Limit Angle (All Steering Gear)
Rudder limit is selected and rudder angle is limited by an external rudder limit unit (input
status FU card L1 26/27), the value stored in PA25 is the maximum possible rudder angle
value.
Entry: 15° to 70°
Default: 35.0°
Setting procedure, see chapter 4.4.2.3.1.
4.4.2.35
Reset Software
Procedure
1. Press pushbutton Function repeatedly until deisplay shows Mod.
2. Open DIP switches B4.1 and B4.2.
► 99 is shown on the display.
3. Press and hold the pushbutton + to count down to zero.
Note
Do not press this button too long, otherwise the configuration of rudder scaling is
displayed.
4. Close all B4 DIP switches.
► End of service mode.
► The display shows the ordered rudder value.
5. Check the set parameters once again, see chapter 4.4.3.
4.4.3
Show Set Parameter
Seq. Operation
No.
Display
Comments / Notes for Comments / Notes for Comments / Notes for
3-Phase Motor
Torque Motor
Proportional Solenoid
Valves
1
rudH
Not used
Not used
Not used
Not used
Not used
Not used
Open DIP switch
B4.8
Press pushbutton + 20.0
2
Press and hold
pushbutton +
02
Press pushbutton
Function
rudA
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Seq. Operation
No.
Display
Comments / Notes for Comments / Notes for Comments / Notes for
3-Phase Motor
Torque Motor
Proportional Solenoid
Valves
Press pushbutton + 20.0
3
Press and hold
pushbutton +
02
Press pushbutton
Function
rudF
Press pushbutton + 20.0
Press and hold
pushbutton +
4
Press pushbutton
Function
02
En °
Press pushbutton + 20.0
5
6
Rudder angle:
Rudder angle:
Rudder feedback
Rudder feedback
Rudder feedback
Rudder setting
Rudder setting
Rudder setting
Value of voltage applied in V
Value of voltage applied in V
Value of voltage applied in V
Only for analog feedback
Only for analog feedback
Only for analog feedback
Motor angle / valve set- Motor angle / valve set- Not used
ting
ting
Current motor angle in
°
Current motor angle in
°
Rudder feedback voltages sin/cos
Response controller
voltage torque motor
LVDT
Press pushbutton + 0.0
Sine voltage of motor
angle encoder in V DC
No function
Press and hold
pushbutton +
2.4
Cosine voltage of motor angle encoder in
V DC
Voltage of torque motor
angle encoder in V DC
Press pushbutton
Function
En-1
3-phase motor current
Torque motor current
Proportional solenoid
valve current
Motor current in mA
Motor current in mA
Motor current in mA
Not used
Not used
Not used
Not used
Not used
Not used
Rudder scaling:
Rudder scaling:
Not used
Rudder feedback (option)
Rudder feedback (option)
Press pushbutton
Function
EnSC
Press pushbutton + 0620
7
Rudder angle:
Press pushbutton
Function
L1-H
Not used
Press pushbutton + 35°
8
Press pushbutton
Function
L1-A
Press pushbutton + 35°
9
Press pushbutton
Function
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Seq. Operation
No.
10
11
Display
Press pushbutton + 35°
Max. rudder angle setting in °
Max. rudder angle setting in °
Max. rudder angle setting in °
Press pushbutton
Function
InrE
Unit status input / output, see chapter 4.4.4
Unit status input / output, see chapter 4.4.4
Unit status input / output, see chapter 4.4.4
Press pushbutton +
I
Press pushbutton
Function
Po 24
Voltage value 24 V
Voltage value 24 V
Voltage value 24 V
Current 24 V voltage
Current 24 V voltage
Current 24 V voltage
Voltage value 36 V
Voltage value 36 V
Voltage value 36 V
Current 36 V voltage
Current 36 V voltage
Current 36 V voltage
Voltage value 15 V
Voltage value 15 V
Voltage value 15 V
Current ±15 V voltage
as internal standardized value:
Current ±15 V voltage
as internal standardized value:
Current ±15 V voltage
as internal standardized value:
15 V equivalent 560
15 V equivalent 560
15 V equivalent 560
Range: 530 to 590
Range: 530 to 590
Range: 530 to 590
Coarse / fine input rudder feedback
Coarse / fine input rudder feedback
Coarse / fine input rudder feedback
Shown value must
match h set value:
Shown value must
match h set value:
Shown value must
match h set value:
1 for fine (35° / 45°)
1 for fine (≤ ±5 V)
1 for fine (35° / 45°)
0 for coarse (60° / 70°)
0 for coarse (≥ ±5 V)
0 for coarse (60° / 70°)
Max. valve setting angle (motor angle): Port
Max. valve setting angle (motor angle): Port
Max. valve current
15.0
15.0
900
Shown value must
match set angle value
Shown value must
match set angle value
PA 3
Max. valve setting angle (motor angle): Stbd
Max. valve setting angle (motor angle): Stbd
Press pushbutton + -15.0
Shown value must
match set angle value
Shown value must
match set angle value
l --
---
Press pushbutton + 24.8
12
Press pushbutton
Function
Po 32
Press pushbutton + 36.7
13
Press pushbutton
Function
Po 15
Press pushbutton + 580
14
Press pushbutton
Function
PA 1
Press pushbutton + 01
15
Press pushbutton
Function
PA 2
Press pushbutton +
16
17
Comments / Notes for Comments / Notes for Comments / Notes for
3-Phase Motor
Torque Motor
Proportional Solenoid
Valves
Press pushbutton
Function
Press pushbutton
Function
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Valve null position (mo- Not used
tor null position offset in
°)
54
Not used
Not used
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Seq. Operation
No.
Display
Press pushbutton + 270
18
Press pushbutton
Function
PA 5
Comments / Notes for Comments / Notes for Comments / Notes for
3-Phase Motor
Torque Motor
Proportional Solenoid
Valves
Shown value must
match set offset value
Not used
Not used
Press pushbutton + 20
19
Press pushbutton
Function
PA 6
Shown value must
match set value
Not used
Not used
Press pushbutton + 20
20
Press pushbutton
Function
PA 7
Press pushbutton
Function
PA 8
Not used
Basic current: Stbd
Dither amplitude
Shown value must
match set value
Shown value must
match set value
Basic current: Port
Dither frequency
Shown value must
match set value
Shown value must
match set value
Proportional range in
° (single-pump operation)
Proportional range in
° (single-pump operation)
Proportional range in
° (single-pump operation)
Shown value must
match angle value
Shown value must
match angle value
Shown value must
match angle value
Proportional amplification factor Kp
Ramp time for rising
ramp in 1/10 s
Not used
Press pushbutton + 30
22
Press pushbutton
Function
PA 9
Press pushbutton + 4.0
23
Press pushbutton
Function
PA 10 Not used
Press pushbutton + 1.0
24
Press pushbutton
Function
Shown value must
match set value
PA 11 Not used
Not used
Press pushbutton + 01
25
Press pushbutton
Function
Edition: 001
Valve basic current:
Stbd
Shown value must
match set value
Press pushbutton + 07
21
Valve basic current:
Port
Ramp time for falling
ramp in 1/10 s
Shown value must
match set value
PA 12 Velocity amplification
factor Kv
55
Velocity amplification
factor Kv
Threshold status:
Ordered value (low current version only)
10000001268
FU Amplifier Proportional AS
4 Installation and Maintenance
Seq. Operation
No.
Display
Press pushbutton +
26
Press pushbutton
Function
07.0
2.6
Shown value must
match set amplification
factor
Shown value must
match set amplification
factor
PA 13 Null width set value input in 1/10° (0 = OFF)
Null width set value input in 1/10° (0 = OFF)
Null width set value input in 1/10° (0 = OFF)
0.1
0.1
0.8
Shown value must
match set dead zone
area
Shown value must
match set dead zone
area
Shown value must
match set dead zone
Hydraulic lock:
Hydraulic lock:
Differential valve set /
actual value (Motor
set / actual values)
(0 = OFF)
Differential valve set /
actual value (Motor
set / actual values)
(0 = OFF)
Differential valve set /
actual value (0 = OFF)
Shown value in ° must
match set differential
value
Shown value in ° must
match set differential
value
Shown value in ° must
match set differential
value
Hydraulic lock:
Hydraulic lock:
Delay time
Delay time
Delay time
Shown value in 1/10 s
must match set delay
value
Shown value in 1/10 s
must match set delay
value
Shown value in 1/10 s
must match set delay
value
Steering fail:
Steering fail:
Differential (0 = OFF)
Differential (0 = OFF)
Differential (0 = OFF)
Shown value in ° must
match set maximum
permissible differential
value set / actual rudder
Shown value in ° must
match set maximum
permissible differential
value set / actual rudder
Shown value in ° must
match set maximum
permissible differential
value set / actual rudder
Steering fail:
Steering fail:
Delay time
Delay time
Delay time
Shown value must
match set value for delay time
Shown value must
match set value for delay time
Shown value must
match set value for delay time
Not used
Unload device or FU
Amplifier Proportional
AS status
Press pushbutton +
27
Press pushbutton
Function
PA 14 Hydraulic lock:
Press pushbutton + 07.0
28
Press pushbutton
Function
PA 15 Hydraulic lock:
Press pushbutton + 2.0
29
Press pushbutton
Function
PA 16 Steering fail:
Press pushbutton + 3.0
30
Press pushbutton
Function
PA 17 Steering fail:
Press pushbutton + 3
31
Press pushbutton
Function
10000001268
Comments / Notes for Comments / Notes for Comments / Notes for
3-Phase Motor
Torque Motor
Proportional Solenoid
Valves
PA 18 Max. valve opening
speed (max. motor rotation speed) in °/s
56
2
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FU Amplifier Proportional AS
4 Installation and Maintenance
Seq. Operation
No.
Display
Press pushbutton +
Comments / Notes for Comments / Notes for Comments / Notes for
3-Phase Motor
Torque Motor
Proportional Solenoid
Valves
097
0
Shown value must
match set limit value
32
Press pushbutton
Function
PA 19 Not used
Not used
Press pushbutton + 01
33
Press pushbutton
Function
Press pushbutton
Function
Press pushbutton
Function
Press pushbutton
Function
Press pushbutton
Function
Press pushbutton
Function
Shown value must
match angle value
PA 23 Proportional range in °
(4-pump operation)
Shown value must
match angle value
PA 24 Proportional range in °
(5-pump operation)
Press pushbutton + 25.0
38
Shown value must
match angle value
PA 22 Proportional range in °
(3-pump operation)
Press pushbutton + 20.0
37
Steering fail:
Shown value must
Shown value must
Shown value must
match set rudder speed match set rudder speed match set rudder speed
PA 21 Proportional range in °
(2-pump operation)
Press pushbutton + 15.0
36
Steering fail:
Maximum possible rud- Maximum possible rud- Maximum possible rudder turning speed in °/s der turning speed in °/s der turning speed in °/s
Press pushbutton + 8.0
35
Shown value must
match set value
PA 20 Steering fail:
Press pushbutton + 1.0
34
Current amplification
factor
Shown value must
match angle value
PA 25 Value for rudder limit
function
Proportional range in °
(2-pump operation)
Proportional range in °
(2-pump operation)
Shown value must
match angle value
Shown value must
match angle value
Proportional range in °
(3-pump operation)
Proportional range in °
(3-pump operation)
Shown value must
match angle value
Shown value must
match angle value
Proportional range in °
(4-pump operation)
Proportional range in °
(4-pump operation)
Shown value must
match angle value
Shown value must
match angle value
Proportional range in °
(5-pump operation)
Proportional range in °
(5-pump operation)
Shown value must
match angle value
Shown value must
match angle value
Value for rudder limit
function
Value for rudder limit
function
Press pushbutton + 35.0
39
Press pushbutton
Function
PH 0
Not used
Not used
Not used
40
Press pushbutton
Function
PH P
Not used
Not used
Not used
Edition: 001
57
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FU Amplifier Proportional AS
4 Installation and Maintenance
Seq. Operation
No.
Display
Comments / Notes for Comments / Notes for Comments / Notes for
3-Phase Motor
Torque Motor
Proportional Solenoid
Valves
41
Press pushbutton
Function
PH Π
Not used
Not used
Not used
42
Press pushbutton
Function
PA 0
Not used
Not used
Not used
43
Press pushbutton
Function
PA P
Not used
Not used
Not used
44
Press pushbutton
Function
PA Π
Not used
Not used
Not used
45
Press pushbutton
Function
PF 0
Calculated voltage nor- Calculated voltage nor- Calculated voltage normalization:
malization:
malization:
46
47
Press pushbutton
Function
Press pushbutton
Function
PF P
Rudder feedback
Rudder feedback
Rudder feedback
(only for analog feedback).
(only for analog feedback).
(only for analog feedback).
Actual rudder angle:
Actual rudder angle:
Actual rudder angle:
Rudder feedback, posi- Rudder feedback, posi- Rudder feedback, positive
tive
tive
PF Π
(only for analog feedback).
(only for analog feedback).
(only for analog feedback).
Actual rudder angle:
Actual rudder angle:
Actual rudder angle:
Rudder feedback, negative
Rudder feedback, negative
Rudder feedback, negative
(only for analog feedback).
(only for analog feedback).
(only for analog feedback).
48
Press pushbutton
Function
IP h 0
Not used
Actual angle, motor po- Not used
sition middle
49
Press pushbutton
Function
IP h P Not used
Actual angle, motor po- Not used
sition positive
50
Press pushbutton
Function
IP h Π Not used
Actual angle, motor po- Not used
sition negative
51
Press pushbutton
Function
Run1
Press pushbutton + 0.1
52
Press pushbutton
Function
Run2
Press pushbutton + 002
10000001268
Operating time in years Operating time in years Operating time in years
e.g.: 1 year
e.g.: 1 year
e.g.: 1 year
Operating time in days
Operating time in days
Operating time in days
e.g.: 2 days
e.g.: 2 days
e.g.: 2 days
58
Edition: 001
FU Amplifier Proportional AS
4 Installation and Maintenance
Seq. Operation
No.
Display
Comments / Notes for Comments / Notes for Comments / Notes for
3-Phase Motor
Torque Motor
Proportional Solenoid
Valves
53
Run3
Operating time in hours Operating time in hours Operating time in hours
Press pushbutton
Function
Press pushbutton + 08
54
Press pushbutton
Function
Run4
Press pushbutton + 1330
55
Press pushbutton
Function
Πod
Press pushbutton +
Close all DIP
switches
4.4.4
12°
e.g.: 8 hours
e.g.: 8 hours
e.g.: 8 hours
Operating time in seconds
Operating time in seconds
Operating time in seconds
e.g.: 1330 seconds
e.g.: 1330 seconds
e.g.: 1330 seconds
Operating mode
Operating mode
Operating mode
3PH
1PH
2PH
End of the parameter
display area
End of the parameter
display area
End of the parameter
display area
Unit Status
The service list shows the unit status.
In sequence 10, see chapter 4.4.3, InrE is shown.
This stands for:
In = Input
rE = relay
After pressing the pushbutton + the unit status is shown as follows:
Fig. 23: Unit Status Indication
Edition: 001
59
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FU Amplifier Proportional AS
4 Installation and Maintenance
Display
Description
NFU
Non Follow-up-Control
EM
Emergency operation
PON
Power ON
STB
NFU command starboard (NFU + STB)
PORT
NFU command port (NFU + PORT)
Steering Sel. Status
NFU
see Tab. 11
Steering Sel. Switch
see Tab. 11
ValveS
Valve feedback contact starboard
Lim P
Limit switch port active
Lim S
Limit switch starboard active
Valve P
Valve feedback contact starboard
Bridge
Bridge control
Local
Control via buttons at the FU Amplifier Proportional AS (segment does not light)
Rud Limit
Rudder limit function is activated
FU FAIL
Failure of follow-up controller (segment lights up = no fault)
Hyd Lock
Hydraulic lock (segment lights up = no fault)
STEER. FAIL
No set / actual rudder value setting (steering failure) (segment
lights up = no fault)
Tab. 11: Steering Mode
10000001268
Steering Selector
Switch
Steering Sel. Status
NFU
Reaction
OFF
OFF
NFU Direct
OFF
ON
Not allowed
ON
OFF
Override
ON
ON
Main
60
Edition: 001
FU Amplifier Proportional AS
4 Installation and Maintenance
4.5
Care and Maintenance
4.5.1
Safety Instructions for Maintenance
WARNING!
Danger due to maintenance and service by unskilled personnel
Risk of serious injury and material damage
•
•
Keep all unskilled personnel away from the working area.
Perform all maintenance and service only by skilled personnel.
WARNING!
Danger due to electrical current
Risk of death or serious injury that is caused by electrical shock
•
•
•
Switch off voltage supply before starting work.
Secure against switching on again.
Perform work on the electric system only by skilled electricians.
CAUTION!
Hazard due to wrong disposal of harmful substances
Risk of environmental damage that is caused by wrong disposal
•
•
4.6
Observe all national and regional disposal rules and regulations.
Observe all disposal instructions that are placed on the components or
described in related documentation.
Care and Maintenance
The FU Amplifier Proportional AS does not require special care and is maintenance-free.
4.7
Repair
4.7.1
Reference to ISPC
All maintenance tasks comprise information about the support equipment, consumables
and spare parts that are used in this task.
Besides the designation and the quantity, a reference to the ISPC is given. The format of
the reference is as follows:
aa-aaaa bb
Edition: 001
61
10000001268
FU Amplifier Proportional AS
4 Installation and Maintenance
Value
Description
aa-aaaa
Reference to the illustration in the ISPC
bb
Position number on the illustration in the ISPC
Note
All spare parts that are produced by Anschütz GmbH are identified in the ISPC by a
seven-digit part number. This part number is included in the serial number on the type
plate of the equipment. The first 7 digits of the serial number are formed by the part
number.
4.8
Repair Procedures
4.8.1
Replace Mains Power Module
Requirements
Wait for a few minutes after switching off the mains power supply to allow capacitors C1 to
C6 to discharge fully.
Procedure
1. Open the FU Amplifier Proportional AS.
2. Remove plug B1 from the FU PCB.
3. Remove plug L5 from the mains power module.
4. Remove the cable from the mains power module at terminal strips L1, L2, L3 and L4.
5. Remove the 5 nuts from the fixed bolts (note the washers).
6. Replace the mains power module.
7. Install the 5 nuts at the fixed bolts (note the washers).
8. Connect the cable from terminal strips L1, L2, L3 and L4 to the mains power module.
9. Connect plug L5 to the mains power module.
10.Connect plug B1 to the FU PCB.
Fig. 24: FU PCB, Mains Power Module, Electrical Connections
10000001268
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4 Installation and Maintenance
11.Switch on the FU Amplifier Proportional AS.
12.Check its functions.
4.8.2
Replace FU PCB
Procedure
1. Open the FU Amplifier Proportional AS.
2. Remove plugs B1, B3 and B16 from the FU PCB.
3. Remove the cables at terminal strips L1 and L2.
4. Remove the 9 nuts from the fixed bolts (note the washers).
5. Replace the FU PCB.
6. Install the 9 nuts at the fixed bolts (note the washers).
7. Connect the cables at terminal strips L1 and L2.
8. Connect plugs B1, B3 and B16 to the FU PCB.
9. Switch on the FU Amplifier Proportional AS.
10.Check its functions.
11.Check all jumper settings and solder strap L11 - L12.
4.8.3
Replace NFU PCB
Procedure
1. Open the FU Amplifier Proportional AS.
2. Remove plugs B1, B3 and B16 from the FU PCB.
3. Remove the 9 nuts from the fixed bolts (note the washers).
4. Remove the FU PCB and lay it down carefully facing forwards.
5. Remove plug B2 from the NFU PCB.
6. Remove the cable at terminal strips L2 and L6.
7. Remove the cable at terminal strip L1.
8. Loosen the 6 fixed bolts.
9. Replace the NFU PCB.
10.Fix the 6 fixed bolts.
11.Connect the cable at terminal strip L1.
12.Connect the cable at terminal strips L2 and L6.
13.Connect plug B2 to the NFU PCB.
14.Install the FU PCB.
15.Install the 9 nuts at the fixed bolts (note the washers).
16.Connect plugs B1, B3 and B16 to the FU PCB.
Edition: 001
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FU Amplifier Proportional AS
4 Installation and Maintenance
Fig. 25: NFU PCB, Electrical Connections
17.Switch on the FU Amplifier Proportional AS.
18.Check its functions.
19.Check all jumper / connections on terminal board L2 (valve motor).
4.8.4
Replace CAN Bus Distribution Module
Procedure
1. Open the FU Amplifier Proportional AS.
2. Remove plugs B1, B2, B3, B7, B8 and B9 from the CAN bus distribution module.
3. Remove the 5 nuts from the fixed bolts (note the washers).
4. Remove the upper PCB.
5. Loosen the 5 bolts from the fixed bolts (note the washers).
6. Replace the CAN bus distribution module.
7. Fix the 5 bolts at the fixed bolts (note the washers).
8. Install the upper PCB.
9. Install the 5 nuts at the fixed bolts (note the washers).
10.Connect plugs B1, B2, B3, B7, B8 and B9 to the CAN bus distribution module.
11.Switch on the FU Amplifier Proportional AS.
12.Check its functions.
13.Start the Service Tool and enter UnitID, CANGroup and CAN number (the combination
of UnitID, CANGroup and CAN number must be unique within a steering system).
14.Configure the filters in a way that all telegrams are transmitted (filter configuration
“FFFF”).
10000001268
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FU Amplifier Proportional AS
4 Installation and Maintenance
4.9
Monitoring
4.9.1
Power Resistor R1 Setting
The current value for the relevant encoder (3-phase motor, torque motor, proportional
valve) is set in NFU operation with power resistor R1.
4.9.1.1
Check Power Resistor R1
Procedure
1. Switch off or disconnect the power supply.
2. Open the FU Amplifier Proportional AS.
3. Undo a contact in the power resistor.
4. Connect the multimeter in series (current measurement).
5. Switch on or reconnect the power supply.
6. Switch to NFU direct.
7. Measure the value of the current and adjust:
► Proportional solenoid valve: note the details given by the maker (typically 600 mA for
standard valves)
► 3-phase motor: 2 A
► Torque motor: 1 A
Note
If the maximum valve opening is not reached at the stated current values, the current
must be increased by carefully shifting the contact at the power resistor until desired
rudder speed is reached.
4.9.2
Check NFU Voltage 24 V
Procedure
1. Open the FU Amplifier Proportional AS.
2. Measure the voltage with a multimeter (voltage measurement) between contacts B1.9
and B1.10 on the FU PCB.
Edition: 001
65
10000001268
FU Amplifier Proportional AS
4 Installation and Maintenance
► Voltage must be 24 V DC ±10 %
10000001268
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Edition: 001
FU Amplifier Proportional AS
5 Troubleshooting
5
Troubleshooting
All errors are indicated by the relays D1 to D4.
All error messages are distributed via the CAN bus.
Some error messages are displayed at the 7-segment display of this FU Amplifier
Proportional AS.
Note
In case of an error during normal operation, switch NFU-direct.
5.1
Troubleshooting Table
Note
Observe all safety regulations and general remarks about installation, see chapter 4.1.
Tab. 12: FU Amplifier Proportional AS, Troubleshooting Table
No.
Failure
Possible Cause
Remedy
1
FuFail
ConfigFail
(SystemFail)
EPROMFail
Relay D1
PowerFail
See corresponding alarm
message in this table (respective lines below).
CAN0Fail
2
HydLock
Actor (motor/torquer/valve) does not follow amplifier command
Relay D2
Check configuration of
PA14 and PA15.
Check the hydraulic system.
Check the FU PCB output
stage.
3
SteeringFail
Failure in Rudder Speed
Relay D3
Failure in Rudder Direction
Failure in Rudder Accuracy
4
WireBreak
ActRudderFail
Relay D4
SetRudderFail
SteeringModeFail
5
ActRudderFail
No actual rudder information on CAN bus
Display b--F
Edition: 001
67
Check configuration of
PA16, PA17 and PA20.
Check the hydraulic system.
See corresponding alarm
message in this table (respective lines below).
Check feedback source.
Check feedback configuration.
10000001268
FU Amplifier Proportional AS
5 Troubleshooting
No.
Failure
Possible Cause
Remedy
6
SetRudderFail
No set rudder information
on CAN bus
Check set rudder source.
Illegal analog feedback
values (for example lost
wire connection)
Check feedback source.
Check of EPROM read /
write failed
Remove power supply for
at least 5 seconds.
Display b--A
Check steering mode.
or b--H
7
AnalogFBFail
Display b--F
8
EPROMFail
Display Err.E
9
PowerFail
Display Err.P
Check feedback configuration.
Replace FU PCB.
Internal voltage supply de- Remove power supply for
fect
at least 5 seconds.
Check the connection cable between the mains
power module and the FU
PCB.
Replace defective FU
PCB / mains power module.
10
CAN0Fail
Display b--C
No CAN bus connection
between FU PCB and
CAN Bus Distribution Unit
Check CAN bus distribution (e.g. fuse).
Check internal CAN bus
wiring.
11
RudderStop
A set rudder information
forces a rudder stop at
CAN bus
Check the selected CAN
Bus device (autopilot,
handwheel, tiller or operator unit).
12
ConfigFail
Default (incorrect) system
configuration in use
Check SN (serial number)
and ID (identifications)
with the Service Tool.
Rewrite the configuration.
13
14
10000001268
SteeringModeFail
NoFU
Switch Local / Bridge in
local mode
Change switch Local /
Bridge to bridge mode.
Steering selection inputs
are illegal
Check steering selection
inputs, see chapter 4.3.3
NFU mode
No error
68
Edition: 001
FU Amplifier Proportional AS
6 Transport and Storage
6
Transport and Storage
6.1
Preservation, Packing and Storage
Preservation
All components / devices require no special preservation procedures.
Packing
All components / devices are packed with a special protection against humidity. The
package contains desiccants and a humidity indicator.
The humidity indicator can be read from the outside through a window and must be
checked regularly.
Take special care when packing electrostatic sensitive devices.
CAUTION!
Hazard to electrostatic discharge
Risk of material damage
•
•
Take protective measures during installation and/or calibration.
Pack device in suitable ESD packing for storage and transport.
Storage
During the storage of the components / devices, the following conditions have to be met:
•
•
•
•
•
Store the equipment dry and dirt- / dust-free
Protect the equipment by related packing material against damage
Do not stack the components / devices
No special storage regulations are applicable
Observe the following environmental conditions:
-30 °C to +70 °C
•
Edition: 001
Storage temperature
(-30 °C does not apply to liquids. Liquids must
not freeze.)
Humidity
< 80 % relative humidity, noncondensing
Atmospheric pressure
600 hPa to 1.400 hPa
If available, check the humidity indicator once a month:
Color Indication Inside Humidity
Necessary Action
All patches: blue
OK
No action necessary
30 % patch: pink
> 30 %
Interval for checking the humidity indicator must
be reduced
69
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6 Transport and Storage
Color Indication Inside Humidity
Necessary Action
40 % patch: pink
Desiccants must be replaced
50 % patch: pink
> 40 %
Components / devices must be checked for humidity,
> 50 %
Desiccants must be replaced,
Packaging must be checked for damages
Note
Opening and closing the packing to exchange the desiccants must be done by
authorized packing specialists only.
6.2
Transport
During the transport of the components / devices, the following regulations have to be met:
•
•
•
•
•
•
10000001268
Protect the equipment by corresponding packing material against damage
Protect the equipment against dirt and dust by suitable means
Handle the equipment carefully by suitable means
Adhere the following environmental parameters requirement:
Transport temperature
-30 °C to +70 °C
Humidity
< 80 % relative humidity, non-condensing
Atmospheric pressure
600 hPa to 1.400 hPa
If available, check the humidity indicator inside the packing regularly.
No special transport regulations are applicable.
70
Edition: 001
FU Amplifier Proportional AS
7 Illustrated Spare Parts Catalog
7
Illustrated Spare Parts Catalog
7.1
General Remarks
All depicted items in the following figure(s) which are not mentioned in the corresponding
table(s) are not available as spare part for this unit.
Since further development may cause modifications to existing equipment, its conformity
with the relevant illustrations and drawings is not always ensured. Anschütz GmbH will be
under no liability for whatever may arise from any such differences.
7.2
Definitions
Column
Designation
Description
1A
Fig. No.
Shows corresponding figure
1B
Item No.
Shows corresponding position number of the spare
part within the related figure
2
Designation
Shows designation of the spare part
3A
1. Part No.
Shows primary part number of the spare part
3B
2. Part No.
Shows secondary part number of the spare part
4
UOI
Shows measure, weight, count or packing drum
units of supply of the spare part
(Unit of Issue)
5
EA = Each, MR = Meter, SE = Set, GR = Gramm
QI
Shows installed quantity of the spare part for this
unit or subunit
(Quantity Installed)
6
Edition: 001
Remarks
Shows more information about the spare part
71
10000001268
FU Amplifier Proportional AS
7 Illustrated Spare Parts Catalog
7.3
FU Amplifier Proportional AS
Fig. 26: 00-0000
Fig. No.
Designation
1. Part No.
Item No.
00-0000
FU Amplifier Proportional AS NG001
4005563
FU Amplifier Proportional AS NG002
4005565
EA
1
EA
1
EA
1
EA
1
Not illustrated
EA
1
Not illustrated
EA
1
Not illustrated
EA
1
Not illustrated
FU Amplifier Proportional AS NG003
4005567
-
Power supply module 139-155.12 E01
3610323
-
NFU PCB 139-155.12
3609890
-
FU PCB 139-159.100
3611024
-
CAN bus distribution module 138-128.100
3361097
-
10000001268
Remarks
-
00-0000
QI
2. Part No.
00-0000
UOI
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Edition: 001
FU Amplifier Proportional AS
8 Annex
8
Annex
8.1
Quick Reference
8.1.1
Parameter Configuration Quick Reference Guide
Note
Once parameter configuration is done, please complete the configuration sheet, see
annex chapter 8, and leave 1 copy in the amplifier box and return a copy for each
amplifier to Anschütz Kiel.
Proportional Valve
#
Parameter
Def.
Min
Max
Unit
PA1
FB (c/f)
1
0
1
1
PA2
Max cur
900
500
1500
mA
200*
50*
20
1
300
mA
1
300
mA
PA3
PA4
PA5
Min pt
14*
PA6
Min stb
20
14*
Edition: 001
PA7
Dither amp
1
1
10
%
PA8
Dither frq
1
1
75
Hz
PA9
Prop ctrl 1
1.8
1.0
10.0
X°
PA10
Rise ramp
1
1
100
1/10 s
PA11
Fall ramp
10
1
100
1/10 s
PA12
Threshold*
2*
1*
1500*
mA
PA13
ZERO width
0.8
0.1
1.0
X°
PA14
HL diff
0.0
0.0
10.0
X°
PA15
HL time
3
1
10
s
PA16
SF diff
5.0
0.0
5.0
s
73
10000001268
FU Amplifier Proportional AS
8 Annex
#
Parameter
Def.
Min
Max
Unit
PA17
SF time
3.0
1.0
10.0
s
PA18
UD/FU stat
0
0
1
1
PA19
Curr ampl
1
1
10
1
PA20
SF speed
1.0
0.1
9.9
X°/s
PA21
Prop ctrl 2
8.0
1.0
15.0
X°
PA22
Prop ctrl 3
15.0
1.0
25.0
X°
PA23
Prop ctrl 4
20.0
1.0
25.0
X°
PA24
Prop ctrl 5
25.0
1.0
25.0
X°
PA25
Rud limit
35.0
15.0
70.0
X°
* Low Current Value
3-Phase Motor
#
Parameter
Def.
Min
Max
Unit
PA1
FB (c/f)
1
0
1
1
PA2
Mot pt
20.0
10.0
25.0
X°
PA3
Mot stb
-20.0
-25.0
-10.0
X°
PA4
Mot off
270.0
0.0
359.9
X°
Prop ctrl 1
5.0
1.0
10.0
X°
PA12
Kv
7.0
0.1
12.5
1
PA13
ZERO width
0.1
0.1
1.0
X°
PA14
HL diff
0.0
0.0
10.0
X°
PA15
HL time
3
1
10
s
PA5
PA6
PA7
PA8
PA9
PA10
PA11
10000001268
74
Edition: 001
FU Amplifier Proportional AS
8 Annex
#
Parameter
Def.
Min
Max
Unit
PA16
SF diff
5.0
0.0
5.0
1
PA17
SF time
3.0
1.0
10.0
s
PA18
Mot Speed
90.0
10.0
120.0
1
PA20
SF Speed
1.0
0.1
9.9
X °/s
PA21
Prop ctrl 2
8.0
1.0
15.0
X°
PA22
Prop ctrl 3
15.0
1.0
25.0
X°
PA23
Prop ctrl 4
20.0
1.0
25.0
X°
PA24
Prop ctrl 5
25.0
1.0
25.0
X°
PA25
Rud limit
35.0
15.0
70.0
X°
PA19
Torque Motor
#
Parameter
Def.
Min
Max
Unit
PA1
FB (c/f)
1
0
1
1
PA2
Mot pt
20.0
15.0
40.0
X°
PA3
Mot stb
-20.0
-40.0
-15.0
PA4
2.0
PA5
20
1
100
PA6
20
10
600
PA7
Basis pt
100
1
390
mA
PA8
Basis stb
100
1
390
mA
PA9
Prop ctrl 1
5.0
1.0
10.0
X°
PA10
Kp factor
1
0.1
10.0
1
2.6
0.1
4.0
PA11
Edition: 001
PA12
Kv
2.6
0.1
4.0
1
PA13
ZERO width
0.1
0.1
1.0
X°
PA14
HL diff
0.0
0.0
10.0
X°
PA15
HL time
3
1
10
s
75
10000001268
FU Amplifier Proportional AS
8 Annex
8.2
10000001268
#
Parameter
Def.
Min
Max
Unit
PA16
SF diff
5.0
0.0
5.0
X°
PA17
SF time
3
1
10
s
PA18
2
PA19
2
PA20
SF set
1.0
0.1
9.9
X °/s
PA21
Prop ctrl 2
8.0
1.0
15.0
X°
PA22
Prop ctrl 3
15.0
1.0
25.0
X°
PA23
Prop ctrl 4
20.0
1.0
25.0
X°
PA24
Prop ctrl 5
25.0
1.0
25.0
X°
PA25
Rud limit
25.0
15.0
70.0
X°
Drawings
76
Edition: 001
2
3
4
5
6
90
M6
10 0,5
(0.39 0.02)
B
7
400 1
(15.75 0.04)
MAX.10 CABLE INLET M24x1,5 DIN 89280
MAX.4 CABLE INLET M30x1,5 DIN 89280
220 1
(8.66 0.04)
A
ca. 700CLEARANCE COVER
(27.56)
1
FREE SPACE FOR CABLE
500 1
(19.69 0.04)
C
* 460 0,3
(18.110.01)
475 1
(18.70 0.04)
* 450 0,3
(17.22 0.01)
For this technical document all rightsrved.
rese
D
TYPE OF ENCLOSURE
EN 60529
IP44
* REFERING TO DRILLING SCHEME ON BOARD
E
DIMENSIONS WITHOUT TOLERANCES ARE MAXIMUM DIMENSIONS
CAD:
DISTANCE FROM MAGNETIC COMPASS
STANDARD TYPE:
STEERING TYPE:
2,3 m
1,3 m
F
*
9 (4x)
(0.35 0.008)
SCALE
mm
[inch]
03
B
A
VER.
500000046778
1300067
-
REVISIONS
15.08.23
13.02.13
16.07.12
Kl
Zm
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DATE OF ISSUE NAME
CREATED BY
APPROVED BY
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Pro/E
ID.NO.
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WEIGHT
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FU-Amplifier Proportional AS
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138-128.100
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t---+------+------t----i
ISO 2768 - mK
t---+------+------t--+-------+--------1 BENENNUNG
06 500000046778
16.08.23
KL ERSTELLT DURCH
RAMM
FU-AMPLIFIER PROPORTIONAL AS
1300163
RIE GENEHMIGT VON
STOFFER
E
19.04.13
EAUSCHAL
TPLAN / WIRING DIAGRAM
09.04.13
D
1300234
GB
26.02.13
C
1201106
GB
BLATT
ZEICHNUNGSNUMMER
21.12.12
RIE
B
1201000
2
03.07.12
GB
A
VON 2
/\NDERUNG
VER.
AUSGABEDATUM NAME
ANSCHÜTZ
139-159 .HP009
A4
Proportional Amplifier 139-159.
Installation of 3 ferrite rings for:
-
three phase motor
one phase motor
prop. valve only power output (one ferrite)
Für diese technische Unterlage behalten wir uns alle Rechte vor. For this technical document all rights reserved.
6 leads –sin - cos- Reference Voltage
3 leads power output – U; V; W
Put following motor leads twice through a ferrite ring ( by forming a loop) as shown in the a.m. picture:
Three-phase motor
6 leads
One phase motor
4 leads
cos
-
Reference voltage
Reference voltage
sin
(Only Ferrite)
Prop. Valve
4 leads
U
V
W
W
to / from
sin
Three-phase motor
power output
3 leads
U
V
W
-
FU Amplifier PCB
Terminal strip L1
5
6
8
9
10
11
to / from
One phase motor
power output
2 leads
NFU Amplifier PCB
Terminal strip L1
U
V
-
25
26
27
28
Connect ferrite rings to ship’s cables by means of cable ties
Datum
Name
Bear. 03.07.12
Zm
Gepr. 04.07.12
Wus
Lut
Norm 06.07.12
Freigabe: 17.07.12
01
Zust.
500000046778 16.08.23
Änderung
Datum
Benennung:
Installation Instructions
Zeichnungsnummer:
139-159.HP012
Kl
Name
Ers. für:
Id.Nr. :
Seite: 1
von: 1
A4
Please complete this form and leave one copy in the Amplifierbox and return for each Amplifier a copy to Anschütz Kiel
Vessel:
Pump No.:
Order No.:
139-159.NG/SA:
Unit ID.:
Software Version:
Ident-No. PCB:
Feedback Input (Analog Input or CAN Input):
Serial-No. PCB:
Feedback Input (Wirebreak Alarm active):
CAN No.:
NFU-Direct / Main (Status Input or CAN Input):
CAN Group:
Rudder limit (Rudderlimit Unit active):
Rudder No.:
Feedback Input (Mid, STB, Port):
Torque Input (Mid, STB, Port):
Für diese technische Unterlage behalten wir uns alle Rechte vor. For this technical document all rights reserved.
Parameter
Torquermotor
Three-phase
Prop. Valve
Jumper
PA01
B9
PA02
B10
PA03
B15
PA04
B17
PA05
B18
PA06
B19
PA07
B21
PA08
B24
PA09
B25
PA10
Remarks
PA11
L11-L12
PA12
PA13
PA14
PA15
PA16
PA17
PA18
PA19
PA20
PA21
PA22
PA23
PA24
PA25
Benennung:
Erstellt durch
Genehmigt
01
Vers.
500000046778 16.08.23
Änderung
Ausgabedatum
Zm
Wus
Amplifier Configuration Sheet
Zeichnungsnummer:
139-159.HP010
Kl
Name
Ers. für:
Id.Nr. :
Seite: 1
von: 1
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