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Follow--Up Amplifier AS
Description
Installation
Maintenance/Repair
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Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER
1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Application of the Follow--Up Amplifier AS, Type 139--158 . . . . . . . . . . . . 2
1.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1.2 Mode of operation/functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.1 Mechanical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.2 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.3 Cable length and diameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2.4 Maximum loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Operation elements on the PC--board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 Installation/Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.1 Installation and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.1.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1.2 Connecting the cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1.3 General Information about establishing a common ground connection . . 17
2.1.4 Connecting/selecting the supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.1.4.1 Supply voltage 230V AC or 380V AC to 460V AC . . . . . . . . . . . . . . . . . . . 19
2.1.4.1 Supply voltage 115V AC or 230V AC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.1.5 Connection/termination to a dual CAN--bus . . . . . . . . . . . . . . . . . . . . . . . . 23
2.1.6 Connecting CAN--bus and supply voltage to a Rudder Feedback Unit AS
(single CAN--bus) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.1.7 Connecting the analog output (set rudder) . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.1.8 Connecting control signals to the pumps . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.1.9 Connecting status signals (in and out) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.1.10 External 24V DC supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.2 Settings and Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.2.1 General remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.2.2 Menu structure of Follow--Up Amplifier AS configuration . . . . . . . . . . . . . . 33
2.2.2.1 “RUDDER SCALE” Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.2.2.2 “DEADBAND” Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.2.2.3 “RUDDER PULS” Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.2.2.4 “RUDDER LEAD” Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.2.2.5 “ANALOG GAIN” for set rudder output Configuration . . . . . . . . . . . . . . . . . 38
2.2.2.6 “STEERING FAIL” Threshold adjustment and activation . . . . . . . . . . . . . . 39
2.2.2.7 “STEERING FAIL” Delay activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.2.2.8 “ACTIVE FAULT” Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Drawings:
Please note:
The Follow--Up--Amplifier AS is an important part in the
Steering Control System. In view of the ship‘s safety,
particular attention must therefore be given to its care
and maintenance and make sure that only original
Raytheon Anschütz equipment/parts are used.
Caution!
Alarm outputs must be connected to a central
Alarm Panel/Signal Unit.
Alarm Panel or Signal Unit must have an acoustical and
optical alarm indication.
Caution!
Use only original Raytheon Anschütz spare parts
Caution!
Descriptions are for explanation only.
Please refer to the specific project documentation also.
Please note:
Configurations which are displayed in section 2.2.2.10
can be adjusted/changed with a special Service Tool
only.
This Service Tool should be utilized from well--trained
service personnel only.
Caution!
Maintenance and repair must performed by trained and
qualified personnel who are awared in equipment safety
requirements.
EBP
(Earth Bonding Point)
Dissipative mating
work surface
1 Description
Please note:
The Follow--Up--Amplifier AS is an important part in the
Steering Control System. In view of the ship‘s safety,
particular attention must therefore be given to its care
and maintenance and make sure that only original
Raytheon Anschütz equipment/parts are used.
Please note:
The Follow--Up--Amplifier AS, type 139--158 SA001 is
designed for an external 24V DC supply.
This type is available on special order only.
Please note:
The Follow--Up--Amplifier AS, type 139--158 NG001 is
designed for supply voltages 230V AC or 380V AC to
460V AC.
The Follow--Up--Amplifier AS, type 139--158 NG002 is
designed for supply voltages 115V AC or 230V AC.
Steering Interface AS
Dual CAN--bus
Follow--Up Amplifier AS
Supply Supply
voltage voltage
CPU
Valve1 Valve2
Pump1 Pump2
Power Pump2
Power Pump1
Rudder shaft
INPUT/OUTPUT
Communication
Power Supply2
Power Supply1 Power1 CAN2 Power2 (NG001)
CAN0 CAN1
(NG001) 230V AC or
230V AC or 380V AC to
380V AC to 460V AC
460V AC Power Supply2
(NG002)
Power Supply1
115V AC or
(NG002)
230V AC
115V AC or Sys Fail
230V AC Power Fail
Up +
Service
5V/15V
LCD display Wire Break
Down -- CPU
Set Steering
Fail
Indication of
direction
Port/Stb
P S P S
MOS FET
Port Starboard Port Starboard
Analog output1 Analog output2
(set rudder) HYDR. PUMP1 HYDR. PUMP2
(set rudder)
STEERING
OUTPUT
1.1.1 Introduction
The Follow--Up Amplifier AS is used as rudder control amplifier within a ship Steering
Control System.
Rudder set information is transmitted via a dual CAN--bus system from a Tiller, a Hand-
wheel or an Autopilot (only with a Steering Interface AS) to the Follow--Up Amplifier AS.
This dual CAN--bus serves for a redundancy within this Steering Control System.
Actual rudder information (rudder position) is transmitted via a single CAN--bus from a
Rudder Feedback Unit AS to the Follow--Up Amplifier AS.
Both information are compared and the difference controls the pump valves of the rud-
der machine working in ON/OFF mode.
The output signal is doubled to control the valves
The 24V DC output of the amplifier is used to supply the Rudder Feedback Unit AS and
set rudder steering components.
Deadband:
The deadband of the Follow--Up Amplifier avoids instable (hunting) rudder actions.
The deadband adjustments are defined and stored after installation of the rudder ma-
chine.
The deadband is dynamically adapted using pump1 or pump2 or pump1 and pump2.
Rudder lead:
At rudder machines with a big delay the rudder lead parameter can be switched on.
The adaption depends on the status of pump1 and pump2 and the tune is aligned to the
delay. This function switches off the valves before the set value is achieved.
“Trans”:
Configurated in mode “trans” the set rudder output is scaled to a voltage value and out-
put according to the requested rudder position. The amplification can be adjusted from
0.1 to 10. Both channels are controlled synchronously.
In case of a fail with a “rudder stop”, the actual rudder position is kept and the rudder
position is fixed.
“Diff”:
Configurated in mode “diff” the difference of set rudder and actual rudder is calculated
and output as an analog value.
The amplification is adjustable from 0.1 to 10. With this gain the rudder control loop can
be tuned to the best performance by controlling the rudder speed.
In case of a fail with a “rudder stop” the control difference is set to zero and the actual
rudder position is kept.
“Sin/Cos”
Configured in sin/cos mode one set rudder output is scaled in sine voltage the other is
scaled in cosine voltage.
Sin/cos can be used in 260 deg. azimuth steering.
Plug B5 = sine output, plug B6 = cosine output or vice versa.
Power:
The supply voltage for the Follow--Up Amplifier AS is monitored by the hardware of the
amplifier. In case of a power fail of both supplies a ”Sys Fail” (Power Fail) -- alarm is gen-
erated (plug B12, terminals 1/2).
Single CAN--bus:
If there is no information from the rudder feedback (single CAN--bus) the switching out-
puts are deactivated and the rudder position is kept. “Wire Break” (plug B12), terminals
7/8) and “Sys Fail” (plug B12, terminals 1/2) alarms are generated
Dual CAN--bus:
If there is no communication on CAN--bus1 and CAN--bus2 a “Sys Fail” (plug B12, termi-
nals 1/2) and a “Wire Break” (plug B12), terminals 7/8) alarm are generated. If only one
CAN--bus from the dual bus system is interrupted the communication changes to the
other bus line.
Attention
In case of a redundancy change from CAN--bus1 to CAN--bus2
and vice versa the user can get an alarm situation for about
3 seconds. The system checks the integrity of steering device
communication.
If both CAN--bus lines are disturbed alarm is pending and the
operator has to change over to NFU--Tiller steering
Steering Failure:
The rudder speed, rudder direction and rudder accuracy are monitored by the “Steering
Failure” monitoring system.
The rudder speed is monitored to a minimum value of 2q/sec. If one of these terms do
not match the limits the “Steering Fail” (plug B12, terminals 5/6) relay is activated and
distributed by bus.
The mechanical data, as there are dimension and weight are shown in the Dimensional
Drawing 139--158.HP005.
For distance from Magnetic Compass see also Dimensional Drawing.
Outputs
24V DC at Plug B4 18--31V DC max., 9 W max.
Analog outputs (set rudder) at Plugs B5 and B6 +/--10V, 5mA
Valve control at Plugs B14 and B15: 24V DC, 2A max.
110V DC, 450mA max.
Supply voltage to a Rudder Feedback Unit AS
at Plug B9 18--31V DC max.
Inputs
Status information at Plug B13 Ri = 5 kOhm
4 5 6 7 8 9 10 11 12 13 14 15 16 17
3 18
2 19
20
1 21
38 22
37
23
36
24
25
35
34
33
32
31 26
30 29 28 27
B1 31 Plug Input AC1, Supply voltage from pump1 via starter box
B2 26 Plug Input AC2, Supply voltage from pump2 via starter box
B4 28 Plug 24V DC supply for external devices (as Steering Interface,
Handwheel)
B5 1 Plug Analog set rudder output (analog2)
B6 3 Plug Analog set rudder output (analog1)
B7 30 Plug CAN--bus1, Input/output via Steering Interface AS
B8 29 Plug CAN--bus2, Input/output via Steering Interface AS
B9 27 Plug 24V DC supply for connected Rudder Feedback Unit AS
CAN--bus0 for communication from/to Rudder Feedback
Unit AS
B12 22 Plug Status information -- SYS Power Fail, Steering Fail and
Wire Break
B13 36 Plug Status1 and Status2
Status1 = Steering mode selector switch (main or
secondary steering) (must be configured)
Status2 = Rudder stop status input
(kept rudder position)
B14 35 Plug ON/OFF output to control valve1 for connected pump
B15 25 Plug ON/OFF output to control valve2 for connected pump
B19 18 Plug Development only
B28 16 Display To configure the Follow--Up Amplifier AS
B30 12 Push F--, to select displayed function (direction “down”)
Button
B31 14 Push F+, to select displayed function (direction “up”)
button
B32 17 Push +, to adjust selected values (direction “up”)
Button
B33 19 Push --, to adjust selected values (direction “down)”
button
B35 10 Push RESET microprocessor
button
B37 15 Push Set, to acknowledge selected function or to set adjusted
button value (store to memory)
B39 11 DIP-- Development only
switches
Edition: 2 11 3927.DOC010002
Follow--Up Amplifier AS
Type 139--158
2 Installation/Configuration
For connecting the cables see also respective System Wiring Diagrams (part of delivery
for the complete Steering Control System).
Caution!
Installation and setting into operation must be performed
by trained and qualified personnel.
Caution!
When establishing cable connections ensure that the cables
are disconnected from any power supply.
It is essential to ensure that all cables are disconnected from
the power supply, if necessary measure the voltage
beforehand and/or disconnect the relevant distributor.
Caution!
While connecting cables to the equipment, do not bend
cables to a cute angle, pinch, twist, or impart exessive force.
Cracks or damage to the cable coating can cause a fire or
electical shock.
Caution!
Alarm outputs must be connected to a central
Alarm Panel/Signal Unit.
Alarm Panel or Signal Unit must have an acoustical and
optical alarm indication.
2.1.1 Installation
CAUTION!
By connecting the supply voltage for the pumps
NG001: 230V AC or 380V AC to 460V AC
NG002: 115V AC or 230V AC
the Follow--Up Amplifier AS is set into operation.
There is no separate power switch.
CAUTION!
The shielding clamp should not be fixed to clamp.
Use tie wraps to fix cable position.
approx.
15 mm
approx. 60 mm
Fig. 4 Requirements for stripping the connecting cable
-- Insert the cable ends into the terminal strip and tighten the terminal screws.
-- Clamp the cable shield by fastening the suitable shielding clamp in the slits of the
bent mounting plate. The shielding clamp is available in three sizes.
NG001
NG002
In order to comply with the stringent EMC requirements, please follow by the information
given below regarding cable connections.
Use the cable types specified.
Caution!
By connecting the
230V AC or 380V AC to 460V AC supply voltage (NG001) or
115V AC or 230 AC supply voltage (NG001) the Follow--Up
Amplifier AS is set into operation.
There is no separate power switch.
Power switch of the starter box (to switch off both pumps)
must be used. Caution!
When establishing cable connections ensure that the cables
are disconnected from any power supply.
It is essential to ensure that all cables are disconnected from
the power supply, if necessary measure the voltage
beforehand and/or disconnect the relevant distributor
Note: Jumpers have to be set for both inputs (plug B1 and plug B2).
Plug B1 Plug B2
Jumper
1234
1234
Cable
Cable
with jumpers
NG001 only
NG001 only
for 230V AC
with jumpers
1234
1234
Cable
Cable
for 380V AC
to 460 V AC
Jumpers are part of delivery
230V AC
+24V DC
1 ~ +
Jumper
2 ~ --
3
Jumper
380V AC to 460V AC
+24V DC
1 ~ +
Jumper
2 ~ --
3
Plug B1 Plug B2
Jumper
1234
1234
Cable
Cable
with jumpers
NG002 only
NG002 only
for 115V AC
with jumpers
1234
1234
Cable
Cable
for 230VAC
115V AC
+24V DC
1 ~ +
Jumper
2 ~ --
3
Jumper
230V AC
+24V DC
1 ~ +
Jumper
2 ~ --
3
1234 1234
1234 1234
T L H GND T L H GND
T L H GND T L H GND With termination
Without termination (last CAN--bus device)
Plug/terminal Remarks
B7/1 CAN--bus termination (T)
B7/2 CAN--bus low (L)
B7/3 CAN--bus high (H)
B7/4 CAN--bus ground (GND)
= terminating jumper
The CAN--bus must be terminated at both
ends via a resistor (147 Ohms). This termin-
Example of a ating resistor is activated by jumpers on the
Steering Control CAN--bus plugs.
System application
There are two CAN--bus systems in a Steer-
Must not mixed up with ing Control System application possible:
STD 22 CAN--bus also A Dual CAN--bus and a Single CAN--bus.
The Dual CAN--bus is a redundant bus sys-
tem (CAN1 and CAN2).
The Single CAN--bus (CAN0) between Fol-
low--Up Amplifier AS and Rudder Feedback
Unit AS.
Jumper
ers arere
at both endss of the CAN----bus
A Service Tool can be connected via the CAN--bus connectors (for Raytheon Service
personnel only).
The Service Tool has to be connected via an “USB to CAN Converter” to
plug B7 or B8.
Plug B7 or B8 , terminal 2 = CAN L
terminal 3 = CAN H
terminal 4 = CAN GND
Please note:
Only one bus line is active.
Change over from plug B7 to plug B8 in case of the
Service Tool is not communicating with the Steering
Control System.
Plug B9
Cable
Plug/terminal Remarks
B9/1 + 24V DC supply
B9/2 Reference to + 24V DC supply
B9/3 PE
B9/4 CAN0 termination (T)
B9/5 CAN0 low (L)
B9/6 CAN0 high (H)
B9/7 CAN0 ground (GND)
Note: For terminating the Single CAN--bus see also section 2.1.5.
+
--
+
--
Plugs B5 and B6
+ + + +
Jumper are part of delivery
Plug/ Remarks
terminal
B14/2 Common + ON/OFF Port valve
B14/4 Common + ON/OFF Stbd valve
B14/1 Common -- ON/OFF Port valve
B14/3 Common -- ON/OFF Stbd valve
Caution!
Alarm outputs must be connected to a central
Alarm Panel/Signal Unit.
Alarm Panel or Signal Unit must have an acoustical and
optical alarm indication.
Plug B13
Plug B12
B12/1 out 2
SYS/POWER FAIL
B12/2 out 1
B12/3 out 4
SYS/POWER FAIL
3
B12/4 out 4
SYS/POWER FAIL
3
B12/5 out 6
STEERING FAIL
5
B12/7 out 8
WIRE BREAK
B12/8 out 7
B12/7 out 8
WIRE BREAK
B12/8 out 7
Plug B4
1 2
Note: Plug B4 is designed to lead the supply voltage to other loads also.
CAUTION:
Configurations and Settings are possible only, when the Follow--Up Amplifier AS
is open.
There is a protection foil (ESD protection) to prevent unintentionally contact to the PCB
during the installation and configuration.
After the installation/configuration this foil has to be removed and the housing of the Fol-
low--Up Amplifier AS has to be closed.
Caution!
Configuration or performing/changing of settings must
performed by trained and qualified personnel which is
knowledgeable in equipment safety requirements only.
Caution!
By connecting the supply voltage the Follow--Up Amplifier AS
is set into operation.
-- The display is activated by pressing one of the buttons, either “F+”, “F--”, “SET”, “+”
or “--”.
-- Many menus have sub--menus. If there is no sub--menu (see section 2.2.2), then the
next display is a display for setting/changing values.
Sign/Line Meaning
" The sign “ "” points to the selected line.
BACK The line “BACK” means there is one step within the menu structure back
(without storing changed values).
SET By pressing the button “SET” within a menu structure a selection is per-
formed.
By pressing the button “SET” after changing a value, this value is stored.
Only if the function “SET” is selected a value can be changed.
To leave a menu the function “BACK” must be used.
Selecting “BACK” without pressing the button “SET” before, no value
change is executed.
F+ By pressing the button “F+” (or n for main menus) a selection within the
menus lines is performed to the direction “up”.
F-- By pressing the button “F--” (or p for main menus) a selection within the
menus lines is performed to the direction “down”.
RUDDER
ADJUSTMENT " RUDDER SCALE 2.2.2.1
DEADBAND 2.2.2.2 " DEADBAND 1
RUDDER LEAD) 2.2.2.4 DEADBAND 2
SET ANALOG GAIN 2.2.2.5 DEADBAND 1/2
n BACK RUDDER PULS 2.2.2.3
BACK
RUDDER LEAD
" RUDDER P1
RUDDER P2
RUDDER P1/2
BACK
ANALOG OUT
" GAIN 1
GAIN 2
BACK
n
SHOW
SETTINGS
2.2.2.10 " RUDDER
CONFI.STATUS
n SET TIME
SOFTW.
BACK
n
BITE/FRAM
FRAM 2.2.2.11
" BITE SYSTEM DEFAULTS
TO
BACK
n SET FRAM
SET
" BACK
BITE START
n SET
RUDDER " BACK
COM RUDDER COM 2.2.2.12
PORT/STBD " STBD TEST
PORT TEST
SET BACK
RUDDER
ADJUSTMENT
p SET
By pressing the button “F--” on the lower left side of the display the next main menu is
displayed.
By pressing the button “SET” below the display the menus to perform the “RUDDER AD-
JUSTMENT” are displayed.
Way of selection:
Main menu “RUDDER ADJUSTMENT”o“RUDDER SCALE”
Display:
RUDDER SCALE
35 DEG (DEG = Degree)
SET
" BACK
Adjusting:
Default = 35 DEG
Range = 30 DEG to 75 DEG
Step = 5 DEG
With this menus the deadband within the control loop can be adjusted to avoid rudder
hunting.
DEADBAND 1 adjustment means: rudder machine works with pump1 only.
DEADBAND 2 adjustment means: rudder machine works with pump2 only.
DEADBAND 1/2 adjustment means: rudder machine works with pump1 and pump2.
Way of selection:
Main menu “RUDDER ADJUSTMENT”o“DEADBAND” o “DEADBAND 1”
or o “DEADBAND 2”
or o “DEADBAND 1/2”
(DEG = Degree)
This function is for tests only (Raytheon Service and development personnel only).
This function can be switched ON/OFF via the Service Tool.
Way of selection:
Main menu “RUDDER ADJUSTMENT”o“DEADBAND”o”RUDDER PULS”
Display: Adjusting:
RUDDER PULS Default = 0
0 MSEC Range = 0 SEC to 1000SEC
SET Step = 20 SEC
" BACK
With this menu the rudder machine delay can be compensated by using the rudder lead
parameter
This parameter is normally switched off (zero) and should only be used if the rudder
overshoots the set position.
Way of selection:
Main menu “RUDDER ADJUSTMENT”o“RUDDER LEAD”
Display:
RUDDER LEAD
" RUDDER P1 (P1 = pump1)
RUDDER P2 (P2 = pump2)
RUDDER P1+2
BACK
Next menus
Display: or Display: or Display:
LEAD P1 LEAD P2 LEAD P1+P2
0 0 0
SET SET SET
" BACK " BACK "BACK
With this menu the gain for set rudder output analog can be adjusted.
Way of selection:
Main menu “RUDDER ADJUSTMENT”o“ANALOG GAIN”o”ANALOG OUT”
Display:
ANALOG OUT
" GAIN 1
GAIN 2
BACK
Next menus
Display: or Display:
GAIN GAIN
OUTPUT 1 OUTPUT 2
1.0 1.0
SET SET
" BACK " BACK
Adjusting: or Adjusting:
Default = 1.00 Default = 1.00
Range = 0.01 to 10.0. Range = 0.01 to 10.0
Step = 0.04 Step = 0.04
Steering Fail monitors the difference between set rudder and actual rudder by setting a
threshold value in degree and a response time for a rudder movement.
A threshold of 0q means “steering failure monitoring is switched OFF.
Way of selection:
Main menu “STEERING FAIL”o“THRESHOLD”
Display:
THRESHOLD
0 DEG (DEG = Degree)
SET
" BACK
Adjusting:
Default = 0 (switched OFF)
Range = 1 to 20 DEG
Step = 1
With this menu the time delay activating “Steering fail” alarm can be terminated.
Way of selection:
Main menu “STEERING FAIL”o“DELAY”
Display:
DELAY
0 SEC (SEC = second)
SET
" BACK
Adjusting:
Default = 0
Range = 0 to 20 (sec)
Step = 1
With this menu the all active faults (not acknowledged) are displayed.
Way of selection:
Main menu “SHOW ALARM LIST”o“ACTIVE FAULT”
Display:
SHOW ALARM
" ACTIVE FAULT
ERROR LOG
BACK
The error log shows the error history of the Follow--Up Amplifier AS.
-- If UTC is available within the Steering Control System, the error entry is shown with
date and time. Otherwise the operation counter can be used to determine the time.
-- The error log shows all failure messages in sequence,additional a time information of
occurrence is displayed.
(UTC = Universal Coordinated Time)
Way of selection:
Main menu “SHOW ALARMS”o“ERROR LOG”
Display:
SHOW ALARMS
ACTIVE FAULT
" ERROR LOG
BACK
Next menu
Display:
POWER FAIL
CAN 1 (example, see table below)
TIME COUNTER
" NEXT LOG
BACK
If the display shows an active line “TIME COUNTER”, then the next operation of button
“SET” leads to the time information of displayed error log entry.
POWER FAIL
CAN 1
" TIME COUNTER COUNT 15
NEXT LOG OP--HOURS 0
BACK OP--HOURS 234
" BACK
At the end of the all error log entries the display shows:
END
ERROR LOG
" DELETE
CLEAR ERROR--LOG
ERROR--LOG CLEARED
15 SEC. 0 SEC. (SEC = second)
" BACK " BACK
With this menu all configured values, actual steering values and general system informa-
tion are displayed.
After selection of respective line the values are displayed with several (scrolling) dis-
plays.
Not all setting can be performed at the Follow--Up Amplifier AS. Some of these settings
must be performed with the Service Tool (as there are system settings) or must be per-
formed with local configuration of other devices in the Steering Control System.
Way of selection:
Main menu “SHOW SETTINGS”
Display:
" RUDDER
CONFI. STATUS (CONFI. = configuration)
TIME
SOFTW.
BACK
MASTER
FU (FU = follow--up)
SECONDARY 0
DUAL.SYNC. 1 (SYNC = synchronization)
p RU.STOP 0 (p= calling up next display) (RU = rudder)
Displays of TIME
NO UTC or date and time from UTC (UTC = Universal Coordinated Time)
INPUT
p (p= calling up next display)
Display of SOFTW.
SW VERSION (SW = software)
139--158 P01
E00.00(for example)
p (p= calling up next display)
n (n= calling up previous display)
SERIAL NO.:
3609966001011(for example)
p (p= calling up next display)
n (n= calling up previous display)
TYPE NO.:
139--158.NG001(for example)
p (p= calling up next display)
n (n= calling up previous display)
REMARKS
(text string)
p (p= calling up next display)
n (n= calling up previous display)
DESCRIPTION
(text string)
" BACK (to the initial menu)
Table of displays:
Display Meaning
SET--R xx.xq Continuously display of set rudder value.
ACT-- R xx.xq Continuously display of actual rudder value.
DIFF. x.xq Continuously display of difference between set rudder value
and actual rudder value.
SCALE Adjusted rudder scale (30 DEG...... 75 DEG)
FU TILLER Type of actuator. Possible actuators are
NFU TILLER, FU HANDW., FU AUTOP., FU TILLER.
Displaying dotted line means steering mode “MAIN”
SECONDARY Steering mode “MAIN” or “SECONDARY”
ASSIG. RUD.1 This Follow--Up Amplifier AS is designed
to rudder 1 (2, 3 or 4) within the steering line.
RUDDER 1 Rudder 1 (2, 3 or 4) is connected to this
Follow--Up Amplifier AS.
CHANNEL 1/2 Channels for the pump control.
MASTER Steering mode. In this example “RUDDER 1” is designed as
FU master. Possible settings are: “MASTER” or “SLAVE” and
“FU” or “NFU”.
SECONDARY Steering selection.
SECONDARY = 1 means:
The steering mode “MAIN” or “SECONDARY” is input via
the Status 1 (at Plug B13).
SECONDARY = 0 means:
The steering mode “MAIN” or “SECONDARY” is input via
the CAN--bus (via connected Steering Interface, Steering
Signal Unit or Alarm Signal Unit).
DUAL.SYNC. Steering mode (only for double rudder systems).
0 = disabled
1 = enabled
RU.STOP Signal output.
0 = disabled
1 = enabled
PULS “DEADBAND PULS” (for development only).
0 = disabled
1 = enabled
RU. LIMIT Evaluation of rudder limit function “ON” -- “OFF”
0 = disabled
1 = enabled
LIN. SINCOS Analog output “LIN” or “SIN/COS” mode.
0 = linear
1 = sin/cos
Display Meaning
TRANS. DIFF Analog output “TRANS” or “DIFF” mode.
0 = TRANS
1 = DIFF
INDEPENDENT Double Rudder function.
0 = INDEPENDENT
1 = SYNCHRONOUS
STEE. FAIL Signal output.
0 = STEERING FAIL output disabled
1 = STEERING FAIL output enabled
STEE. CH1 Steering output1 connected to valve.
0 = No
1 = Yes
STEE. CH2 Steering output2 connected to valve.
0 = No
1 = Yes
STEE. CH1+2 Steering output1+2 connected to valve.
0 = No
1 = Yes
AC1 33.0V Supply voltage from pump1 (transformed to 33V AC).
AC2 33.0V Supply voltage from pump2 (transformed to 33V AC).
OLED 3.3V Display supply voltage.
OLED 12.0V Display supply voltage.
ACT--R MM S There are additional actual rudder information on the
CAN--bus. (Two information from a master and 1 from a
slave).
NFU STOP NFU STOP = No NFU steering or
NFU RUN = NFU steering.
SYNC Yes = Synchronous mode is possible
No = Synchronous mode is not possible
RUDD. RUN Rudder is following the actual rudder value.
RUDD. ON Rudder is actually without fault.
MAIN/SEC Plug B13 not connected (optocoupler status input).
RUDSTOP Plug B13 not connected (optocoupler status input).
CAN -- BUS CAN--bus address of this Follow--up Amplifier AS.
ADDRESS
NO UTC Display if there is no UTC data available.
INPUT If available: yyyy:mm:dd
hh:mm:ss
TIME OF Total operation time of this Follow--up Amplifier AS
OPERATION (hh:mm:ss).
ON/OFF Numbers of switching ON after first installation.
SOFTW. Software status
With this menu the internal functions of the Follow--Up Amplifier AS are tested or the de-
fault settings can be stored into the FRAM (Ferroelectric Random Access Memory).
Way of selection:
Main menu “BITE/FRAM”o“BITE START”
Display:
" FRAM
BITE SYSTEM
BACK
Selecting the menu line “FRAM” following displays are shown sequentially:
Selecting the menu line “BITE SYSTEM” following displays are shown sequentially:
Display Meaning
DAC1 ERROR Voltage fault at the digital to analog converter.
DAC2 ERROR
With this menu the rudder can be activated to port or stb direction to test the settings
and to optimize the performance of rudder steering (stimulus).
Activating the test, sets the rudder first to zero and than according to selected direction.
Caution!
Application: 2 connected Follow--Up Amplifiers AS.
In case of a stimulus of the rudders with two Rudder
Feedback Units AS, then the Follow--Up Amplifier AS which
is not simulated must be switched OFF.
Way of selection:
Main menu “RUDDER COM PORT/STB”
Display:
RUDDER COM
" STB TEST
PORT TEST
BACK
Next menus
Display: stb selected or Display: port selected
RUDDER COM RUDDER COM
" STB TEST STB TEST
PORT TEST " PORT TEST
BACK BACK
1. Feedback adjustment:
(see manual no.:3928 “Rudder Feedback Unit AS, type 101--532).
230V AC 50/60Hz
-- Change jumper setting (if necessary) on the power connector to:
115V AC 50/60Hz
3. Common+ Common--:
(see section 2.1.8)
Check for correct valve connection (see also system connection diagrams).
x Switch on pump1.
If not:
x Check correct common polarity.
x Check valves polarity and port and stb connection of the Follow--Up amplifier AS
(common+ or --).
x Check feedback polarity (change polarity if necessary with the Service Tool).
x Look for alarm indication on the local display and watch the relay alarm outputs
(no sys fail = LED green ON, see also section 1.3, LED H17)
x Look if all power LEDs on the PCB are in green condition
(see also section 1.3).
x If rudder stop status is on, the Follow--Up Amplifier AS is not active -- look for
possible reasons (use the display menu “SHOW SETTINGS”).
If the rudder machine follows the handwheel commands, then check settings and
optimize the parameters.
Check:
x Rudder scale setting, it must correspond to the actual rudder range.
If it does:
x Start with pump1 ON
Adjust the rudder lead parameter and start with rudder lead = 1, continue up to
value “x” until the rudder stops at the desired position.
Store that value with set.
x Continue with pump2 with the same procedure.
x Continue with pump1 and 2 with the same procedure.
Trans mode:
x Check if the rudder is working within the desired range.
If not:
x Adjust the parameter analog gain -- range 0.1.....10.
Store the value with set.
Diff mode:
x Check if the rudder speed responds with no overshot and there is no creeping to
the new position
If not:
x Adjust the parameter analog gain -- range 0.1....10 until overshot is eliminated.
Rudder speed too slow -- increase gain.
Rudder speed too fast -- reduce gain.
Sin/Cos mode:
x Check if the analog gain of both outputs (analog1 and analog2) are set to 1.0
(see section 2.2.2.5).
Caution!
Use only original Raytheon Anschütz spare parts
Caution!
Maintenance and repair must performed by trained and
qualified personnel who are knowledgeable in equipment
safety requirements.
3.1 Maintenance
3.2 Repair
3.2.1 Troubleshooting
3.2.2 Repair