PilotstarD AP02-S01 Mar09

Raytheon Anschütz GmbH
Postfach 1166
D -- 24100 Kiel
Germany
Tel +49--4 31--30 19--0
Fax +49--4 31--30 19--501
Email Service@raykiel.com
www.raytheon--anschuetz.de
AUTOPILOT
P I LOTSTAR D
Typ AP02--S01
1 Description
2 Operation
3 Care, Maintenance and Shipboard Repair
4 Installation, Putting into Operation
3060.DOC012 Edition: March 13, 2009

Weitergabe sowie Vervielfältigung dieser Unterlage, Verwertung und Copying of this document, and giving it to others and the use or
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Toute communication ou reproduction de ce document, toute Sin nuestra expresa autorización, queda terminantemente prohibida la
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expose son auteur au versement de dommages et intérêts. se exigirá el correspondiente resarcimiento de daños y perjuicios.
PILOTSTAR D
Autopilot
SAFETY REGULATION
" Note
The desired rate of turn depends
• on the initial turning behaviour of the ship
• and on the adjusted parameters.
When the ship starts turning, the rate of turn may be increased up to
approx. 50%!
" Note
Set heading differing by more than ± 180° from the
ship’s current actual heading are not executed over the shorter
heading by the PILOTSTAR D.
The set heading change is carried out to corresponding with default set
heading > 180°.
" Note
Operating mode of HEADING CONTROL
If the magnetic compass values and gyro compass values are
different, switching--over to the compass reference results in a
preset heading adaptation.
Possible heading differences between set heading and heading remain
in existence.
Operating mode of TRACK CONTROL

In this operation mode the actual heading may differ from the heading
indication, depending on the track error.
Edition: March 13, 2009 I 3060.DOC012

PILOTSTAR D
SAFETY REGULATION
" Note
Autopilot operation at high speeds.
(HSC High Speed Craft, according to IMO guidelines from 30kn to
70kn)
On pages HSC--1, HSC--2 and HSC--3 the behaviour rules for the
following situations are documented:
1. Sensor failures
2. Autopilot errors
3 Hazard when accelerating or changing heading and in heavy
seas
" Please note

According to new maritime regulations the meaning of “SET COURSE”
has to be changed into “SET HEADING”.
This is performed allover the manual except display indications.
3060.DOC012 II Edition: March 13, 2009

Pilotstar D
HSC
1. Sensor failures
No. Action Effect Operator Note Reaction time

1 Failure of If NMEA speed is disturbed LOG FAIL is announced optically and Switch over the log to manual speed input. The reaction time --
the log acoustically. switching over to
manual input -- is not
critical as long as the
speed is to be main-
Plus Log For speeds below 3 knots, alarm message Low Speed is an- “RELAYS ALARM” output active tained.
Low Speed nounced optically and acoustically on the control unit. (see section 4.7).
2 Error in the A heading reference failure is sensed and announced optically a) Reduce the speed to values < 20 knots. If it is necessary to
heading ref- and acoustically on the control unit as Gyro Fail. Switch over to the magnetic compass or to make a maneuver, it
erence The last valid actual heading is frozen and is used from then on as the second gyrocompass, if one is is necessary to
the heading reference. The set heading should be the same as available. switch over immedi-
the actual heading in order to prevent any rudder reaction. It is no Optimize the control parameters during ately to manual
longer possible to set a heading on the control unit. magnetic compass operation if stable control.
regulation is not available.
b) Switch over to manual control and use a

second heading reference that is not
subject to errors.
“RELAYS ALARM” output active

(see section 4.7).
Edition: March 13, 2009 III 3060.DOC012

Pilotstar D
HSC
2. Autopilot errors
No. Action Effects Operator Note Reaction time

1 System er- The autopilot can no longer be used in the case of a system error. Switch over to manual control. Reduce the The reaction time --
ror / Power The effects cannot be described accurately in each case. The aim speed so as to be able to better control any switching over to
down is to maintain the current rudder position when dealing with the possible rudder equalization operations. manual control -- is
error. A system error is announced optically and acoustically on critical. It is neces-
the signal unit (relays B21, power fail). sary to switch over at
once.
2 Error in the A operator unit error in the form of an electronics failure has no Switch over to manual control, since it is not The reaction time --
operator unit effect on the current controller behavior. The operator notices that possible to make any more heading settings switching over to
the operator unit can no longer be used because nothing is shown and there is no further control over the auto- manual control -- is
on the display or else sees the No Connection message. pilot (warnings, alarms, parameter settings). not critical
After approx. 45 seconds indication on relays B21, auto fail.
3 Error in the The autopilot can no longer be used. Immediate identification on Switch over to manual control. Reduce the The reaction time --
control unit relays B21, auto fail. speed so as to be able to better control any switching over to
possible rudder equalization operations. manual control -- is
critical. It is neces-
sary to switch over at
once.
3. Hazard when accelerating or changing heading and in heavy seas
No. Action Effects Operator Note Reaction time

1 Accelera-- Automatic adaptation of the controller to the speed is especially If it is not possible to ensure a log function, Switch over immedi-
tion of the important during acceleration. A missing log (e.g. errors) can the ship must be accelerated slowly to the ately to manual con-
ship cause controller instability and unpleasantly larger rudder angles. desired speed and the speed input made trol in the event of
manually. Rudder limiting should be set to controller instability.
the maximum permissible value.
Edition: March 13, 2009 IV 3060.DOC012

Pilotstar D
HSC
No. Action Effect Operator Note Reaction time

2 Change of Changes of heading are to be done such that any unacceptably Determine the maximum permissible turning It is necessary to re-
heading high centrifugal acceleration is avoided (< 0.05g). This reduces speeds for various travelling speeds (de- duce the travelling
the risk of accidents to the passengers and any shifting of loads. pending on the passengers and the load). speed at once if
Computed relationship: a = d*v Determine the maximum amount of rudder there is excessive
a = acceleration (centrifugal acceleration) limiting. centrifugal accelera-
d = turning speed when changing heading tion.
v = travelling speed
You can see that the turning speed and the travelling speed have
a proportional effect on the acceleration. The turning speed must
be selected in relation to a desired maximum speed such that the
acceleration rates described above are not exceeded.
Turning speed limiting can be set at the autopilot.
3 Seas a) The speed of the ship must be matched to the current sea Increase the yawing setting until a compro- In the case of imper-
conditions. mise is reached between rudder action and missibly large rudder
This determination must be made in connection with the heading accuracy for a travelling speed that movements it is nec-
ship safety regulations. is still permissible. essary to reduce the
(Wave height and maximum permissible speed) travelling speed for
b) The effects of heavy seas can also cause undesirably high safety reasons. Then
rudder amplitudes with the autopilot. check the yawing
setting.
User information:
In case a sensor failure is not longer active -- the user gets an acoustical signal and has to quit the message to be aware that the system is in
ready condition again.
Edition: March 13, 2009 V 3060.DOC012

Pilotstar D
HSC
Intentionally left blank
Edition: March 13, 2009 VI 3060.DOC012

Autopilot
Edition: March 13, 2009 VII 3060.DOC012

3060.DOC012 VIII Edition: March 13, 2009
PILOTSTAR D
Autopilot
CONTENTS page
1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--1
1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--1

1.1.1 The Operator Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--1
1.1.2 The Connection Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--5
1.1.3 The Rudder Angle Feedback Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--5
1.2 General Information on the Autopilot Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 1--6

1.2.1 Ship--specific Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--6
1.2.2 Operational Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--6
1.3 Principle of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--7

1.3.1 Heading Control with Set--heading Preselection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--8
1.3.2 Heading Control with Automatic Set Heading Preadjustment . . . . . . . . . . . . . . . . . 1--9
1.3.3 Heading Control with a Preceding Set--heading Transmitter, REMOTE Operation 1--9
1.3.4 Track Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--10
1.4 Heading and Sensor Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--11
1.5 Function of the TRIM MODE (TRM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--12

1.5.1 Recommended applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--12
1.5.2 Summarization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--13
1.6 System Extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--15

1.6.1 Main and Secondary Operator Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--15
1.6.2 Tiller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--15
1.6.3 Central Alarm System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--16
1.6.4 Rudder--angle Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--16
1.6.5 Multifunction Indicator (e.g. Raytheon Anschütz
Digital Navigation Data Indicator) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--16
1.6.6 Connection of a Steering Repeater . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--17
1.7 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--17

1.7.1 Electrical Data / Ambient Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--17
1.7.2 Interface Description acc. to NMEA 0183, Version 2.1 October 1997 . . . . . . . . . . 1--19
1.7.2.1 Input Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--19
1.7.2.2 Output Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--21
Edition: March 13, 2009 IX 3060.DOC012

PILOTSTAR D
CONTENTS page
2 Operating Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--1

2.1 SAFETY NOTES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--1
2.1.1 Ship’s Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--1
2.1.2 Checks to be made before any Putting into Operation . . . . . . . . . . . . . . . . . . . . . . . 2--2
2.1.3 Turning Behaviour in Case of Heading Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--2
2.1.4 Checks to be made before Departure and during the Voyage . . . . . . . . . . . . . . . . 2--2
2.1.5 Change--over to another Heading Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--3
2.2 General Operation and Pre--conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--4
2.2.1 Explanation of Symbols Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--5
2.2.2 Prerequisite for Switching on the Operating Mode TRACK CONTROL . . . . . . . . 2--6
2.2.3 Putting into Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--7
2.2.4 The Status Indication STANDBY is visible . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--8
2.2.5 Switching on the Autopilot (Standard Equipment) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--9
2.2.6 The Operating Mode HEADING CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--10
2.2.6.1 SET HEADING Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--11
2.2.6.2 Automated SET HEADING Change (FIX TURN) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--13
2.2.7 Operating Mode HEADING CONTROL with a Preceding Set Heading Transmitter,
REMOTE Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--15
2.2.8 The Operating Mode TRACK CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--17
2.2.8.1 Approaching a Track . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--17
2.2.8.2 Track Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--20
2.2.8.3 Approching a Track (Position Receiver with XTE Transmission) . . . . . . . . . . . . . . 2--20
2.2.9 The Operating Mode MANUAL CONTROL (DODGE Function) . . . . . . . . . . . . . . . 2--21
2.2.10 The Operating Mode HEADING CONTROL with TRIM FUNCTION (Work Mode) 2--22
2.2.11 Dimming of Key and LCD Illumination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--24
2.2.12 Lamp Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--24
2.3 Varying the Operational Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--25
2.3.1 Optimum Adjustment by Test Runs -- Operating Mode HEADING CONTROL -- . 2--27
2.3.1.1 Recommended Parameter Values for Various Weather Conditions . . . . . . . . . . . . 2--28
2.3.2 Adjusting the Monitoring Limit for OFF TRACK (OFF TRK) . . . . . . . . . . . . . . . . . . 2--30
2.3.3 Adjusting the Monitoring Limit for OFF HEADING (OFF CRS) . . . . . . . . . . . . . . . . 2--32
2.3.4 Adjusting the Rudder Limitation RUDDER LIMIT (RUD.LIMIT) . . . . . . . . . . . . . . . 2--34
2.3.5 Optimizing the Control Characteristics of the Track Controller, TRACK < > . . . . 2--35
2.3.6 Synchronization of the Autopilot for a Gyro Compass with Step Transmission . . 2--37
2.4 Ship--specific Parameters (CONFIG. on) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--39
2.4.1 Adjusting the Ship--specific Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--40
3060.DOC012 X Edition: March 13, 2009

PILOTSTAR D
Autopilot
CONTENTS page
2.5 Change--over of between Main and Secondary Operator Units / Tiller . . . . . . . . . 2--44
2.5.1 Change--over between a Main Operator Unit and a Secondary Operator Unit . . 2--44
2.5.2 Change--over to Tiller Control (FU / NFU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--45
2.6 Signification of the System Messages in the Autopilot . . . . . . . . . . . . . . . . . . . . . . . 2--46
2.6.1 Warnings and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--46
2.6.1.1 Signification of Possible Warnings in the Text Line . . . . . . . . . . . . . . . . . . . . . . . . . . 2--47
2.6.1.2 Signification of Possible Notes within the Text Line . . . . . . . . . . . . . . . . . . . . . . . . . 2--48
2.6.2 Disturbed Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--49
2.6.2.1 Disturbed Operation in connection with a Central Alarm System (Option) . . . . . . 2--49
2.6.3 Possible Fault Messages and Measures to be taken . . . . . . . . . . . . . . . . . . . . . . . . 2--49
3.1 SAFETY NOTES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--1

3.1.1 Ship’s Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--2
3.2 Care and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--3

3.2.1 Care . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--3
3.2.2 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--3
3.3 Shipboard Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--4

3.3.1 Exchanging the Fuse in the Connection Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--4
3.3.2 Hardware RESET, Warm Start (Service Switch B113) . . . . . . . . . . . . . . . . . . . . . . . 3--4
3.3.3 Exchanging a PCB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--6
3.4 LED Displays on the CPU PCB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--7
3.5 Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--8

3.5.1 Block Diagram of the I/O PCB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--8
3.5.1.1 Test Points of the I/O PCB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--9
3.5.2 Block Diagram of the CPU PCB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--10
4 Installation, Putting into Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--1

4.1 SAFETY NOTES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--1
4.2 Stock Taking and Inspection of Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--1
4.3 Installation Planning and Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--2
4.3.1 Operator Unit (Dimensional Drawing 102D864.HP005) . . . . . . . . . . . . . . . . . . . . . . 4--2
4.3.2 Connection Unit (Dimensional Drawing 102E863.HP005) . . . . . . . . . . . . . . . . . . . . 4--2
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PILOTSTAR D
CONTENTS page
4.3.3 Feedback Unit (Dimensional Drawing 101C529 HP005) . . . . . . . . . . . . . . . . . . . . . 4--2
4.4 Cabling of the Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--3
4.5 Ship--specific Parameters (CONFIG. on) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--4

4.5.1 Adjusting the Ship--specific Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--5
4.6 Cold start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--7

4.6.1 Releasing the Cold Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--7
4.7 Initial Power Application and Testing of Pilotstar D, dock side test and alignment 4--9
4.8 Installation of the Feedback Unit (Type 101--529) . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--17

4.8.1 Adjusting the Feedback Potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--17
4.8.1.1 Adjusting the Limit Switches of the Feedback Unit . . . . . . . . . . . . . . . . . . . . . . . . . . 4--18
4.9 Electrical Zero Adjustment on the I/O PCB (OFFSET)

(refer to summary diagram 102 D 863 HP011) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--20
4.9.1 Adjustment and Test of the Electrical Rudder Scaling (RUD SCALE) . . . . . . . . . . 4--21
4.9.1.1 Adjusting/Checking the Rudder Slack (RUD SLACK) . . . . . . . . . . . . . . . . . . . . . . . 4--23
4.10 Adjusting the Magnet Sonde 108--010 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--25
4.11 Adjusting the Flux--gate Compass Sonde (with SIN/COS Output) . . . . . . . . . . . . . 4--27
4.12 Sea Trial Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--28
4.13 A Guide to when which Parameters must be Set . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--33
Spare parts catalogue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--39
Annex
3060.DOC012 XII Edition: March 13, 2009

PILOTSTAR D
Autopilot
List of Abbreviations:
A
APA -- NMEA telegram header “APA”
APB -- NMEA telegram header “APB”
C
CNT.RUD -- counter rudder
HEADINGMON -- heading monitoring (Magnet, Gyro)
CRS.TYPE -- heading type
CPU -- central processor unit
CONFIG. on -- configuration mode on
CONFIG. off -- configuration mode off
D
DC -- DC supply voltage
E
EEPROM -- electrically erasable, programmable read--only memory
EXT.CRS -- external set heading
F
FAIL -- failure
FU -- follow--up
G
GPS -- global position system
GYRO FAIL -- gyro compass failure
I
I/O--PCB -- input / output printed--circuit board
IP -- Interelement protection
L
LCD -- liquid crystal display
LOG TYPE -- speed sensor type
Edition: March 13, 2009 XIII 3060.DOC012

PILOTSTAR D
M
MAG TYPE -- magnetic sensor type
MAGNET FAIL -- magnetic failure
N
NAV TYPE -- navigation data type
NAVDATA FAIL -- navigation data failure
NFU -- non--follow--up
NMEA -- National Marine Electronics Association
O
OFF TRK -- off--track,
OFF CRS -- off--heading
OFF HEADING -- Off Heading
P
PCB -- printed--circuit board
PANEL FAIL -- panel failure
PARAM -- parameter
R
RUD.LIMIT -- rudder limit
ROT °/MIN -- set rate of turn in °/min
RUD.SCALE -- rudder scale
RUD.SLACK -- rudder slack
RUD.LEAD -- rudder lead
RUD.SPEED -- rudder speed
RUD.FAIL -- rudder failure
S
STBD -- starboard
SERV CODE -- service code
SER.OUT -- serial output type
SYNCHRON. -- step compass synchronization
STEERING FAIL -- steering failure
3060.DOC012 XIV Edition: March 13, 2009

PILOTSTAR D
Autopilot
T
TRIM YAW -- 2nd parameter for yawing (TRIM MODE)
TRIM RUD -- 2nd parameter for rudder (TRIM MODE)
TRIM CNT -- 2nd parameter for counter rudder (TRIM MODE)
TRACK LIM -- track limit
W
WP -- waypoint
WOP--circle -- wheel over point circle
X
XTE TRIM -- Cross Track Error Trim
Edition: March 13, 2009 XV 3060.DOC012

PILOTSTAR D
Attention
Change of “Preselected heading”
A change of preselected heading can be done by using the rotary knob or the Port/
STBD arrow keys.
In both modes the ship follows the respective heading adjustment within a range of
0 to 359,9°. It means, there will be an all--around circle.
For example: Actual heading is 270°.
New heading will be 280°.
Direction of roation should be Port.
The new heading will be 280° after a around circle of 350° with a
direction of rotation to port.
Vessel follows the user input direction on the operator panel.
0°
280°
350° 90°
270°
180°
Direction of rotation of the preselected heading
3060.DOC012 XVI Edition: March 13, 2009

PILOTSTAR D
Autopilot
1 Description
1.1 General
The PILOTSTAR D is a comfortable digital autopilot system ensuring safe and simple
handling.
The PILOTSTAR D offers the following steering modes:
-- Heading control acc. to a manually adjusted set heading preselection
-- Heading control with rudder trim function (work mode)
-- Track control in conjunction with a navigation receiver
-- Heading control with serial set heading preselection (REMOTE operation)
-- Manual control (DODGE function)
-- Change--over to manual and tiller operation
The regular system includes (see Fig. 1--5):

-- the main operator unit
-- the connection unit
-- the rudder angle feedback unit
1.1.1 The Operator Unit

The operator unit is equipped with several lettered membrane keys, a rotary knob for the
set heading preselection and with a LCD display.
The operator unit can be subdivided into two logic fields of application, i.e. the monitor-
ing field and the operating field.
Monitoring field Operating field
PILOTSTAR D
ANSCHÜTZ
PARAM OFF TRK Auto

Yaw VARI. On/Off
GYRO OFF CRS
LIMITS
YAWING SET COURSE
Rud EXT. CRS
Track
RUDDER
CNTRUD STANDBY
10 20 30
SPEED CONFIG
Trim
RUD LIMIT 15 PORT STBD Man
Set
Test
Fig. 1--1: Operator Unit PILOTSTAR D
Edition: March 13, 2009 1--1 3060.DOC012

PILOTSTAR D
• The monitoring field (see also Annex --1) indicates

-- the current heading (actual heading) as a digital display. Below the heading dis--
play, the selected heading sensor type will be faded in.
GYRO for gyro compass
MAG for magnetic compass or fluxgate compass.
-- the essential, operational adjustments which may quickly be called up and

varied according to the situation.
The arrow symbols indicate the key by means of which the wanted parameter is
to be called up.
-- the text line by means of which all interactive inputs and other device mes--
sages can continuously be read off:
Indication of a parameter and of its value
Disturbance messages in plain text
Information on service support
Keys in the monitoring field
Yaw
open the parameter list in the LCD display

Rud
acknowledges the internal alarm signalling
Universal keys for:

dimming the LCD display,
varying of parameter values,
Test
lamp test
acknowledges the adjusted synchronization value

and is used for fading out the operational parameters
Set
within the text line
3060.DOC012 1--2 Edition: March 13, 2009

PILOTSTAR D
Autopilot
• The operating field (see also Annex --1)
Within the operating field, five status indicators indicate the instantaneous, active
mode of the autopilot.
Status indicator: OFF TRACK stands for Track Control active.
Status indicator: OFF COURSE stands for Heading Control active.
Status indicator: EXTENSION COURSE stands for Heading Control active.

The autopilot here receives its set heading preselections via an
external navigation system.
The PILOTSTAR D track controller now cannot be activated;
change--over to the operating mode TRACK is not possible.
Manual set heading preselection via the PORT/STBD keys or via
the rotary knob is not possible now.
Status indicator: STANDBY

The operator unit has now an indicating function only, such as:
-- the indication of the current heading and
set heading information.
The operating mode STANDBY is adjusted automatically with

changing over the steering mode selector (position HAND) or
with connecting a second steering station (2nd operator unit, til-
ler).
Status indicator: flashing

With opening the parameter list for the PILOTSTAR configuration
(CONFIG. on), the status indicator starts flashing
(see Chapter 2.4).

PILOTSTAR D
Keys in the operating field

Auto
On/Off changes over to the operating mode of heading control (LED alight);
Track changes over to the operating mode of track control (LED alight)
changes over to the operating mode of manual control (LED alight;

Trim
Man changes over to the operating mode of heading control with extended
trim function -- WORK mode -- (LED alight)
Rotary knob for set heading preselection (resolution 0.5° )
Alternative set heading preselection via PORT/STARBOARD keys (resolution 1° )
Test
Bar Graph Indicators
OFF TRK
• OFF TRACK in the operating mode TRACK (track control)
The centric segment represents the ship’s position with regard to the
Monitoring Ship’s relative
limit position planned track. If the ship is running symmetrically within the monitoring
limits, it follows the planned track without considerable track error. If the
segment e.g. drifts to the right, the ship is running on the right of the track,
and vice versa. Passing over from one segment to another corresponds
to a deviation of 0.01nm.
• OFF HEADING in the operating mode AUTO (heading control) and

TRACK (track control)
OFF CRS Operating mode AUTO
The centric segment represents the heading difference between the set
Heading
Monitoring
difference
heading and actual heading. One segment corresponds to a heading
limit
deviation of 2°. The monitoring limits show the permissible limit range for
the heading difference.
OFF CRS Operating mode TRACK

The centric segment represents the difference between planned track
Monitoring Difference course and actual heading during track control (caused by drift or weather
limit track course
and actual conditions). Passing over from one segment to another corresponds to a
heading
difference 2° more or less.

PILOTSTAR D
Autopilot
• Rudder angle indicator

PORT STBD The centric segment describes the rudder order. Passing over from one seg-
ment to another corresponds to a rudder movement of 2°. The rudder limitation
Rudder Rudder
limitation order describes the permissible limit range for the rudder movement.
1.1.2 The Connection Unit

The connection unit is made up of various PCBs.
Among them are:

-- CPU PCB
-- I/O PCB
-- Junction PCB
-- Backplane
On the basis of the universal interface structure, the connection unit permits the connec-
tion of various sensors and system--extending components, such as:
-- up to three tillers (NFU, FU)
-- up to two additional operator units as secondary steering stations
-- two separate rudder angle indicators
-- further multifunction indicators
-- interfaces for a navigation receiver or for an external navigation system.
1.1.3 The Rudder Angle Feedback Unit

The rudder angle feedback unit receives the mechanical rudder movement and converts
it into an analog voltage.
The voltage level is transmitted to the connection unit and used there for comparing the
rudder set/actual value.
(See also respective manual for the Feedback Unit).

PILOTSTAR D
1.2 General Information on the Autopilot Configuration

Exact heading control or track control depends on the various basic adjustments of the
autopilot (for detailed information see Chapter 2.3, Chapter 2.4 and Chapter 4.13).
A difference is made of between the ship--specific and the operational adjustment of pa-
rameters.
1.2.1 Ship--specific Adjustments

Ship--specific adjustments are performed -- after installing the autopilot -- via the operator
unit. The controller--specific and the ship--specific parameter values will be entered into
a separate parameter list. These entries are to be performed once. As to system engi-
neering, these values are written into an EEPROM and, therefore, stored.
Ship--specific parameters are e.g.:

-- the ship’s length
-- the maximum rudder angle.
1.2.2 Operational Adjustments

Numbered among the operational adjustments are the controller--specific, variable pa-
rameter values.
Variable parameters are required in order to adapt the optimum controller characteristic
to different situations, such as:
-- other weather conditions
-- speed changes if no log sensor is available, etc.
These variable parameters are included in a parameter list as well. A part of this list is
continuously indicated on the LCD display of the operator unit.
By actuating the ”Trim” key, a second set of parameters can be called up, indicated on
the LCD display and varied, if required.
This 2nd set of parameters is often used for special manoeuvres or operations (WORK
MODE) (see Chapter 2.2.9).

PILOTSTAR D
Autopilot
1.3 Principle of Operation

The autopilot is used for the automatic heading or track control. A microprocessor--con-
trolled control circuit -- taking into account the ship--specific and operation--conditioned
adjustment -- takes over the ship’s steering control (see Fig. 1--2).
PILOTSTAR D
PILOTSTAR D PILOTSTAR D
Main operator unit Secondary operator units
Steering mode
selector
Connection Unit
HAND AUTO
MAN
Tiller
• •
•
Steering control
Rudder angle feedback unit
Fig. 1--2: Schematic Diagram: Manual Steering Control / Automatic Steering Control
NOTE The automatic heading or track control is a great

ease for the helmsman, but is does not relieve him of
his legal obligatory supervision, i.e.:
-- continuous observation of sea waters! --
If set heading data is above 180_ the ship will follow the direction entered.
The heading will NOT change over the shorter route.

PILOTSTAR D
1.3.1 Heading Control with Set--heading Preselection

The set heading value is to be varied by re--adjusting the rotary knob or the arrow keys.
The rudder angle indicator will be deflected correspondingly and indicates the rudder
order.
The ship turns with the desired rate--of--turn pre--setting (ROT °/ MIN)
and with taking into account the current speed (if LOG SENSOR available, otherwise
manual preselection, SPEED) into the new set heading (see Fig. 1--3).
The OFF CRS bar graph indicator shows the decreasing heading difference of between
the heading and the set heading.
SET HEADING
HAND AUTO
Set--heading preselection
New set heading
Auto
On/Off
OFF CRS
SET HEADING
Heading
PORT STBD
Rudder angle indicator GYRO
Fig. 1--3: Heading Control with Set heading Preselection

PILOTSTAR D
Autopilot
1.3.2 Heading Control with Automatic Set Heading Preadjustment

This operating mode is useful for maneuvers where a constant heading change maneu-
ver of, e.g. 90° is often to be sailed (fishing, towing, ferries).
The heading change maneuver is called up and executed by pressing one of the arrow
keys. The direction is determined by the appropriate arrow key.
The heading value (e.g. 90°) is superimposed on the current set heading and processed
cyclically.
The heading value can be set via the FIX TURN parameter list of the pilotstar configura-
tion (range 10° -- 180°).
1.3.3 Heading Control with a Preceding Set--heading Transmitter, REMOTE Operation

This operating mode can only be realized in conjunction with a navigation system.
With this, the set heading is determined by the navigation system and transmitted to the
PILOTSTAR D via a serial interface.
The PILOTSTAR D performs the heading control. The status field EXT.CRS is faded into
the LCD display.
During this operating mode, the manual set--heading input (rotary knob or arrow keys)
and change--over to the operating mode TRACK are not possible.
A further possibility is the integration of PILOTSTAR D into an external track guidance

system. With this, the track heading and the track deviation are converted into a set--
heading information and transmitted to the PILOTSTAR D.

PILOTSTAR D
1.3.4 Track Control

The operating mode of track control presupposes the connection of an external naviga-
tion receiver (e.g. GPS) to the autopilot.
Within this system conception, the navigation receiver (for APA and APB telegram trans-
mission) transmits track section data of a planned route to the autopilot. Any track sec-
tion is indicated as a track course and executed in terms of control engineering.
If XTE telegram transmission is used, the operation will be different. First of all, the new
track course is to be read off the navigation receiver and to be adjusted on the
PILOTSTAR D via the rotary knob.
The following example shows a route consisting of 3 waypoints and 2 track sections.
Planning of such a route can only be made via the navigation receiver (see manufactur-
er’s handbook).
On reaching the WOP circle, the autopilot receives the track course preselection for the
next track section. This state is indicated via the text line and, after acknowledgement,
accepted as a new track course. At this moment, the ship starts turning with the prese-
lected rate of turn into the next track section.
Possible side wind or drift
effects are compensated via
Wp3 the autopilot system’s track
course trim characteristic now
active.
WOP circle
Wp2
OFF TRK
HAND AUTO
Side wind or
drift
New track course Track data from
navigation receiver
(GPS)
SET COURSE
Track
OFF CRS
Heading
Wp1 (Textline --Distance from track--)
GYRO SET COURSE
PORT STBD
Fig. 1--4: Track Control

PILOTSTAR D
Autopilot
1.4 Heading and Sensor Monitoring

The autopilot is equipped with an extensive monitoring electronics. In case of trouble,
audible and visual alarm will be released.
The availability of the heading sensors or the function of the steering gear, etc., is contin-
uously monitored.
As soon as the adjusted safety threshold, e.g. OFF COURSE (OFF heading) monitoring
limit, has been exceeded, an alarm is released on the operator unit. A plain text faded
into the text line indicates the cause; an immediate measure can be initiated.
The malfunction indication is treated with highest priority, i.e. a plain text already indi-
cated in the info line will be overwritten.
Error states -- as long as not eliminated -- are stored by the monitoring electronics and
treated as errors that are to be acknowledged (Alarm LED alight).
In case a serious error occurs, such as failure of the heading sensor (GYRO FAIL or
MAG FAIL), the last heading is stored, the set heading is caused to follow up corre-
spondingly. This monitoring function prevents an uncontrolled ship’s motion; the user
has the time for changing over to an alternative heading sensor (e.g. magnetic compass)
or to manual control.

PILOTSTAR D
1.5 Function of the TRIM MODE (TRM)
The TRIM Mode is a so called “Working Mode” and could be essential to ships with low
speed, as there could be trawlers, towboats (tugs) or other work boats.
The Trim Mode is nearest a heading control function with specific operating features.
These operating features can be used, but is no necessity.
To adjust this TIM MODE it is necessary to define the parameters first.

Parameters are: TRM--yawing, TRM--rudder and TRM--counterrudder.
To establish criteria it is to decide if it is necessary to apply a heading control with a high

TRM--rudder amplification for lower speeds or
if there is an asymmetric load to the ship with manual steering possibility and a self--af-
fected constant--rudder function.
See also section 2.2.10 for operating the TRIM function
1.5.1 Recommended applications
Tagging a load with low speed and less manoeuvre
There should be a heading control without manual intervention.

The parameter are pre--adjusted to a high rudder amplification together with a lower
ship‘s speed.
In this application the features of the second set of parameters are used only.
Rudder limit is cancelled to work with greater rudder angles.

PILOTSTAR D
Autopilot
Trawlers with an asymmetrical load caused by a trawl net and manoeuvre opera-
tion
Application of the parameter TRM--rudder (Trim rudder).

The parameters are adjusted in that manner that the heading control will steer the ship
with a small rudder amplification and the rudder can be trimmed additional manually (de-
pending on the specific requirement).
The part of manual rudder setting is added to the part of heading control rudder setting
and is achieved as constant rudder.
The drawback of the normal heading control is, that there will be a higher integral part of
the heading control which often interferences whilst heading changes, it means that the
heading changes are too slow.
In the TRIM Mode this integral part is switched off.
With the parameter TRM--rudder as an alternative of this integral part it is possible
to react faster if it is necessary (change of loads or manoeuvres) and the heading control
stays effective in the background.
The TRM--rudder function can be turned--off by pressing the arrow--keys simultaneously.
Turning--off the integral part of the heading control

Initial state: Heading control is used according to “Tagging a load with low speed and
less manoeuvre”.
Task: The integral part on the control function shall be turned--off.
-- Activation of the Trim Rudder with the arrow--key to 1° and back to 0°.
By this the actual integral part is turned--off and can initialize itself after a heading
change again.
Override the heading control

With the TRM--rudder function a heading deviation (Starboard or Port) from the set
heading can be forced. This can be achieved by an overriding of the heading control in
that manner that a ship can deviate from the actual set heading in a range of +/--10° if
additional change manoeuvre are necessary.
The adjusted set heading value is lasted at the display as a reference, this value is auto-
matically active after turning--off the TRIM function.
Turning--off the TRM--rudder (integral part) by pressing the

arrow keys simultaneously will lead to a uncontrolled reac-
tion of the ship (heading) therefore it could be better to set
the TRM--rudder function to zero step by step.

PILOTSTAR D
1.5.2 Summarization
Switching--over from heading control to TRIM MODE
-- Trim parameters are activated.

-- Rudder limit is turned--off
-- Heading control (with all features) is active.
TRM--rudder is applied
-- Adjusting the trim rudder in 1° steps by the arrow keys.

-- Adjusted trim rudder value is added as a constant value to the heading control value.
-- The integral part of the heading control is lasted turned--off.
-- The rudder limit is lasted turned--off.
Turning--off the TRM--rudder
-- Pressing the arrow--keys simultaneously and the manual TRM--rudder is turned off.
-- The integral part of the heading control function is enabled.

PILOTSTAR D
Autopilot
1.6 System Extension

The connection unit of the autopilot permits a simple and quick system extension; further
system PCBs are not required (see Fig. 1--5).
1.6.1 Main and Secondary Operator Units

In addition to the main operator unit, 2 further operator units of the same type can be
connected to the connection unit of the autopilot as secondary steering stations. A
”Take--over System” permits change--over between the operator units.
Within the secondary operator units, access to the ship--specific parameters
(CONFIG. on/off) is not possible.
1.6.2 Tiller
The autopilot can be equipped with up to 3 tillers.
Any combination as follow--up or non--follow--up tillers is possible.
The following tiller variations can be made:
-- FU tiller (Follow--up tiller)
-- NFU tiller (Non--follow--up tiller).
For tiller control, the steering mode selector is to be set to position ”AUTO”.
The tillers are provided with a Take--over function.

If e.g. the key ”MAN” is actuated on a tiller, all the other operator units -- independently of
their operating mode up to now -- change over to the operating mode STANDBY.
The HEADING is declared to be the SET HEADING, the tiller control is released.
By actuating the key ”AUTO”, the tiller control is de--activated, the main operator unit is
active.
Option
External Status Indication.
An external status indication shows the activation of a tiller within the steering control.

PILOTSTAR D
1.6.3 Central Alarm System

The autopilot provides each an alarm output and alarm input for the integration into a
central alarm system.
This Central Alarm System is used to manage all alarms from different devices from a
central position.
The first intention is to mute the acoustical sound from a device and look for the cause of
alert afterwards by local examination at the respective position.
The alarm muting is solved bidirectional, that means an alarm which is local cancelled
will be muted also on the Central Alarm Panel and vice versa.
The Pilotstar D must be configured to ’ RELAY ALARMS’ according to section 4.7, sub-
item 10.
The ’Relay Alarm’ output designated as ’RELAY AUTO FAIL’ is summarizing all acousti-
cal/optical alarms of the Pilotstar D to transfer a message to the Central Alarm Panel.
The ’Quit’ signal from the Central Alarm Panel is connected to the operation panel of the
Pilotstar D. During local alarm quit a ’Relay Alarm’ contact (designated as Tiller ON) is
activated and connected to the Central Alarm Output.
An summarize of all alarms is shown in section 2.6.3

Exceptions:
Synchronize call = means Step systems connected
New track call = means a track changing message
Checkdata call = means there is a configuration mismatch
1.6.4 Rudder--angle Indicator

On the junction PCB of the connection unit, two outputs are provided for connecting up
to two analog rudder--angle indicators.
1.6.5 Multifunction Indicator (e.g. Raytheon Anschütz Digital Navigation Data Indicator)
The connection unit is equipped with a serial output for the connection of a multifunction
indicator (RS232 output) ( Configuration D--REP).
In this connection, the Raytheon Anschütz digital navigation data indicator offers itself as
a multifunction indicator.
The digital navigation data indicator permits the following indications:
-- Heading indication
-- Set heading indication
-- Log information (only in conjunction with a log sensor)
-- Rate--of--turn set value.

PILOTSTAR D
Autopilot
1.6.6 Connection of a Steering Repeater

As an alternative to the digital navigation data indicator, this serial output can also be
used for connecting an Raytheon Anschütz steering repeater with specific Software
(RS422 output) ( Configuration A--REP).
For this, the compass change--over (GYRO / MAG) is taken into consideration, i.e. the
steering repeater is automatically connected to the selected compass type.
1.7 Technical Data
1.7.1 Electrical Data / Ambient Conditions

• Operator unit
-- Power consumption: 3.5W
-- Supply via connection unit: 5V DC
-- Type of enclosure: IP 44 or IP 56
-- Ambient temperature: -- 10° to + 70°
• Connection unit
-- Power consumption with the
use of one operator unit: 12W
-- Supply, with reverse
current protection: 10 to 36V DC
-- Type of enclosure: IP 21
-- Ambient temperature: --10° to + 50°
-- Relative humidity of air acc. to IEC 945: 93% with 40° C
-- EMC: see Declaration of conformity
-- Radio interference suppression acc. to IEC 801: Limiting value class B
-- Output for steering gear

-- Switching output (2x): 24V DC max. 48W
110V DC max. 48W
-- Analog output, floating (2x)
Max. rudder set value: +/-- 10V DC / 5mA
Variable voltage value for max. rudder set value

PILOTSTAR D
-- Interfaces for possible sensors

-- Gyro compass with transmission system: Raytheon Anschütz course bus
system
Raytheon Anschütz step system
1/6° Step--system
-- Magnetic compass with transmission system: Raytheon Anschütz scanning
sonde
Fluxgate sonde with sine/cosine
DC voltage
Electronic fluxgate compass
with NMEA 0183 interface
-- Ship’s log: 200 pulses or with NMEA 0183

interface
-- Position receiver NMEA 0183, RS232
(APA, APB, XTE telegram type)
-- Interfaces for the system extension

-- Max. 3 tillers possible: FU tiller
NFU tiller
-- Max. 2 rudder angle indicators: ±10V DC, 2.5 mA each
-- Max. 3 operator units: 1 main unit, 2 secondary
steering units
-- Floating alarm and signal outputs for

supplying an external signal transmitter
-- Alarm outputs (Relays output): AUTO FAILure (automatic faulty)
Power FAILure (voltage supply
faulty) STEERING FAILure
(steering control faulty)
OFF HEADING (heading error
with regard to gyro compass)
HEADING MONITOR (heading
error with regard to magnetic
compass)
-- Status (Relays output) for TILLER ON status or

for ALARM RESET

PILOTSTAR D
Autopilot
-- Signal output: Serial output RS232

for Raytheon Anschütz digital
navigation data indicator
(set heading, actual heading,
speed)
or Serial output RS422
for Raytheon Anschütz steering
repeater ( with spec. Software)
• Feedback unit
-- Supply via PILOTSTAR D: ±15V DC
-- Type of enclosure: IP 56
-- Ambient temperature: --25° to +55°
1.7.2 Interface Description acc. to NMEA 0183, Version 2.1 October 1997
1.7.2.1 Input Interfaces
• NMEA 0183 Format APA

APA ⇒ Autopilot Sentence ”A”
Destination waypoint ID
Bearing origin to destination,
Mag.
Status:perpendicular passed at
waypoint
Status:arrival circle entered
XTE units, nautical miles
Direction to steer, L/R
Magnitude of XTE
(cross--track--error)
Data status: Loran--C Cycle Lock
warning flag
Data status: ”OR” of Loran--C Blink
and SNR warning
flags
Talker

PILOTSTAR D
• NMEA 0183 Format APB

APB ⇒ Autopilot Sentence ”B”
Waypoint,Magnetic or True
Mode Indicator
Bearing,Present position to
destination,Magnetic or True
Destination waypoint ID
Bearing origin to destination,M/T
Status:A= perpendicular passed
at waypoint
Status:A= arrival circle entered
XTE units,nautical miles
Direction to steer,L/R
Magnitude of XTE
(cross--track--error)
Status:A = Data valid or not used
V = Loran--C Cycle Lock
warning flag
Status:A = Data valid
V = Loran--C Blink or SNR warning
V = General warning flag for other
navigation systems when a
reliable fix is not available
Talker
• NMEA 0183 Format XTE

XTE ⇒ Cross--Track--Error, Measured
Units, nautical miles

Direction to steer, L/R
Magnitude of Cross--Track--Error
V = Loran--C Cycle Lock
warning flag
V = Loran--C Blink or
SNR warning
V = General warning flag for
other navigation
systems when a reliable
fix is not available
Talker

PILOTSTAR D
Autopilot
• NMEA 0183 Format VTG

VTG ⇒ Course Over Ground and Ground Speed
SOG, km/hr
Speed, knots
Course, degrees Magnetic

Course, degrees True
Talker
• NMEA 0183 Format VHW

VHW ⇒ Water Speed and Heading
Speed, km/hr
Speed, knots
Heading, degrees Magnetic

Heading, degrees True
Talker
• NMEA 0183 Format HSC

HSC ⇒ Heading Steering
This telegram allows only a definite heading command of less than 180° .
Commanded heading, degrees Magnetic
Commanded heading, degrees True

Talker
• NMEA 0183 Format HC HDM

HDM ⇒ Heading, Magnetic (software version E03.00)
HC ⇒ Compass, Magnetic (upper software version E03...)
(E03.00)
Talker

PILOTSTAR D
(E03...)
Talker
• NMEA 0183 Format HDT

HDT ⇒ Heading True (9600 Baut Rate, cycle ≤ 100ms)
Heading, degrees True

Talker
1.7.2.2 Output Interfaces

• NMEA 0183 Format HEHDT
HEHDT ⇒ Gyro--Compass sentence
Checksum
Degrees true
Heading
Talker
• NMEA 0183 Format HCHDT

HCHDT ⇒ Magnet--Compass sentence
Checksum
Degrees true
Heading
Talker

PILOTSTAR D
Autopilot
• Property NMEA 0183 Format PADRT

PADRT ⇒ Rate of turn limit (adjusted on autopilot operator panel)
$PADRT,xxx.x<(CR)><(LF)>
Heading (uncorrected)
String format for heading uncorrected
Talker identifier (property Raytheon
Anschütz)
Start of sentence
• Property NMEA 0183 Format IICTS

IICTS ⇒ Course to steer
$IICTS,xxx.x<(CR)><(LF)>
Course to steer
String format for course to steer
Talker identifier
Start of sentence
• Property NMEA 0183 Format PASVW

PASVW ⇒ Speed (valid, if LOG failure)
$PASVW,xx.x,A<(CR)><(LF)>
Speed is valid
Speed (knots)
String format for speed sent from log
Anschütz)
Start of sentence

PILOTSTAR D
• Property NMEA 0183 Format PASHE

PASHE ⇒ If heading is valid
$PASHE,A<(CR)><(LF)>
Heading information is valid

String format for heading status
Anschütz)
Start of sentence
• Property NMEA 0183 Format PASHE

PASHE ⇒ If heading is not valid
$PASHE,V<(CR)><(LF)>
Heading information is not valid

String format for heading status
Anschütz)
Start of sentence

PILOTSTAR D
Autopilot
PILOTSTAR D Standard PILOTSTAR D System Extension
Heading distribution
GYRO compass
Main operator unit

MAGNETIC compass
NMEA 0183 LOG
or 200 p/nm
Navigation receiver
(GPS, LORAN C) or
set heading transmis-
Connection unit sion system
Serial
Digital navigation data
data transmission indicator
(RS232)
Ship’s mains or
10....36V DC
Analog repeater
(RS422)
Steering mode selector

Tiller FU/NFU
(option)
Feedback unit
External rudder position
indicator
Secondary operator unit
Bi--drectional alarm outputs
Fig. 1--5: The PILOTSTAR D System Concept

PILOTSTAR D

PILOTSTAR D
Autopilot
2 Operating Instructions
2.1 SAFETY NOTES
ATTENTION In opened devices or desks, voltages representing a

risk of electric shock are applied.
-- SAFETY INSTRUCTION --
As a matter of principle, the system is to be made
dead when installation work is performed on the
equipment as well as during disassembly/assembly of
components or during alteration of the circuitry.
2.1.1 Ship’s Safety

According to the GERMAN LLOYD and to other regulations, the autopilot has been clas-
sified as a SECONDARY STEERING SYSTEM, i.e. without redundant installation nor
internal redundancy. A MAIN STEERING SYSTEM, however, e.g. manual control, must
be installed twice and without reactive effects.
In the course of this description, a system component designated as a main and second-
ary operator unit is often referred to in the text.
The significance of these operator units and the autopilot function connected therewith is
always to be considered as a SECONDARY STEERING SYSTEM within the complete
system!
Our devices are manufactured and tested in accordance with an international quality as-
surance system (ISO 9001). Nevertheless, errors cannnot fully be excluded.
The autopilot is equipped with an extensive monitoring logic, by means of which errors
or failures whithin the autopilot system or connected sensors can be recognized. Alarm
signalling is audible or visual via the operator unit. Floating contacts permit connection to
a central error signalling such as e.g. NAUTOALARM.

PILOTSTAR D
2.1.2 Checks to be made before any Putting into Operation

In order to ensure correct functioning of the autopilot, faultless operation of the following
systems and devices is required:
• Power supply
-- for the equipment concerned
-- 10 ... 36V DC for the autopilot
• Steering gear and steering control system
• Sensors and appertaining transmission equipment

-- Gyro compass
-- Magnetic compass / fluxgate compass
-- Log
-- Navigation receiver
2.1.3 Turning Behaviour in Case of Heading Change

In case of a heading change, the ship follows automatically the user input direction of
the rotary knob (see section 2.2.6.1).
The turning behaviour with preselected rate of turn depends on
-- the ship’s initial turning behaviour and
-- the adjusted ship--specific and current parameters.
When the ship starts turning, the rate of turn may exceed the preselected rate of turn.
2.1.4 Checks to be made before Departure and during the Voyage

• Compare the heading indication in the operator unit with the compass heading.
• The operational parameter adjustments have been made acc. to experience

(see Annex --2).
• If the ship is now running in suitable waters, change--over to autopilot control can be
made.
The steering mode selector is to be set to position AUTO.

The operating mode of heading control is now effective.
If another operating mode is wanted, this can now be selected.

PILOTSTAR D
Autopilot
2.1.5 Change--over to another Heading Sensor

Change--over to another heading sensor may result in a considerable SET HEADING
deviation.
In order to avoid unintended reactions of the ship on changing over, the set heading is
equated with the heading.
The unintended set heading deviation must be corrected via the PORT/STBD keys or
via the rotary knob (see Chapter 2.2.6).
Indications Remark/Notes
¡ Calling up the Parameter

See Chapter 2.2.1.
PARAM
VARI.
OFF TRK
Explanation of symbols.
GYRO OFF CRS
LIMITS
Yaw YAWING SET COURSE
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
COMPASS gyro PORT STBD
Set
© Select the MAG or GYRO heading sensor

The required heading sensor is
selected with the appropriate key
PARAM
VARI.
OFF TRK
(e.g. MAG)
MAG OFF CRS
LIMITS
YAWING SET COURSE
(gyro) RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
COMPASS mag PORT STBD
(mag)
Set
¢ Press set knob
Text idication disappears.

PARAM OFF TRK
VARI.
MAG OFF CRS
LIMITS
Set YAWING SET COURSE
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
PORT STBD

PILOTSTAR D
2.2 General Operation and Pre--conditions

The following chapters describe each key function, the corresponding indication and the
effects on steering control.
For actively testing certain operator actions on the operator unit, a completely installed
autopilot is required here.
The steering mode selector must be set to position AUTO.
ATTENTION For the first installation, the operator must ensure the
following safety--relevant measures:
-- Ship made fast
-- Steering gear or steering linkage is freely moving,
and correctly covered or protected against access,
resp.
-- Rudder blade freely moving.
The ship’s mains is connected (POWER ON)
NOTE The membrane keyboard must never be operated

with a pointed object (ball--point pen, pencil etc.) !
For cleaning the membrane keyboard and the LCD

display, a commercial acid--free agent is to be used
only.
Annex --1 shows the complete operator surface of the operator unit.

PILOTSTAR D
Autopilot
2.2.1 Explanation of Symbols Used
Key actuation
LED flashing
LED out
LED on
Audible signal on
Audible signal off
CONFIG Status panel flashing
Index for display explanation

PILOTSTAR D
2.2.2 Prerequisite for Switching on the Operating Mode TRACK CONTROL

This operating mode presupposes certain operator actions, i.e. track planning, on the
navigation receiver.
See manufacturer’s handbook of the navigation receiver in question.
Prior to switching to the operating mode of track control, the following recommendations
should be taken into consideration:
a) The ship must be turned into the ahead direction with regard to the track (angular
range approx. α 60°).
WP1 α
α
WP2
b) Before switching on the track control, the ship should be within the track monitoring
limits (see OFF TRK bar graph indication). Ascertain the track deviation with regard to
the track heading by means of the navigation receiver.
If a large position difference is found, it is recommended in this situation first of all to
approach the track (within the monitoring range), with heading control or by hand
control.

PILOTSTAR D
Autopilot
2.2.3 Putting into Operation

• With connecting the ship’s mains supply (ship’s mains fuse ON), the PILOTSTAR D is
ready for operation. The following survey shows the possible operating conditions /
operating modes.
Connecting the ship’s mains voltage
Steering mode selector position AUTO Steering mode selector position HAND
• Switching to another sensor, Chapter 2.1.5 •
PILOTSTAR D operating mode

HEADING CONTROL is active, Chap. 2.2.6
Select PILOTSTAR D operating mode PILOTSTAR D operating mode

-- Remote Chap. 2.2.7 -- STANDBY, Chap. 2.2.4
-- Track control Chap. 2.2.8
-- Manual Chap. 2.2.9
-- Trim function Chap 1.5 and
Chap. 2.2.10
• •
Main/secondary Operational pa- System Ship--specific Operational pa- System

operator units/ rameters, messages, parameters, rameters, messages,
Tiller, Chap. 2.5 Chap. 2.3 Chap. 2.6 Chap. 2.4 Chap. 2.3 Chap. 2.6
Fig. 2--1: Survey of Possible Operating Conditions / Operating Modes

PILOTSTAR D
2.2.4 The Status Indication STANDBY is visible

• Dependent on the system type, this status indication describes the following
OFF CRS system situation:
EXT. CRS
STANDBY
1. The steering mode selector has been set to position HAND.
The autopilot and Pilotstar D --Tiller are electrically separated from the steering
control system. The AUTO Led is off.
2. The steering mode selector has been set to position AUTO.

The main operator unit is active -- the AUTO LED is on.
If the tiller steering (Pilotstar D) is selected, the operation panel changes over to
STAND BY Mode
• The LCD display indication is as follows
PARAM OFF TRK

VARI.
GYRO
LIMITS
YAWING SET COURSE
RUDDER
CNTRUD STANDBY
10 20 30
SPEED
PORT STBD
Status indicator Rudder angle indicator
The current heading and the rudder angle indication are operated as active indica-
tions. The set heading indication is caused to follow up the heading.
Alarm and error messages (see Chapter 2.6) appear in the text line -- silent alarm --
(no audible signalling). Exception: If heading sensor fails an optical and acoustical
alarm comes up.
All operation LEDs are switched off.
• Operating parameters, as well as parameters specific to the ship itself, can

be changed as required.

PILOTSTAR D
Autopilot
2.2.5 Switching on the Autopilot (Standard Equipment)

• The autopilot is activated via the steering mode selector, switch position
AUTO.
HAND AUTO
The operating mode HEADING CONTROL is now active
(see Chapter 2.2.6).
Change--over to another operating mode is now possible.
Auto
On/Off • The LED panel of the key lights up (GREEN).
• The LCD display indication is as follows:
Limit adjustment for the Set heading deviation

OFF HEADING
monitoring limits
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
RUDDER
CNTRUD STANDBY
10 20 30
SPEED
PORT STBD
Text line Limit adjustment for Rudder angle indicator

the rudder limitation
The autopilot system is active; the OFF CRS (off heading) bar graph indication indicates
the set heading deviation via the centric dynamic bar graph segment.
The monitoring limits are shown as static bar graph segments.
With switching on/changing over, the HEADING is taken over as SET HEADING prese-
lection as a matter of principle.
(Adjusting the monitoring limit for OFF HEADING, see Chapter 2.3.3.
Adjusting the rudder limitation, see Chapter 2.3.4.
Synchronization, see Chapter 2.3.6.)

PILOTSTAR D
2.2.6 The Operating Mode HEADING CONTROL

• By actuating the key, the heading control is activated.
The instantaneous HEADING is accepted as SET HEADING preselection.

The ship is held on the instantaneous heading.
Auto
On/Off
• The LED panel of the key is alight (GREEN).
• The display indication is as follows

OFF HEADING
monitoring limits
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
RUDDER
CNTRUD STANDBY
10 20 30
SPEED
PORT STBD
Text line Limit adjustment for Rudder angle indicator

Within the OFF CRS bar graph (off heading) indication, the set heading/actual heading
deviation is described via the central display range. It is by means of this indication that
the quality of heading control can be judged.
One segment corresponds to a heading deviation of 2°.
In case of a considerable heading deviation that reaches the monitoring range, an OFF
HEADING alarm is released (audible alarm and plain text info in the text line).
The possible source of trouble may be a disturbance in the steering control circuit (for
detailed information see Chapter 2.6).
(Adjusting the monitoring limit for OFF HEADING, see Chapter 2.3.3.
Synchronization, see Chapter 2.3.6.)

PILOTSTAR D
Autopilot
2.2.6.1 SET HEADING Change
ATTENTION
The heading change manoeuvre is initiated immedi-
ately. The ship starts turning with the preset rate of
turn (RATE OF TURN) into the preset SET HEADING
input.
During a heading change manoeuvre, the parameter

value for rate of turn (ROT °/MIN) must not be varied !
NOTE For the rate--of--turn adjustment of ROT °/min full, the

rate--of--turn limitation is not active.
With this adjustment, the rudder position is limited only
by the rudder angle limit position RUD.LIMIT.
Auto A new SET HEADING is adjusted via the PORT/STBD keys (1° set heading
On/Off
change or 5° set heading change by pressing the key constantly) or via the rotary
knob (resolution 0.5°).
The arrow direction or the direction of rotation always corresponds to the real
direction of rotation of the ship.
During a heading change manoeuvre, the OFF HEADING monitoring is deacti-

vated for the period of the rough heading change.
In case of heading change the ship follows the direction of the user input -- rotary
knob or + -- keys

PILOTSTAR D
• In case of a SET HEADING CHANGE, the display indication is as follows:
Limit adjustment for the With the new SET HEADING presetting, the limit adjustment
OFF HEADING has been exceeded; the corresponding range is flashing
monitoring limits
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
RUDDER
CNTRUD STANDBY
10 20 30
SPEED
PORT STBD
Limit adjustment for Rudder angle indicator

A new SET HEADING initiates the heading change manoeuvre as a function of the pre-
set rate of turn.
The heading direction (PORT or STBD) is realistically indicated in 2° steps by movement
of the bar graph segment.
If, during the heading change manoeuvre, the limit adjustment for the monitoring limits is
exceeded, this part of the bar graph indication starts flashing. The flashing tendency
again decreases as a function of automatic heading follow--up.
The rudder angle indicator indicates the rudder order.
The heading change manoeuvre is terminated as soon as the HEADING indication cor-
responds to the SET HEADING indication.
The OFF HEADING monitoring is activated.
The graph bar is in the centre range of the permissible heading monitoring limits.

PILOTSTAR D
Autopilot
2.2.6.2 Automated SET HEADING Change (FIX TURN)

The automated SET HEADING change is only possible when in the Heading Control
mode of operation.
ATTENTION The heading change maneuver is initiated immedi-

ately.
The ship begins to turn to the newly set SET HEAD-
ING from the previously set R.o.T.
The parameter value for the R.o.T. (ROT °/MIN) must

not be changed during a heading change maneuver!
NOTE The R.o.T. limitation is not active when the R.o.T. setting
ROT °/min is set to full.
At this setting, the rudder position is only limited by the
rudder position limit setting RUD.LIMIT.
This function of this special characteristic can be switched ON or OFF via the parameter
administration of the ship (refer to Chap. 2.4).
• Switched On
At this setting, a range between 10° and 180° is available.
In the following operating sequence, a 90° STBD Set Heading Presetting is to be acti-
vated and executed.
¡ Activate SET HEADING Presetting

Press key for approx. 3s.
PARAM
VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
A countdown is initiated on the text
RUDDER
STANDBY
line after approx. 3s.
CNTRUD
10 20 30
SPEED
The key must be pressed until the
FIX TURN 90...2 PORT STBD
acoustic signal ceases to sound.
FIX TURN 90...1 Otherwise, the countdown is can-
Auto
On/Off
celled. The presetting is not acti-
FIX TURN 90..GO
vated.

PILOTSTAR D
© Execute SET HEADING Presetting (e.g. 90° STBD)

The acoustic and optical signals
PARAM cease.
VARI.
GYRO OFF CRS
Release the key.
LIMITS
YAWING SET COURSE
RUDDER
STANDBY
In this example, the SET HEADING
CNTRUD
10 20 30 presetting is increased by 90°.
SPEED
PORT STBD
The ship begins the heading change
maneuver.
Auto
On/Off
¢ Increase SET HEADING presetting by an additional, e.g. 90° STBD?

Operation and dialogue as described
PARAM below in ¡.
VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE The SET HEADING presetting is in-
RUDDER
CNTRUD
STANDBY creased by an additional 90°.
10 20 30
SPEED
PORT STBD
Auto
On/Off
£ Cancel automatic SET HEADING presetting due to a current

circumstance?
The automatic SET HEADING pre-
PARAM setting is immediately cancelled on
VARI.
GYRO OFF CRS
turning the rotary knob or by press-
LIMITS
YAWING SET COURSE
ing the key.
RUDDER
STANDBY
The SET HEADING presetting is set
CNTRUD
10 20 30 to the ACTUAL HEADING.
or SPEED
PORT STBD
Trim
Man

PILOTSTAR D
Autopilot
2.2.7 Operating Mode HEADING CONTROL with a Preceding Set Heading Transmitter,
REMOTE Operation
This operating mode requires a navigation system for set heading preselection (see
handbook of navigation system).
REMOTE Schalter
OFF ON
• Set the REMOTE switch to position ON.
An operating mode already active is now automatically de--activated.
• The LED panel of the key lights up (GREEN).

Auto
On/Off
Within the SET HEADING indication, the external set heading preselection adjusts
itself.
The heading controller of the PILOTSTAR starts re--adjusting the HEADING acc. to
the external set heading preselection.
The heading controller uses the preset parameter values and limit adjustments for
the OFF CRS (off heading) indication and for the rudder limitation.
Heading differences will be sensed by the navigation system and passed on to
PILOTSTAR D for heading correction.
Change--over to another PILOTSTAR D operating mode or change--over to a tiller

is not possible now.
Re--adjustment of the set heading preselection via PORT/STBD keys or via

rotary knob is not possible now.
Parameter actualization remains permissible.
The PILOTSTAR D sensor monitoring remains active.

PILOTSTAR D

OFF HEADING
monitoring limits
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
EXT. CRS
RUDDER
CNTRUD STANDBY
10 20 30
SPEED
PORT STBD
Text line Status indicator Limit adjustment for Rudder angle indicator
With connecting the navigation system, the status indicators EXT. CRS and OFF CRS
are enabled.
An external set heading preselection initiates the heading change manoeuvre as a

function of the rate of turn preset on the PILOTSTAR D.
The direction (PORT or STBD) is realistically indicated by the movement of the bar
graph segment in 2° steps.
If during the heading change manoeuvre the limit adjustment for the monitoring limits
is exceeded, this part of the bar graph indication starts flashing.
This flashing tendency indication decreases as a function of automatic heading fol-
low--up.
The heading change manoeuvre is terminated as soon as the HEADING indication

corresponds to the SET HEADING indication.
The heading deviation is sensed via the navigation system and indicated via the OFF
CRS (off heading) bar graph indication of the PILOTSTAR D.
(Adjusting the monitoring limits for OFF HEADING, see Chapter 2.3.3.
Synchronization see Chapter 2.3.6).

PILOTSTAR D
Autopilot
2.2.8 The Operating Mode TRACK CONTROL
Do not use TRACK CONTROL under high speed condition >25kts.

Track Control has no system approval according IEC62065 (ECDIS/Autopilot)
2.2.8.1 Approaching a Track

Before changing over to the operating mode of track control, the track to be sailed
through must roughly be reached via manual control or via heading control (Step 1)
a
WP1 a α
α
WP2 Planned track, track
information see navi-
gation receiver or set
heading transmission
system
Track Step 2 Approximate head-

ing to WP 2 must be
xte meter ’123’ α ≤ 60°
Auto
(Crosstrack distance from track)
Track monitoring
On/Off Step 1
limits
See Chapter 2.2.6 a ≤ 0.3sm
(OFF TRK)
Fig. 2--2: Approaching a Track
Track
• After approaching the track, the operating mode of track control (Step 2) can be
activated. Actuate the key TRACK; the LED panel lights up GREEN. The operating
mode of track control has been preselected.
First of all, the message of xte meter ’123’ (crosstrack distance in [m]) appears
within the text line
(for approx. 3s) then appears NEW TRACK ....... .
The LED panel of the ”Symbol” key lights up (RED).

PILOTSTAR D
• For taking over the track course data, the symbol key must be actuated for
acknowledging.
The LED panel of the key becomes dark; the system message in the text line
goes out; the audible alarm ceases.
The SET COURSE indication now shows the track course and will not
change unless a new track is selected. The only exception will be if the
navigation receiver is sending the HSC or XTE telegram sentence.
NOTE
If the track course is not acknowledged within the permissible time,
exact and useful track control is no longer possible. Extreme ma-
noeuvre are to be expected.
In this connection, renewed manual approach of the track is rec-
ommended.
Track control is active; the ship -- dependent on the preset rate of turn (ROT/MIN) (see
Chapter 2.3) -- starts turning into the given track course.
Only use track changes in a range of <180° for safety reasons.
The OFF TRACK and OFF CRS (off heading) monitoring is not active until the
SET COURSE presetting is reached.
Limit adjustment for

OFF TRACK and After change--over, the ship is still outside the
OFF COURSE monitoring limits. The corresponding area is
monitoring flashing.
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
EXT. CRS
RUDDER
CNTRUD STANDBY
10 20 30
SPEED
NEW TRACK 163.5 PORT STBD
Limit adjustment for

rudder limitation Rudder angle indicator

PILOTSTAR D
Autopilot
After acknowledgement, the text line is faded out; simultaneously, the NEW TRACK
course appears in the SET COURSE indication.
If -- after change--over to the operating mode of track control -- the ship is still outside
the pre--defined monitoring limits (TRACK MAX and COURSE MON), these parts of
the bar graph indication will be flashing.
For the OFF CRS (off heading) indication, one flashing element corresponds to a set
heading trim deviation of 2°.
The flashing tendency indications diminish as a function of automatic track follow--up.
The track run--in phase is terminated as soon as the track deviation and the heading
deviation are within the preselected monitoring limits.
The OFF TRACK monitoring is now active.
The set course trim is indicated by the centre deflection of the OFF CRS bar graph
indication by 2° steps. The set course trim describes the course deviation within the
monitoring limits.
Dependent on the current drift and weather condition, heading fluctuations appear
within the indication which will be compensated via the track controller.
The set course trim may show values in the range of ± 30°.
The track deviation is indicated by drifting of the OFF TRK bar graph indication.
If a track deviation exceeds the monitoring range, OFF TRACK alarm is given (audi-
ble alarm and plain text information in the text line).
The possible causes are as follows (see Chapter 2.6):

-- a too strong drift that can no more be corrected by off course trim of 30° or when
(after change--over to operating mode TRACK) the ship is outside the track
monitoring limits.
-- if change--over to a new track section is initiated too late (see Chapter 2.2.8.1)
-- when there is a defect in the steering control circuit.
The rudder angle indicator indicates the rudder order (2° per step).
(Adjusting the monitoring limits for OFF CRS, see Chapter 2.3.3.
Adjusting the monitoring limit for OFF TRACK, see Chapter 2.3.2.
Synchronization see Chapter 2.3.6).
PILOTSTAR D
2.2.8.2 Track Change

The track change to the next track section of a route is to be initiated via the external
navigation system.
• Change to a new track section of the route
NEW TRACK... Within the next line, the message NEW TRACK appears.
The LED panel of the ”Symbol” key is flashing (RED); an audible message is re-
leased.
On actuating the ”Symbol” key, the NEW TRACK course preselection is taken over
as a set course preselection for the autopilot. The SET COURSE indication shows
the new track heading.
The LED panel of the ”Symbol” key becomes dark; the audible message ceases.
Dependent on the preselected rate of turn, the ship starts turning into the next
track section.
If the track change manoeuvre cannot be initiated within an adequate time, an ex-
act track control is no longer possible. The ship will continue on the still valid track
course of the former track section, thus leaving the planned route. The audible and
visual signalling remains in existence until a decision is made, i.e.
-- Acknowledgement and, therefore, acceptance of the new track section

data, or
-- Change--over to another operating mode.
2.2.8.3 Approching a Track (Position Receiver with XTE Transmission)
Track
If use is made of a position receiver with XTE transmission, no
xte meter ’123’ track course transmission takes place .
crosstrack distance [m]
In this case, the track course is to be read off the position

receiver and to be adjusted on the PILOTSTAR D manually via
the rotary knob.

PILOTSTAR D
Autopilot
2.2.9 The Operating Mode MANUAL CONTROL (DODGE Function)

• On actuating this double--function key for the first time, the autopilot system
Trim changes over to manual control as a matter of principle.
Man
The operating modes of HEADING CONTROL or TRACK CONTROL are no
longer active now.
During MANUAL CONTROL, the rudder limitation is cancelled.
The rudder value starts with a rudder position of 0 °.
The SET HEADING is now caused to follow up the HEADING.
• The LED panel Man lights up (GREEN).
• A new rudder value

The manual rudder presetting can now be adjusted via the PORT/STBD keys
(resolution 1°) or via the rotary knob.
The current rudder angle is numerically indicated via the text line with the message
of e.g. MAN RUDDER 10.
The sign describes the rudder position; ”--” stands for PORT and ”no sign” means
STBD. The rudder order (rudder presetting) acts directly upon the steering gear.
• Automatic midship position of the rudder

If both the keys are actuated simultaneously, the rudder is automatically brought
to midship position which corresponds to a rudder angle indication of MAN RUD-
DER 0.
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
EXT. CRS
RUDDER
CNTRUD STANDBY
10 20 30
SPEED
MAN RUDDER --10 PORT STBD
Rudder angle value Rudder blade symbol Rudder angle indicator
The rudder angle indicator indicates the rudder order; the rudder angle value is
currently indicated via the text line.
PILOTSTAR D
2.2.10 The Operating Mode HEADING CONTROL with TRIM FUNCTION (Work Mode)
The trim mode should be used when the vessel is operating at reduced speed, such as
towing or fishing, due to the elimination of automatic rudder limits. It should never be
used in a case where large rudder movements would cause the vessel to react violently
or become unstable.
• On actuating this double--function key twice, the autopilot system changes over to
Auto
On/Off
the operating mode of heading control / TRIM.
The 2nd set of parameters becomes effective in terms of control engineering
(TRIM YAW, TRIM RUD and TRIM CNT).
Trim The parameters of the 2nd set of parameters belong to the operational parameters
Man
and are designated with the additional designation of TRIM... (see Chapter 2.3).
The rudder limitation is cancelled.

The instantaneous HEADING is accepted as SET HEADING presetting.
• The LED panel Man goes out; the LED panel Trim lights up (GREEN); the LED
panel Auto lights up.
• A new SET HEADING
ATTENTION
The heading change manoeuvre is initiated immedi-
ately; the ship starts turning into the preselected
SET HEADING.
A new SET HEADING is adjusted via the rotary knob (resolution 0.5°).
During a heading change manoeuvre, the OFF HEADING monitoring is de--acti-
vated.
If set heading data is above 180_ the ship will follow the direction entered.
The vessel will NOT change over the shorter route.
• Trimming the rudder presetting
By actuating the keys, an additional manual rudder preselection can be adjusted. It
is by means of this rudder presetting, that drift effects or strong unbalances can
quickly be compensated. The trim rudder position is changed by 1° steps. The
heading control remains active, the automatic rudder bias component is now inef-
fective.
On actuating the keys simultaneously, rudder presetting will immediately be reset
to 0°. Simultaneously, the automatic rudder bias component will be effective again.
The manual trim rudder value is not stored; on changing the operating mode, the
trim rudder value is automatically reset to 0°.

PILOTSTAR D
Autopilot
ATTENTION Switching back to another operating mode may bring

about an unintended reaction of the ship!
For this reason, the manual rudder presetting should
be reset to 0° step by step.
Only then, change--over to the intended operating
mode is to be made.
• The display indication is as follows:
Limit adjustment for Set heading/actual heading

the OFF HEADING deviation (see section 2.2.6.1)
monitoring
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
Change of parameter values, TRM YAW SET COURSE
2nd set of parameters
TRM RUD
TRM CNT STANDBY
10 20 30
SPEED
TRM RUDDER -- 3 PORT STBD
Manual trim rudder adjustment Rudder blade symbol
A new SET HEADING, dependent on the preset 2nd set of trim parameters,
initiates the heading change manoeuvre immediately.
The trim rudder order is indicated in the text line as TRM RUDDER ....
in ” ° ” . The sign describes the rudder position, ”--” for PORT and ”no sign” for
STBD.

The rudder limitation is faded out.
The heading change manoeuvre is terminated as soon as the HEADING indication

corresponds to the SET HEADING indication.
The OFF HEADING monitoring is active.
The graph bar is in the centre range of the permissible heading monitoring limits.

PILOTSTAR D
2.2.11 Dimming of Key and LCD Illumination

• On actuating one of the keys, the key and LCD display illumination can be
adjusted by steps. The main and secondary operator units are always
dimmed together.
Test The dimming function is only active when there is no text display in the text
line. This state is indicated by the LED of the ”SET” key (LED is out; key and
LCD illumination can be dimmed).
In conjunction with an active tiller, the dimming function cannot be executed.
2.2.12 Lamp Test

• If both the keys are actuated simultaneously, an automatic lamp test is
eleased (duration approx. 5 s). The lamp test can be executed with any
operating mode; the current operating mode remains valid.
Test During the test phase

-- all keys must be alight with the same intensity
-- within the LCD display, the following indication must appear
(all segments are activated)
-- all LEDs are alight
-- audible alarm is released
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
EXT. CRS
RUDDER
CNTRUD STANDBY
10 20 30
SPEED CONFIG
PORT STBD
Version V00.00 (info appears in the text line for a short time)
Check sum...
End of test; the previous LCD display is indicated.

PILOTSTAR D
Autopilot
2.3 Varying the Operational Parameter Values

The operational parameters can effectively be varied in any operating mode. If the con-
troller basic adjustment (ship--specific parameters) has been optimized for the ship, of-
ten there will be required only weather--conditioned adaptations such as e.g. YAWING
(see survey in the Annex -- 2 and Chapter 4.13).
Basic Adjustment
After first switching--on of the autopilot, there are the following basic adjustments which
-- in most cases -- mean stable controller characteristics (see section on optimum adjust-
ment by test run, see Chapter 2.3.1):
Auto (Operating mode HEADING CONTROL) Trim (Operating mode HEADING CONTROL
On/Off Man
with TRIM FUNCTION;
2nd set of parameters)
PARAM PARAM
VARI. VARI.
GYRO GYRO
LIMITS LIMITS
YAWING TRIM YAW
RUDDER TRIM RUD
CNTRUD TRM CNT
10 20 30 10 20 30
SPEED SPEED
Masked parameters Masked parameters

RUD.LIMIT 20° RUD.LIMIT OFF
RoT °/MIN 30°/min RoT °/MIN 30°/min
OFF HEADING 10° OFF HEADING 10°
TRIM YAW 2
TRIM RUD 4
TRIM CNT 6
Storing the Individual, Operational Parameter Values

Operational parameter values that are not stored lose their validity after a ship’s mains
failure or after the ship’s mains supply has been disconnected.
With connecting the ship’s mains voltage , the last stored values are indicated on the
display and processed in terms of control engineering.
The following representation describes the complete operator action in conjunction with
a new parameter value for a YAWING.

PILOTSTAR D
¡ Calling up the parameter sequence

The last effective parameter value
PARAM
VARI.
OFF TRK
YAWING 1 appears in the text line.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
Yaw RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
YAWING 1 PORT STBD
Set
© Adjusting parameter value 3
PARAM
The value 3 can be adjusted by actu-
VARI.
OFF TRK
OFF CRS
ating the upper key several times.
GYRO
LIMITS
YAWING SET COURSE
The new value is immediately con-
RUDDER STANDBY verted in terms of control engineer-
CNTRUD
SPEED
10 20 30 ing.
YAWING 3 PORT STBD
An error message has highest prior-
Set ity and overwrites the current param-
eter text. Simultaneously, an audible
signal is released (see Chapter 2.6).
¢ Storing the parameter value 3
Rud
If the new value is intended to re-
PARAM OFF TRK main valid even after disconnection
VARI.
LIMITS
GYRO OFF CRS and subsequent reconnection of the
YAWING SET COURSE ship’s mains supply, the following op-
RUDDER
STANDBY erator actions are required.
CNTRUD
10 20 30
SPEED
CONFIG. OFF PORT STBD

-- By actuating the key serveral
times until CONFIG. OFF.
appears
Set
Select CONFIG.ON
(on)
STORE ? SEL Y/N

(off)
1x press
Set
data stored STORE (Y) → SET
(on)
2x pres
data unchanged Set STORE (N) → SET
(on)

PILOTSTAR D
Autopilot
2.3.1 Optimum Adjustment by Test Runs -- Operating Mode HEADING CONTROL --

HAND AUTO The optimum adjustment can be ascertained by several heading changes of e.g. 10°.
-- Set the steering mode selector to position AUTO:

The operating mode HEADING CONTROL is active.
Auto If no steering mode selector is available, the key Auto ON / OFF is to be actuated.
On/Off
Starting out from the basic adjustment, the following current parameters can be
adjusted:
Speed SPEED (manual or Log)
Rate of turn RoT °/MIN to 60°/min
For the rudder limitation, high values are to be used in order that a run--in beha-
viour may be obtained where there is no limitation in the heading control circuit.
-- Test run
Observe the LCD displays and the HEADING--to--SET HEADING deviation
HEADING SET HEADING HEADING SET HEADING HEADING SET HEADING
300° 305° 310° 300° 305° 310° 300° 305° 310°

Heading
change
Time
Time
Time
Graph 1 Graph 2 Graph 3

The ship turns into the new heading The turns into the new heading too Shows the optimum
with overshoots. sluggish. parameter adjustment.
Measure: Measure:
Increase CNT.RUD. by one step, or Decrease CNT.RUD. by one step, or
decrease RUDDER by one step. increase RUDDER by one step.
Repeat heading change and observe Repeat heading change and ob-
the control behaviour. serve the control behaviour.
Fig. 2--3: Optimization of the Current Parameters

PILOTSTAR D
2.3.1.1 Recommended Parameter Values for Various Weather Conditions
• Parameter values for calm sea
YAWING 1 -- 2
RUDDER 2 -- 5
CNT.RUD. 2 -- 5 Note:
A high value for YAWING
SPEED current results in small rudder
RUD.LIMIT acc. to safety requirement angles
ROT/MIN as required
OFF HEADING as required
• Parameter values for seaway from ahead
YAWING 3 -- 5
RUDDER 2 -- 5
CNT.RUD. 2 -- 5
SPEED current
RUD.LIMIT acc. to safety requirement
ROT/MIN as required
• Parameter values for stern sea
YAWING 3 -- 5
RUDDER 4 -- 7
CNT.RUD. 4 -- 7
SPEED current
RUD.LIMIT acc. to safety requirement
ROT/MIN as required

PILOTSTAR D
Autopilot
• Parameter TRIM Mode
TRIM YAW as required for special task

TRIM RUD as required for special task
TRIM CNT. as required for special task
SPEED current
RUD.LIMIT OFF
ROT/MIN as required
NOTE Generally, attention is to be paid to the fact that the

RUD.LIMIT value and the ROT value show an adequate
relation to one another. It would be inappropriate to
combine a large ROT value with a small RUD.LIMIT
value.

PILOTSTAR D
2.3.2 Adjusting the Monitoring Limit for OFF TRACK (OFF TRK)
This monitoring limit requires the operating mode TRACK.
The monitoring limit describes the left or right distance to the track run though.
Track deviations within the TRACK LIMIT are permissible; if the central dynamic bar
graph segment meets with a monitoring limit, an OFF TRACK warning message will be
released (see Chapter 2.6.1.1).
¡ The operating mode TRACK is active

The OFF TRK bar graph indication
PARAM OFF TRK becomes visible.
VARI.
GYRO OFF CRS
LIMITS
YAWING EXT.CRS SET COURSE
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
xte meter 0 PORT STBD
Track
© Calling up the parameter value TRACK LIM ..

PARAM OFF TRK
TRACK LIMIT 0.2 appears in the
VARI.
GYRO OFF CRS
text line.
Yaw LIMITS
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
TRACK LIMIT 0,2 PORT STBD
ity and overwrites the current param-
signal is released (see Chapter 2.6).
Set
¢ Adjusting parameter value

Possible parameter values are: The intended monitoring range
TEXT LINE Bar graph indication TRACK LIM .. can be adjusted by
actuating a key
TRACK LIMIT 0.2 nm OFF TRK
(Storing the parameter value, see
TRACK LIMIT 0.3 nm OFF TRK Chapter 2.3 of Operating Instruc-
TRACK LIMIT 0.4 nm OFF TRK tions).
Not represented

PILOTSTAR D
Autopilot
£ Fading out the text line

On actuating the key, the text line is
PARAM
faded out.
OFF TRK
VARI.
GYRO OFF CRS
LIMITS
RUDDER
STANDBY
Set CNTRUD
10 20 30
SPEED
PORT STBD
Set

PILOTSTAR D
2.3.3 Adjusting the Monitoring Limit for OFF HEADING (OFF CRS)
This monitoring limit requires the operating mode AUTO (heading control) or the opera-
ting mode TRACK. The adjusted limit value is the same for the two operating modes,
but it describes different indications.
• With the operating mode AUTO, the monitoring limit for the set heading/actual head-
ing deviation is adjusted. One segment corresponds to a heading deviation of 2°. In
case of a strong heading deviation that reaches the monitoring range, OFF HEADING
warning is released.
• With the operating mode TRACK, the OFF CRS bar graph indication is used for
course observation only. No OFF COURSE signalling is possible now (see also sec-
tion 2.2.8).
¡ Calling up an operating mode

Select an operating mode, e.g.
PARAM
VARI.
OFF TRK AUTO.
Auto GYRO OFF CRS
On/Off LIMITS
RUDDER
CNTRUD
STANDBY (Heading control)
10 20 30
SPEED
PORT STBD
or
Auto
On/Off
Track
PARAM OFF TRK
VARI.
GYRO OFF CRS
LIMITS
YAWING EXT.CRS SET COURSE (Track control)
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
xte meter 0 PORT STBD
Track

PILOTSTAR D
Autopilot
© Calling up the parameter value OFF HEADING ....

PARAM OFF TRK
OFF HEADING 15 appears in the
VARI.
OFF CRS
text line.
Yaw LIMITS
GYRO

RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
OFF COURSE 15 PORT STBD
Set signal is released (see Chapter 2.6).
¢ Adjusting parameter value

Possible parameter values are: The intended monitoring range OFF
HEADING .. can be adjusted by ac-
TEXT LINE Bar graph indication
tuating a key (Storing the parameter
OFF HEADING 5° OFF CRS value, see Chapter 2.3 of Operating
Instructions).
OFF HEADING 10° OFF CRS
.

PARAM
faded out.
VARI.
LIMITS
GYRO OFF CRS
YAWING SET COURSE
RUDDER
STANDBY
CNTRUD
Set SPEED
10 20 30
PORT STBD
Set

PILOTSTAR D
2.3.4 Adjusting the Rudder Limitation RUDDER LIMIT (RUD.LIMIT)

The rudder limitation is effective in the operating modes of TRACK and AUTO and can
be adjusted correspondingly.
In the operating modes of MANUAL STEERING (dodge function) and HEADING CON-
TROL with TRIM FUNCTION (work mode), the rudder limitation is cancelled. With swit-
ching back into the operating mode TRACK or AUTO, the preset rudder limitation is ef-
fective again.
¡ Calling up the parameter value RUD.LIMIT ..

PARAM RUD.LIMIT 15 appears in the text
VARI.
LIMITS GYRO OFF CRS line.
Yaw YAWING SET COURSE
RUDDER STANDBY
CNTRUD
10 20 30
SPEED
RUD.LIMIT 15 PORT STBD
Set
signal is released (see Chapter. 2.6).
© Adjusting parameter value
Possible parameter values are: The intended monitoring range
TEXT LINE Rudder angle indicator
RUD.LIMIT.. can be adjusted by ac-
30° 30° tuating a key (Storing the parameter
RUD.LIMIT 5°
20°
10° 10°
20° value, see Chapter 2.3 of Operating
30° 30°
Instructions).
RUD.LIMIT 10° 20°
10° 10°
20°
30° 30°
RUD.LIMIT 15° 20° 20°
30° 30°
RUD.LIMIT 20° 20° 20°
30° 30°
RUD.LIMIT 25°
30° 30°
RUD.LIMIT 30°
RUD.LIMIT 35°
¢ Fading out the text line

PARAM
VARI. faded out.
LIMITS GYRO OFF CRS
YAWING SET COURSE
RUDDER
STANDBY
CNTRUD
10 20 30
Set SPEED
PORT STBD
Set

PILOTSTAR D
Autopilot
2.3.5 Optimizing the Control Characteristics of the Track Controller, TRACK < >
The parameter adjustment of the track controller is preset as a standard for normal wind
or current conditions.
If, however, a heavy drift occurs for instance, a considerable track error may be the
result.
On re--adjusting the parameter TRACK < >, the gain of the track controller can be aug-
mented or reduced, by this , the reaction and, therefore, the track course accuracy can
considerably be improved.
¡ Operating mode TRACK is active

After pressing the track key the cur-
PARAM
VARI.
OFF TRK rent distance from track is indicated
LIMITS
GYRO OFF CRS for approx. 3s.
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
xte meter -- 78 PORT STBD
Track
© Calling up the parameter value TRACK < >

The preset parameter value is ”0”
Rud PARAM
VARI.
OFF TRK (default setting).
GYRO OFF CRS
LIMITS
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
TRACK < > 0 PORT STBD
Set
¢ Adjusting the parameter value, e.g. 41

A positive value (e.g. 40) increases
the gain of the track controller. The
PARAM OFF TRK course trim angle becomes greater,
VARI.
(--280...280) LIMITS
GYRO OFF CRS the track course behaviour will be
YAWING EXT.CRS SET COURSE improved.
RUDDER
STANDBY Track<> can be adjusted in steps of
CNTRUD
SPEED
10 20 30 20° from --280 to 0 to 280.
TRACK < > 40 PORT STBD
(--280...280)

PILOTSTAR D

By actuating the key, the text line will
PARAM
VARI.
OFF TRK be faded out
GYRO OFF CRS
Set LIMITS
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
PORT STBD
Set

PILOTSTAR D
Autopilot
2.3.6 Synchronization of the Autopilot for a Gyro Compass with Step Transmission
In case of a gyro compass system whose type of signal transmission corresponds to an
ACO Step STANDARD 14 or 1/6° Step signal (see Annex -- 3), the PILOTSTAR D must
be synchronized new after any putting into operation or after a short--time voltage failure.
Before synchronization:
Select to MANUAL CONTROL (s. Chapter 2.2.9) or
Set steering mode selector to position HAND.
Putting into operation means here that the PILOTSTAR D had been separated from the
ship’s mains. With reconnecting the PILOTSTAR D to the ship’s mains, the following in-
dication adjusts itself.
¡ Switching on the PILOTSTAR D

After putting into operation, an audi-
PARAM
Trim
Man VARI.
OFF TRK ble signal sounds, the LED of the
LIMITS
GYRO OFF CRS symbol key is flashing.
RUDDER
or STANDBY
CNTRUD
10 20 30
SPEED
HAND AUTO
SYNCHRONIZE PORT STBD
Set
© Acknowledging the system message

On actuating the key, the audible
PARAM
VARI.
OFF TRK signal ceases, the LED goes out, the
LIMITS
GYRO OFF CRS text line is faded out.
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
PORT STBD
Set

PILOTSTAR D
¢ Calling up the parameter value SYNCHRON

On actuating the key several times,
PARAM
VARI.
OFF TRK the parameter SYNCHRON.... ad-
Rud
LIMITS
GYRO OFF CRS justs itself in the text line.
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
SYNCHRON. PORT STBD
Set
£ Adjusting the synchronization value

The synchronization value can be
PARAM OFF TRK read off via the gyro compass, e.g..
VARI.
LIMITS
GYRO OFF CRS 123.5°.
YAWING EXT.CRS SET COURSE Input of values is via the keys.
RUDDER
STANDBY A continuously actuated key permits
CNTRUD
SPEED
10 20 30 automatic run--up of the numerical
SYNCHRON 123.5 PORT STBD
indication within the text line.
¤ Accepting the synchronization value

On actuating the key, the compass
value is accepted and represented in
PARAM
VARI.
OFF TRK the heading indication and in the set
Set LIMITS
GYRO OFF CRS heading indication.
RUDDER
CNTRUD
STANDBY The synchronization procedure is
SPEED
10 20 30
terminated; an optional operating
SYNCHRON 123.5 PORT STBD mode can be selected.
¥ Fading out the text line

PARAM
VARI.
OFF TRK faded out.
GYRO OFF CRS
LIMITS
Set RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
PORT STBD

PILOTSTAR D
Autopilot
2.4 Ship--specific Parameters (CONFIG. on)

As a matter of principle, the autopilot is delivered with preset parameter values (see An-
nex --1, column DEFAULT).
Adjustment of the ship- specific parameters is required only in conjunction with

first installation or in case of system extension (see Chapter 4.10 and 4.13).
By inputting new values, the DEFAULT values are overwritten. The new parameter val-
ues are stored when the CONFIGURATION mode (CONFIG: OFF) is left and the
STORE (Y) SET command is executed.
All ship--specific and operational parameters are permanently filed in an EEPROM and
will be available also after a voltage failure.

PILOTSTAR D
2.4.1 Adjusting the Ship--specific Parameters

As an example, a new XTE TRIM parameter value is to be adjusted here, in the mean-
ing of: The integration time of cross track error (fast and slow).
Short information on the XTE TRIM parameter and on the situation when a new value
should be adjusted.
The XTE TRIM parameter (cross track error trim) is effective during track control only. By
means of this parameter, permanent oscillations about the tracks course can be com-
pensated. In most cases, this effect occurs in conjunction with a constant drift
(see the following illustrations).
XTE TRIM parameter adjustment too high (overcompensation)

Heading trim
The ship performs a continuous,
changing motion about the track
course.
t[min] The effect of drift is levelled unsat-
SET HEADING isfactorily. The track controller re-
sponse is too fast.
Drift
Optimum XTE TRIM parameter adjustment Good error compensation

The ship reacts upon the drift in an
Heading trim optimum way.
The heading trim becomes stable
dependent on the drift direction.
t[min] A too high track error can be cor-
SET HEADING rected via the parameter
Drift TRACK < > (see Chapter 2.3.5).
XTE TRIM parameter adjustment too low

Less error compensation
Heading trim The control process will be termi-
nated only when a correspondingly
t[min] long time has passed.
SET HEADING
Track controller reaction sluggish.
Drift

PILOTSTAR D
Autopilot
Indication Remark/Notes
¡ Operating mode TRACK is active, the ship oscillates, e.g. about the track
course
The actual heading continuously
PARAM
VARI.
OFF TRK changes by e.g. ±15°. The default
LIMITS
GYRO OFF CRS value of the XTE parameter must be
YAWING EXT.CRS SET COURSE corrected. In this situation, a higher
RUDDER
CNTRUD
STANDBY XTE TRIM value, e.g. 100, is recom-
SPEED
10 20 30
mended.
PORT STBD
Track
© Calling up the parameter sequence

By actuating the key serveral times,
PARAM
the parameter CONFIG.off appears
OFF TRK
Rud VARI. in the text line.
GYRO OFF CRS
LIMITS
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
CONFIG. off PORT STBD
Set
¢ Opening the parameter sequence

The status indication is flashing.
PARAM OFF TRK By actuation of the key, the
VARI.
LIMITS
GYRO OFF CRS parameter sequence is opened
RUDDER
(on) CNTRUD
10 20 30
STANDBY
CONFIG
SPEED
CONFIG. on PORT STBD
£ Calling up the parameter

The last parameter adjustment,
PARAM
e.g. 0, is indicated (corresponding to
OFF TRK
VARI. default setting)
GYRO OFF CRS
LIMITS
Rud YAWING EXT.CRS SET COURSE
RUDDER
STANDBY
CNTRUD
10 20 30 CONFIG
SPEED
XTE TRIM 0 PORT STBD

PILOTSTAR D
¤ Adjusting the parameter value 100

The desired value can be adjusted
PARAM
VARI.
OFF TRK by repeated actuation (the value
LIMITS
GYRO OFF CRS changes by jumps of tens).
RUDDER
STANDBY
CNTRUD
10 20 30 CONFIG
SPEED
XTE TRIM 100 PORT STBD
¥ Leaving the parameter sequence
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
Yaw RUDDER
STANDBY
CNTRUD
10 20 30 CONFIG
SPEED
STORE? sel (Y/N) PORT STBD
¦ Store parameter values, YES or NO

On pressing the key once, the new
parameter are stored (Y)es.
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
1x YAWING EXT.CRS SET COURSE
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
Alternatively:
STORE (Y) SET PORT STBD On pressing the key twice, the old
parameters remain valid (N)o.
STORE (N) SET
2x
§ Storing parameter values
PARAM
VARI.
OFF TRK By selecting STORE(N) the mes-
LIMITS
GYRO OFF CRS sage ’Data unchanged’ appears.
RUDDER
STANDBY
CNTRUD
10 20 30
SPEED
Set
Data stored PORT STBD
Set

PILOTSTAR D
Autopilot
¨ Call up cross track error

The current distance from the track
PARAM
Track
VARI.
OFF TRK is indicated for approx. 3s.
LIMITS
GYRO OFF CRS
The optimum XTE TRIM parameter
YAWING EXT.CRS SET COURSE value is to be ascertained by observ-
RUDDER
CNTRUD
STANDBY ing the actual cross track error.
10 20 30
SPEED
xte meter -- 560 PORT STBD

PILOTSTAR D
2.5 Change--over of between Main and Secondary Operator Units / Tiller

Change--over of between the main and secondary operator units or the tillers is always
performed via the intended steering station.
2.5.1 Change--over between a Main Operator Unit and a Secondary Operator Unit
The main and secondary operator units are of the same type and -- except for the ac-
cess authorization to the ship--specific parameters -- equal with regard to operator guid-
ance. The ship--specific parameters can be varied or adjusted via the main operator unit
only (CONFIG on/off).
For this steering mode, the steering mode selector must be set to position AUTO.
A ”Take--over System” permits change--over between the operator units.
¡ Changing over to a secondary operator unit

With actuating the key on the secon-
dary operator unit, the following state
Auto adjusts itself:
On/Off
-- The secondary operator unit is
Secondary operator unit active.
3x PARAM
-- The current operating mode is
OFF TRK
VARI. accepted (AUTO, TRACK, MAN,
OFF CRS
LIMITS
GYRO
TRIM).
YAWING
RUDDER
EXT.CRS SET COURSE
-- All other operator units or tillers
CNTRUD
10 20 30
STANDBY
are passive, the status indicator
SPEED STANDBY is enabled.
PORT STBD System messages are indicated
without audible signalling.
-- Possible system messages are
indicated on the secondary
operator unit with a signalling.

PILOTSTAR D
Autopilot
2.5.2 Change--over to Tiller Control (FU / NFU)

For this steering mode, the steering mode selector must be switched to position AUTO.
The tillers are equipped with a Take--over Function with permits immediate intervention
in the automated steering control system.
¡ Changing over to tiller control

With actuating the key on the tiller,
the following state adjusts itself:
Auto -- The tiller is active, the current
PARAM
VARI.
OFF TRK
heading becomes the set
LIMITS
GYRO OFF CRS
heading
YAWING EXT.CRS SET COURSE -- All other operator units or tillers
RUDDER
CNTRUD
STANDBY are passive; the status indicator
10 20 30
SPEED STANDBY is enabled.
PORT STBD -- Possible system messages are
indicated in the text line, but not
signalized.
-- The rudder angle indicator
indicates the current rudder
position.
© Switching back to the PILOTSTAR D

Auto With actuating the key on the tiller,
Auto PARAM OFF TRK the following state adjusts itself:
VARI.
LIMITS
GYRO OFF CRS -- The tiller control is de--activated.
YAWING EXT.CRS SET COURSE -- The main operator unit is
RUDDER
STANDBY switched from the STANDBY
CNTRUD
SPEED
10 20 30 mode into the operating mode
PORT STBD
AUTO.
-- All the other operator units
remain in the STANDBY mode.
Auto
On/Off
The LED of the key is alight.

PILOTSTAR D
2.6 Signification of the System Messages in the Autopilot

As a matter of principle, system messages are indicated via the text line as plain text in-
formation. Dependent on the significance of the message, a text in the text line is over-
written by the system message.
The plain text info is intensified by an audible signal and by the flashing LED of the sym-
bol key.
System messages can be subdivided into 2 categories:
-- System messages during operation -- Warnings and Notes --
-- System messages that -- during operation -- signalize a disturbed operation of
the autopilot system.
2.6.1 Warnings and Notes

Within an operating mode, all steering--typical autopilot functions are currently indicated
on the display and monitored.
In case the monitoring limits are exceeded, a warning message is faded into the text line
and an audible signal is released.
In conjunction with a connected active tiller, the corresponding steering station is indi-
cated in the text line.

PILOTSTAR D
Autopilot
2.6.1.1 Signification of Possible Warnings in the Text Line
Warnings Signification Possible Measures on the Opera-

Measures tor Unit/Periphery
OFF HEADING The heading is out- Check the opera-
side the monitoring tional parameters; Yaw see Chap. 2.3
limits. adapt, if required.
The heading devi- Rud
ation increases.
The monitoring lim- OFF HEADING

or see Chap. 2.3
its have been se- RUD.LIM
lected too narrow;
extend, if required.
PILOTSTAR D or Change over to op-

Trim
steering output is erating mode Man see Chap. 2.2.9
defective. ”Manual Control”.
or
Set steering mode HAND AUTO
selector to position
”Hand”.
OFF TRACK The actual position Check the opera-
is outside the track tional parameters; Yaw see Chap. 2.3
monitoring limits. ADAPT; IF RE-
QUIRED: Rud
Change over to the

operating mode of Auto see Chap. 2.2.6
On/Off
heading control.
PILOTSTAR D or Change over to the

Trim
steering output is operating mode of Man see Chap. 2.2.9
defective. manual control.
or
Set steering mode HAND AUTO
”Hand”.
LOW SPEED If the speed is Give more speed if Trim
(if LOG--Sensor slower than 3Kn. the situation Man see Chap. 2.2.9
is existing) The steering quality allowes.
from Autopilot is or
going bad. Set steering mode
HAND AUTO
”Hand”.

PILOTSTAR D
Warnings Signification Possible Measures on the Opera-

Measures tor Unit/Periphery
HEADING MON The heading from Check the mag-
the magnetic com- netic heading
pass is outside the correction.
monitoring limits.
Check the opera-
tional parameters: Yaw
adapt, if required. see Chap. 2.3
Rud
Try to correct the
magnetic heading
with VARIATION
setting.
GYRO defective Change over

heading sensor
(magnetic or OFF HEADING
or see Chap. 2.3
fluxgate compass) RUD.LIM
The monitoring lim-

its have been se-
lected too narrow; Trim
extend, if required. Man see Chap. 2.2.9
or
Change over to op-
HAND AUTO
erating mode
”Manual Control”.
Set steering mode

”Hand”.
2.6.1.2 Signification of Possible Notes within the Text Line
Note Signification Measures Measures on the Oper-

ator Unit/Periphery
NEW TRACK ... The navigation re- Acknowledge the
ceiver transmits the plain text message.
next track section
data to the auto-- see Chap. 2.2.8.2
pilot.
TILLER ... The symbole key
on the tiller has
been actuated.
The autopilot oper- see Chap. 2.5.2
ator unit is auto-
matically switched
to operating mode
STANDBY

PILOTSTAR D
Autopilot
2.6.2 Disturbed Operation

”Disturbed Operation” means that under these conditions a unique operating state of
the autopilot is no longer possible.
Any fault message is indicated as plain text via the text line; simultaneously, audible
alarm is given.
A fault message -- in addition to the plain text information -- includes the ending
FAILure.
Fault messages are treated with highest priority.

The audible alarm can be acknowledged, the fault message remains applied.
The LED of the symbol key is alight for the duration of the captured disturbance.
If a second disturbance is recognized, this will be indicated, the first disturbance in-
dication being set back in hierarchy.
If the second source of trouble can be eliminated, the first fault message appears in
the text line again.
After the disturbance has successfully been eliminated, the audible signalling is re-
peated, thus signalizing the trouble--free operating state.
On actuating the symbol key, the signal ceases, the fault message is cancelled.
2.6.2.1 Disturbed Operation in connection with a Central Alarm System (Option)

The acknowledgement of an alarm in connection with a central, external alarm system
can be realized as follows:
In principle, an audible alarm is simultaneously indicated at the autopilot and the central
alarm system.The audible alarm can be acknowledged directly at the autopilot or via the
external alarm system.
The audible alarm is simultaneously acknowledged in both cases.
Configuration in CONFIG Mode: RELAY Alarm
2.6.3 Possible Fault Messages and Measures to be taken

The following table shows all possible fault messages, the causes involved and mea-
sures for eliminating the disturbance.

PILOTSTAR D

PILOTSTAR D
Autopilot
No. Indication Signification Possible Cause Effects on Operation Measures

Internal disturbance in the • Program trouble System is no longer ready for opera- • Switch off/on the system via the
PILOTSTAR D system. • CPU PCB disturbed or defective tion. steering mode selector
• Set the steering mode selector to
position HAND
With a Central Alarm System • Check the LED display on the
1 AUTO FAIL see Central Alarm System see Central Alarm System
the relay output ’AUTO FAIL’ is CPU PCB (see Chapter 3.4)
summarised in acoustical and • Exchange the CPU PCB
optical alarms. (see Chapter 3.3.3)
• see Central Alarm System
section 1.6.3
Operator unit not operating • Connecting cable broken System is no longer ready for opera- • Set the steering mode selector to
faultlessly. • Supply voltage failure operator tion. position HAND
unit • Check the LED display on the
2 • Operator unit defective CPU PCB (see Chapter 3.4)
PANEL FAIL
• Check connecting cable
• Check supply voltage
• Exchange operator unit
Gyro data transmission is not • Connecting cable broken, System readiness for operation is • Select the magnetic or fluxgate
plausible. GYRO defective conditional. compass via the operator unit
The last heading is automatically • Check connecting cable
stored, the set heading is caused to
follow up. • Check GYRO/Operational condition
3 GYRO FAIL • Check synchronization; adjust, if
Autopilot MAN Mode possible, required (see Chapter 2.3.5)
• (in case of step system)
Gyro in settling mode Autopilot AUTO Mode not possible
With a short---time ship’s mains
Gyro in heating mode
failure, the synchronization value
Gyro ’Follow Up’ disturbed
gets lost
Gyro heading failure
Magnetic/fluxgate data trans- • Connecting cable broken, System readiness for operation is • Set the steering mode selector to
mission is not plausible. magnetic/fluxgate compass conditional. position HAND
defective The last heading is automatically • Select the gyro compass via the
• Sonde operation is disturbed stored, the set heading is caused to operator unit
4 MAGNET FAIL follow up.
• Coursebus (Magnet information • Check the connecting cable
not available) • Check the magnetic/fluxgate compass

PILOTSTAR D
Autopilot
No. Indication Signification Possible Cause Effects on Operation Measures

Disturbance in steering control • Steering gear disturbed or System is no longer ready for opera- • Set steering mode selector to position
circuit defective tion. HAND
• Feedback unit disturbed or • Check parameter value for
defective RUD.SPEED
• The preset rudder positioning adjust, if required (see Chapter 2.3)
5 STEERING FAIL speed has not been adjusted • Extend RUD FAIL limits
correctly
• FU control defective, or Rud
Fail limits too narrow
Disturbance of track course • Connecting cable defective Operating mode TRACK is no longer • Adjust operating mode AUTO or MAN
6 NAVDATA FAIL data transmission • Navigation receiver or set course possible.
transmission system defective
Data transmission from position • Poor reception Operating mode TRACK is condition- • Adjust operating mode AUTO or MAN
7 Nav Data invalid receiver ally ready for operation
Internal disturbance in the • Program trouble System is no longer ready for opera- • Re---initialize the device via hardware
PILOTSTAR D system • CPU PCB disturbed or defective tion. RESET switch on the CPU PCB
(see Chapter 3.3.2)
8 no Connection • Connecting cable to operator unit
interrupted • Exchange the CPU PCB
(see Chapter 3.4)
• Check connecting cable

PILOTSTAR D
Autopilot
3 Care, Maintenance and Shipboard Repair
3.1 SAFETY NOTES
ATTENTION
Observe Precautions
for Handling
Electrostatic
Sensitive Devices
CAUTION
Handling of Electrostatic--sensitive Semiconductor Devices

Certain semiconductor devices used in the equipment are liable to damage due to static
voltage. Observe the following precautions when handling these parts or sub--units of
the system components which, because of the now open inputs of the semiconductor
devices, are endangered by static charge.
1) Persons removing sub--units from an equipment using these devices must be earthed
by a wrist strap and a resistor at the point provided on the equipment.
2) Soldering irons used during the repair operations must be low voltage types with
earthed tips and isolated from the mains voltage by a double insulated transformer.
3) Outer clothing worn must be unable to generate static charges.
4) Printed Circuit Boards (PCBs) fitted with these devices must be stored and trans-
ported in anti--static bags.
PCBs are to be laid down on non--conducting surfaces free from static charge only!

PILOTSTAR D
3.1.1 Ship’s Safety

According to the GERMAN LLOYD and to other regulations, the autopilot has been clas-
sified as a SECONDARY STEERING SYSTEM, i.e. without redundant installation nor
internal redundancy. A MAIN STEERING SYSTEM, however, for example manual con-
trol, must be installed twice and without reactive effects.
In the course of this description, a system component designated as a main and second-
ary operator unit is often referred to in the text.
The significance of these operator units and the autopilot function connected therewith is
always to be considered as a SECONDARY STEERING SYSTEM within the complete
system!
Our devices are manufactured and tested in accordance with an international quality as-
surance system (ISO 9001). Nevertheless, errors cannot fully be excluded.
Therefore, the national and international regulations include the following requirement:
The autopilot is equipped with an extensive monitoring logic, by means of which errors
or failures within the autopilot system or connected sensors can be recognized. Alarm
signalling is audible or visual via the operator unit.

• Power supply

-- Gyro compass
-- Log

PILOTSTAR D
Autopilot
3.2 Care and Maintenance
3.2.1 Care
The PILOTSTAR D system requires no care.
3.2.2 Maintenance
The PILOTSTAR D system is maintenance--free.

PILOTSTAR D
3.3 Shipboard Repair

See Fig. 3--2
3.3.1 Exchanging the Fuse in the Connection Unit

The fuse (T 2A) is located on the junction PCB. For exchanging the fuse, the hood of the
connection unit is to be removed (see Junction PCB 102 D 863 HP010).
NOTE On exchanging the fuse, take the location of the fuse

into consideration.
-- For a ship’s mains supply of 32V DC,
the fuse base F1 is prescribed.
-- For a ship’s mains supply of 12 / 24V DC,
the fuse base F2 is prescribed.
3.3.2 Hardware RESET, Warm Start (Service Switch B113)

The service switch is located on the front side of the CPU PCB.
After the hood has been removed, the service switch can be actuated.
Set the switch momentarily from the operating position to position RESET and then
back.
Centre position (unused)
RESET position Operating positon
B113
Fig. 3--1: CPU PCB, Service Switch B113

PILOTSTAR D
Autopilot
The PILOTSTAR D is initialized with the ship--specific parameter values.
NOTE
For a gyro compass with STEP transmission, the
synchronization gets lost in case of a WARM START
The LCD display indication is as follows:
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
RUDDER
CNTRUD STANDBY
10 20 30
SPEED
RESTORED SET PORT STBD

PILOTSTAR D
3.3.3 Exchanging a PCB

Before the PCB is exchanged, the hood and the cover plate are to be removed
(see Fig. 3--2).
The PCBs are to be removed and to be inserted by means of their PCB drawers.
Hood
CPU PCB
PCB drawer
I/O PCB
Cover plate
Junction PCB
Fuse (T 2A)
Wiring PCB
Fig. 3--2: Connection Unit, opened

PILOTSTAR D
Autopilot
3.4 LED Displays on the CPU PCB

The LEDs are located on the front side of the CPU PCB.
H1 H2 H3 H4 H5 Service switch B113
Fig. 3--3: LEDs on the CPU PCB
LED Colour Indica- Cause Measure

tion
H1 green alight Warm start has been acti- Actuate the service switch
vated B113 on the CPU PCB
H2 red alight Internal error, CPU is at Actuate the service switch
HALT B113 on the CPU PCB
H3 green alight Supply voltage is o.k.
H4 yellow flashing Indicates the active serial
data transmission between
the operator unit and the
CPU PCB
H5 green flashing Indicates the active pulse
log transmission

PILOTSTAR D
3.5 Repair
3.5.1 Block Diagram of the I/O PCB
Supply volt- Monitoring Power fail (CPU PCB)

age (ship’s
mains)
+ 5V supply
32VDC DC
± 15V supply
12/24VDC DC
+ 5V ± 15V
4 3
Serial data Selection
bus / / 3
ON signal for signal unit
of steering
station / ON signal for tiller
6
/ 6
Signalling
/ Activation for alarm relais
and steering Electr.
isol. PORT
control (Channel1)
Electr.
isol. PORT
+ 5V (Channel2)
Rudder activation
Serial (switching)
read--in Electr.
isol. STBD
(Channel1)
Hand/ DC DC Electr.
isol. STBD
Auto (Channel2)
DC DC
Pulses
Reference (Channel1)
2 Monitoring Integral
ACO or
SPERRY step / reference
Aco/Sperry Rudder activation
(R1/R2) (analog, ±10V)
Rudder signal Pulses
(Channel2)
from CPU
Integral
PCB +15V
2 To feedback read in
(CPU)
Feedback unit / + 5V Actual rudder indication
Signal processing
400 Hz
-- 15V Generation
S1 sin
Magnetic To sonde
sonde S2 cos read--in
S3
sin
Fluxgate Signal pro-
cos cessing

PILOTSTAR D
Autopilot
3.5.1.1 Test Points of the I/O PCB
Test Points (TP) Signification Remark

Test Contacts
B20.x and B21.x
TP 1 Signal ground (GND, AGND)
B21.5 + 15V6
Electrically isolated voltage
B21.2 GND6 supply
pp y for analog g rudder out-
B21.6 -- 15V6 putt 1
B21.7 + 15V7 Electrically isolated voltage
B21.4 GND7 supplyy for analogg rudder out-
B21.3 -- 15V7 putt 2
B20.4 sin signal of magnetic sonde PCB adjustment performed
at the works (U sin = U cos
B20.6 cos signal of magnetic sonde with α 45°)
B20.3 800 Hz TTL signal to TP 1
TP 11 sin signal of magnetic sonde/flux- PCB adjustment performed
gate at the works ((U sin = U cos
TP 12 cos signal of magnetic sonde with α 45°)
B20.5 + 15V
Common ground to TP1
B20.8 -- 15V
TP 16 Actual rudder signal to TP 1
Test Contacts
B21.x B20.x Test Points
Fig. 3--4 Measuring points on the I/O PCB

PILOTSTAR D
3.5.2 Block Diagram of the CPU PCB
I/O--Interface
S1 Electric
isolation
Inte--
Aco--/Sperry-- grator Dimmer
S2 Electric Timer
step isolation Rudder
(Clock signal
for analog
Electric rudder ac-
S3 3
isolation tivation)
3
Tiller 1..3 /
sin / cos Serial data
CPU--Bus
CPU bus
Feedback unit
68HC711
Pulse log
Remote
Course bus 422

ACIA
(Compass
Std20) TTL
sci
NMEA
(serial LOG--/ 422 Baud
FLUXGATE ACIA rate
transmission) TTL generator
CPU with WATCH-- ACIA

controller DOG
232/TTL 232
Video plotter Video plotter
input ACIA
output
NMEA NAV 232/TTL 232

NMEA NAV
input ACIA output
20mA 422
Operator unit 1 ACIA
CPU--Bus
Operator unit 1
20mA 422
RAM
Operator unit 2 Operator unit 2
32k
Operator unit 3
20mA
Operator unit 3 ROM 1 ROM 2
CPU Decoding
68HC001 logic

PILOTSTAR D
Autopilot
4 Installation, Putting into Operation
4.1 SAFETY NOTES
ATTENTION In opened devices or desks, voltages representing a

risk of electric shock are applied.
-- SAFETY INSTRUCTION --
As a matter of principle, the system is to be made
dead when installation work is performed on the
equipment as well as during disassembly/assembly of
components or during alteration of the circuitry.

• Power supply

-- Gyro compass
-- Log
4.2 Stock Taking and Inspection of Delivery

Remove the equipment parts from the cardboard boxes.
Check all equipment parts for visual deficiencies and transport damages.
Place all eqipment parts on a safe support.

PILOTSTAR D
4.3 Installation Planning and Instruction
4.3.1 Operator Unit (Dimensional Drawing 102D864.HP005)

Requirements to be met by the mounting site:
The device has to be readily visible and be placed such as to ensure convenient
handling.
For the flush mounting, refer to the Dimensional Drawing 102D864.HP005 (recess and
drilling scheme).
NOTE Prior ti starting work, ensure that below the selected

point of recess there is sufficient space for the sawing
work required.
4.3.2 Connection Unit (Dimensional Drawing 102E863.HP005)

The connection unit should be located within a radius of approx. 2m with regard to the
operator unit. The clearance above the connection unit specified in the dimensional
drawing must absolutely be ensured.
4.3.3 Feedback Unit (Dimensional Drawing 101C529 HP005)

1. In case linkage transmission is selected, it is to be ensured that this cannot be
blocked by loose objects!
All cables lying within this area must be fixed.
2. If toothed--belt transmission is selected, this must be correctly pre--stressed as

indicated in the dimensional drawing.
All cables lying in the vicinity must be fixed.

PILOTSTAR D
Autopilot
4.4 Cabling of the Equipment

The cabling of the equipment is ship--specific, refer to the enclosed Connection Diagram
AP02 C S01 HP051.
The --POWER SUPPLY-- ship’s cable must be passed through the ferrite absorber be-
fore wiring is carried out; refer to the following diagram.
Power Supply
Ferritabsorber
NOTES

PILOTSTAR D
4.5 Ship--specific Parameters (CONFIG. on)

As a matter of principle, the autopilot is delivered with preset parameter values (see An-
nex -- 4, column DEFAULT).
As a principle, the adustment of the ship--specific parameters is only required on

the occasion of first installation or in case of system extension.
By entering new values, the DEFAULT values will be overwritten.

After installation or in case of system extension, the ship--specific parameters must ade-
quately be adapted.
On leaving the CONFIGURATION mode (CONFIG. OFF), the new parameter values will
be stored (see sections 2.4.1 and 4.5.1).
All ship--specific and operationally--conditioned parameters are permanently filed in an
EEPROM and will be available again even after a voltage failure.
• Cold Start (COLD STRT, Kap. 4.6)

By the cold start, all parameter values that have been entered by the user will be can-
celled. The AUTOPILOT assumes its initial state (first putting into operation).
The ”Default” parameter values are now effective with regard to control engineering.
The ship--specific parameter values can now be entered again.

PILOTSTAR D
Autopilot
4.5.1 Adjusting the Ship--specific Parameters
NOTE Prior to adjustment, the autopilot is to be switched

into the STANDBY mode.
Set the steering mode selector to MANUAL CON-
TROL.
HAND AUTO
PARAM
VARI.
OFF TRK
Actuate the key until CONFIG.
Rud LIMITS
GYRO
off appears in the text line.
YAWING SET COURSE
RUDDER STANDBY
CNTRUD
10 20 30
SPEED
Set The LED of the key is alight.
© Opening the parameter sequence
PARAM
VARI.
OFF TRK
GYRO
LIMITS
YAWING SET COURSE
RUDDER STANDBY
(on) CNTRUD
10 20 30 CONFIG
SPEED
¢ Calling up the parameter
Actuate the key until the first

PARAM
VARI.
OFF TRK
parameter XTE TRIM...0 appears
LIMITS
GYRO
in the text line.
Rud YAWING SET COURSE
RUDDER STANDBY
CNTRUD
10 20 30 CONFIG
SPEED
XTE TRIM ...0 PORT STBD

PILOTSTAR D
£ Calling up the next parameter
PARAM
VARI.
OFF TRK
Adjusting of the actual ship’s
GYRO
Rud
LIMITS
YAWING SET COURSE
length, see point £.
RUDDER STANDBY
CNTRUD
10 20 30 CONFIG
SPEED
S_LENGTH .60m PORT STBD
Repeat the operations stated under Point £ with the following

ship--specific parameters (see Annex -- 4).
¤ Leaving the parameter sequence
PARAM OFF TRK

VARI.
GYRO OFF CRS
LIMITS
Yaw RUDDER
STANDBY
CNTRUD
10 20 30 CONFIG
SPEED
STORE? sel (Y/N) PORT STBD
¥ Storing new parameter values YES or NO
PARAM
VARI.
OFF TRK
On pressing the up key once, the
OFF CRS
LIMITS
GYRO
new parameters are stored (Y)es
1x YAWING SET COURSE
RUDDER
EXT.CRS
STANDBY
by activating the SET key.
CNTRUD
10 20 30
SPEED
STORE (Y) SET PORT STBD
Set
On pressing the down key once

STORE (N) SET
the new parameter are not stored
by activating the SET key
1x
Set

PILOTSTAR D
Autopilot
4.6 Cold start

The cold start is released via the software.
In case of a cold start, all operational and ship--specific parameter values are re-
placed by the DEFAULT values.
4.6.1 Releasing the Cold Start
NOTE Before starting the adjustment, switch the autopilot to

STANDBY mode.
Set the steering mode selector to MANUAL CONTROL.
HAND AUTO
PARAM
VARI.
OFF TRK
Actuate the key until CONFIG.
Rud LIMITS
GYRO
off appears in the line.
YAWING SET COURSE
RUDDER STANDBY
CNTRUD
10 20 30
SPEED

The LED of the key is alight.
Set
© Opening the parameter sequence
PARAM
VARI.
OFF TRK
GYRO
LIMITS
YAWING SET COURSE
RUDDER STANDBY
(on) CNTRUD
10 20 30 CONFIG
SPEED

PILOTSTAR D
¢ Opening the service parameter sequence
PARAM
VARI.
OFF TRK
Actuate the key until SERV
Rud LIMITS
GYRO
CODE appears in the text line
YAWING SET COURSE
RUDDER STANDBY
CNTRUD
10 20 30 CONFIG
SPEED
SERV CODE PORT STBD
£ Adjusting the service code 3
PARAM
VARI.
OFF TRK
Actuate the key until the number
LIMITS
GYRO
3 appears in the text line.
YAWING SET COURSE
RUDDER STANDBY
CNTRUD
10 20 30 CONFIG
SPEED
SERV CODE 3 PORT STBD
¤ Calling up the parameter COLD STRT
PARAM
VARI.
OFF TRK
Actuate the key until COLD
Rud LIMITS
GYRO
STRT appears in the text line
YAWING SET COURSE
RUDDER STANDBY
CNTRUD
10 20 30 CONFIG
SPEED
COLD STRT 0 PORT STBD
¥ Releasing the cold start
PARAM
VARI.
OFF TRK
Actuate the key, all ship--specific
LIMITS
GYRO
parameter values are cancelled.
YAWING SET COURSE
RUDDER STANDBY
CNTRUD
10 20 30 CONFIG The DEFAULT values are valid.
SPEED
INITIALIZED PORT STBD
¦ After the cold start
The PILOTSTAR D is now ready

PARAM for operation. The ship--specfic
Set OFF TRK
VARI.
GYRO
and operational parameter values
LIMITS
YAWING SET COURSE are set to default and can now be
RUDDER
CNTRUD
STANDBY entered again
SPEED
10 20 30 CONFIG (s. Chap. 7.5.1).
PORT STBD On actuating the key, the text line
is masked out.

PILOTSTAR D
Autopilot
4.7 Initial Power Application and Testing of Pilotstar D, dock side test and alignment
1. The gyro compass, navigation receiver, speed log, magnetic compass and
steering system should be already tested and operating.
2. Select the primary steering control system, such as ”HAND” using the steering
mode selector switch.
3. Remove the fuse from the Junction PCB of the Connection Unit
4. Switch the ship fuse for the main supply voltage to ”OFF”.
Connect the power supply cabel for the supply voltage at
-- B 15.3 (0V)
-- B 15.2 (+12V to 24V) or -- B 15.1 (+32V).
Look for the right polarity!!!
5. Insert the fuse from the Junction PCB of the Connection Unit.
-- position F1 for 32V supply voltage
-- position F2 for 12 to 24V supply voltage.
6. Switch the ship fuse ”ON”. Pilotstar D should now go through its self test and
then to ”STANDBY” mode (s. Chapter 2.2.4). If the text line indicates the message
”SYNCHRON” see step #12.
7. Using the Rud key, scroll down to ”CONFIG.off”.
Use the key to change to ”CONFIG.on”.
Use the Rud key to scroll to ”SERV CODE”.
Use the key to set the value to ”3 ”.
Use the Rud key to scroll to ”COLD STRT”.
Press the key.
The Pilotstar D is now set to factory default values.

PILOTSTAR D
8. Heading sensor selection.

If the PILOTSTAR D is equipped with a gyro compass input, go to step #9.
If the Pilotstar D uses Magnetic Compass only, use the key to scroll to
Yaw
”COMPASS” and select ”MAGNETIC” using the key.
9. Using the Rud key, scroll down to ”CONFIG.off”. Open the configuration menu by
using the key to select ”CONFIG.on”.
10. Use the Rud key to scroll down through the parameters. Use the key to
increase and key to decrease the parameters.
Following are descriptions of the adjustments to be made (see also chapter

”Parameter Information” at the beginning of the description).
XTE TRIM: Adjustment to be made during sea trial in special cases.

Leave at default value.
SPECI SL: Setting the ship’s lengths that do not fit exactly into the
ship’s lengths diagram (S_LENGTH)
RELAY ALARMS: Tiller/Alarm

in conjunction with a Central Alarm System.
Default Tiller:
RELAY Tiller Relay switches ON if Tiller Steering is active.
RELAY Alarm in conjunction with a Central Alarm System.
AUTO FAIL relay active during alarm situation
FIX TURN: Switching on or off the automatic SET HEADING

presetting.

PILOTSTAR D
Autopilot
FU DIFF: To be set as required according to the Steering System.

OFF for output of rudder commands in TRANS MODE,
or whether the difference between the
set rudder and actual rudder is to be output for the
control of the steering gear (DIFF MODE).
Hereby, the control loop for the rudder position is closed
via the FU amplifier of the PILOTSTAR D.
For variation, the actual rudder signal must be fed
back via the RUDDER FEEDBACK terminal (refer to
AP02 C S01 HP050).
S_LENGTH: Set to closest available number to vessel length in

METERS.
MAGFILTER: Adjustment to be made, if required, during sea trial after

compass has been compensated -- filters the Magnet LCD
indication only.
RUD SCALE: Set to the greatest rudder angle of the ship.

For a twin rudder system, the parameter is to be set to ”95”
for a rudder angle of 35° or 100 for a rudder angle of 45°.
RUD SLACK: Similar to ”Anti--Hunt”. Increase setting if there is lost

motion in the steering gear causing the rudder to hunt or
oscillate rapidly.
Should also be tested and adjusted, if necessary, in case of
two pump operation.
RUD LEAD: Controls the proper stopping point of the rudder. If the
rudder overshoots 0 ° (midships) from a ± 10° rudder angle,
this parameter should be increased.
If the rudder makes an intermediate stop, the ”RUD LEAD”
should be decreased.
RUD SPEED: To be set only in conjunction with the rudder response.

Speed of the rudder in degrees per second. This can be
found by timing the movement of the rudder from 25° port to
25° starboard and dividing 50° by the time recorded.

PILOTSTAR D
RUD FAIL: Threshold for the alarm which monitors rudder response.
The Feedback unit must be installed to enable this function
(s. Chapter 4.8).
The number selected is the difference between rudder order
and rudder angle which will sound the alarm. A setting of ”0”
turns this function off.
CRS TYPE: Set per Annex -- 3.
NAV TYPE: Set per Annex -- 3. A setting of 2 or 3 is recommended.

Refer to corresponding GPS description.
LOG TYPE: Set per Annex -- 3.

Parameter value LOG 200 Pulse/nm
Parameter value NMEA LOG seriell
The following Telegramm sentences will be accepted:
-- $IIVTG (Speed over Ground, Actual Track)
-- $IIVHW (Speed made Ground)
Setting 3 is for future options and is not functional.
Refer to corresponding LOG Sensor description.
MAG TYPE: Set per Annex -- 3.
SER OUT: Set to ”A--REP” if a Raytheon Anschuetz analog repeater

is connected to the pilot.
Set to D--REP for Anschuetz Digital Navigation Display
(digital repeater -- multi function).
11. Store the parameter settings.
Press the key until ”STORE? sel (Y/N)” appears in the text line.
Yaw
The display switches to ”STORE (Y) SET” by pressing the key once.
The setting is stored by pressing the Set

key, ”Data stored”.

PILOTSTAR D
Autopilot
12. If the gyro compass has a step heading output, scroll up to ”SYNCHRON”.
Using the and keys, synchronize the gyro indication with the gyro
compass.
If the gyro compass is a Raytheon Anschütz Gyro, verify that the gyro compass
heading matches the gyro indication.
Note If the Pilotstar D is provided for analog output and An-

schütz rudder angle indicators and feedback unit are
not used, step #13, #14, #15, #16 and #17 can be
bypassed.
13. (see Chapter 4.8.1)
14. (see Chapter 4.8.1.1)
15. (see Chapter 4.9)
16. (see Chapter 4.9.1)
17. Using the primary steering system, check the rudder angle indicators for correct
direction and scale.
17.1 Change the mode switch to the ”AUTO ” position and press the Trim
Man
key.
The Trim
Man
LED should now illuminate. The operating mode Manual control is
active.
17.2 Using the heading setting knob, order 20° of rudder and ensure that the rudder
moves in the proper direction and to the proper position.
The rudder angle indicator shows the correct direction.
If the rudder moves backwards, reverse the port and starboard solenoid wiring and
check again.

PILOTSTAR D
17.3 Press the Auto

On/Off
key. The Auto
On/Off
LED should now illuminate and the rudder will
move to zero degrees.

The ”SET HEADING” display should match the heading indication in the upper left
corner.
17.4 Increase the SET HEADING about 10° port (using the heading setting knob).
The rudder should now move to approximately 10° port.
17.5 Press the Trim

Man
key. The LED should now illuminate (operating mode Manual
control is active).
The rudder should return to zero.
17.6 Press the Auto

On/Off
key. The LED should now illuminate (operating mode Automatic
control is active).
The rudder should remain at zero degrees.
17.7 Increase the SET HEADING about 10° starboard (using the heading setting knob).
The rudder should now move to approximately 10° starboard.
17.8 Press the Trim

Man
key. The LED should now illuminate.
The rudder should return to zero degrees.
18. At the navigation receiver, enable the output sentence selected in step #9--NAV
TYPE.
The ”TRACK HEADING” should be +/-- 60° of ship’s heading.
18.1 Press the Track key. The LED should now illuminate.
The audible alarm will sound.

The text line will now display ”XTE meter ......” indicating the cross track error for
approximately 3 seconds.
This will be followed by the message ”NEW TRACK XXX” which indicates heading
of the track.

PILOTSTAR D
Autopilot
Pressing the key will extinguish the red ”ALARM” LED, and send the track
heading to the ”SET HEADING” indication.

This indication should now be the same as that displayed on the navigation
receiver.
Note
Possible alarms and causes:
”NAVDATA FAIL”:
The Pilotstar D is not receiving any data from the navigation
receiver. Possible causes include broken or incorrectly connected
wiring, reversal of input to Pilotstar D Connection Unit, selection
of RS--232 rather than RS--422 at navigation receiver or output
port of Navigation receiver not enabled (refer to corresponding
GPS description).
”Nav Data Invalid”:

The Pilotstar D is receiving data from the navigation receiver, but
the data is erroneous. Possible causes include poor signal at
receiver or no waypoint or route selected (refer to corresponding
GPS description).
19. Automatic adjustment of the PILOTSTAR D to the vessel’s speed.
Press the Rud key until ”SPEED ....” is displayed.
Test/Error diagnosis when different log sensor units are used:

-- Switch the log sensor to test mode (see handbook of log sensor).
The speed setting which is simulated via the test mode must now appear
in the speed SPEED display of the operator unit
After the test, leave the test mode!
-- If there is a combined navigation receiver (position-- and log sensor), it is
also possible to test the log transmission using the test mode (see handbook
of the navigation receiver). If the display is incorrect, see step #18.1.
-- Error diagnosis for the pulse log transmission (200 pulses per mile).
First the external wiring must be removed (B25.2.and 25.3).
When the connection terminals are temporarily bridged, the SPEED display
in the operator unit should show an increasing speed when the
PILOTSTAR D is working properly.

PILOTSTAR D
If this should not be the case, repeat the test on the PILOTSTAR D as follows:
-- Observe the LED H5 on the CPU PCB.
If this LED flashes with the on and off action of the jumper, then
probably the wrong interface format has been set (see step #9 LOG
TYPE).
20. Press the Trim

Man
key, the LED will now illuminate.
Using the rotary knob, enter a rudder order of 20° and allow the rudder to respond
and stop.
Now order 0° and check for
-- any hunting
-- intermediate stops
-- over shoot
Corrections see step #9 RUDDER SLACK or RUDDER LEAD as required.
21. Using a rudder value of >20°.
Press both keys below.
The rudder should return to zero degrees without overshoot or intermediate

stopping. Repeat step #20 if necessary.
22. Check the correct rudder movement.
Press the key. The rudder responds correctly to starboard.
23. The Pilotstar D is now ready for sea trials.

PILOTSTAR D
Autopilot
4.8 Installation of the Feedback Unit (Type 101--529)
NOTE Prior to adjustment, the autopilot is to be switched

into the STANDBY mode.
Set the steering mode selector to MANUAL CON-
TROL. HAND AUTO
Measuring instrument:
A commercial voltmeter is to be made available as a measuring instrument.
Pre--condition:
The feedback unit has been mounted according to Dimensional Drawing
101--529 HP006 and electrically connected (with a toothed--belt transmission, the belt
pulley is centrically to be mounted onto the rudder stock).
The casing cover is to be removed.
The connection box has been mounted according to Dimensional Drawing

102--863 HP005 and electrically connected.
4.8.1 Adjusting the Feedback Potentiometer

(See Circuit Diagram 101--529 HP007)
The feedback potentiometer (R3) is axially connected to the pulley (s. Fig. 4--1).
Pre--condition:
Set rudder to exactly midships position (0°) via manual control.
Connect the voltmeter (DC measuring range) to the following test points (TP):
TP 1 ⊥
TP 2 +
The voltmeter will indicate a voltage level of between + 10 V.
Balancing:
Turn the pulley until the voltmeter reads 0V.

PILOTSTAR D
Mounting the transmission element:

• Linkage transmission
By loosening the hexagonal screw on the pulley, the pulley position can adequately
be corrected.
• Toothed--belt transmission
The toothed belt can directly be applied.
Pay attention to the belt tension indicated in the dimensional drawing.
Following the adjustment/mounting, the test lines are to be removed.
4.8.1.1 Adjusting the Limit Switches of the Feedback Unit

(See Feedback Unit PCB 101--529 HP010)
The limit switch relay of the feedback unit (PORT and STARBOARD) have to react
switch before the mechanical limit stops of the steering gear.
Port limit switch relay:

Adjust the rudder by manual control for the desired cut--off angle.
Turn the potentiometer R2 until H2 LED is switched off.
Starboard limit switch relay:

Adjust the rudder by manual control for the desired cut--off angle.
Turn the potentiometer R1 until H1 LED is switched off.

PILOTSTAR D
Autopilot
Hexagonal screw
Pulley
R2
R1
R3
H2 H1
TP1
ST1 ST2
TP2
Fig. 4--1: Balancing the Feedback Unit, Typ 101--529

PILOTSTAR D
4.9 Electrical Zero Adjustment on the I/O PCB (OFFSET)

(refer to summary diagram 102 D 863 HP011)
Pre--conditions:
Set rudder to exactly midships position (0°) via manual control.
Connect the measuring instrument to the following test points (TP):
TP 1 ⊥
TP 16 +
Adjustment:
Turn the potentiometer R39 (on the I/O PCB) until the voltmeter indicates 0V.
R39 OFFSET TP16

R38 SCALE
Fig. 4--2: Adjustment on the I/O PCB

PILOTSTAR D
Autopilot
4.9.1 Adjustment and Test of the Electrical Rudder Scaling (RUD SCALE)
¡ Calling up or checking the parameter RUD SCALE

For calling up the parameter se-
PARAM OFF TRK quence, see Chapter 4.5.1, Point
Rud VARI.
LIMITS
GYRO ¡.
YAWING
RUDDER
SET COURSE In this example, the default value
STANDBY
CNTRUD
10 20 30 CONFIG
corresponds to the ship--specific
SPEED
value.
RUD SCALE 35° PORT STBD Subsequently, close the parame-
ter sequence via CONFIG. off
(see Chapter 4.5.1, Point ¥).
For the electrical adjustment of the rudder setting range, the rudder is always to be
moved to the maximum rudder angle according to RUD SCALE for PORT/STBD.
For this, the rudder angle can be adjusted by manual control or by autopilot (e.g. if no
steering mode selector is available)
Pre--conditions: See Chapter 4.8
Adjustment by manual control:

Adjust the maximum rudder angle for STBD, e.g. 35°.
Turn the potentiometer R38 (on the I/O PCB) until a voltage level of between
--2.3V and --2.5V appears on the voltmeter.
Repeat the measurement with a maximum rudder angle for PORT.
The voltmeter has to indicate a voltage level of between +2.3V and +2.5V.

PILOTSTAR D
Adjustment by autopilot function:
¡ Calling up manual operating mode

Prior to calling up the manual op-
PARAM
VARI.
OFF TRK erating mode, the steering mode
Trim LIMITS
GYRO selector has to be set to position
Man
YAWING
RUDDER
SET COURSE AUTO.
STANDBY
CNTRUD
10 20 30
SPEED
MAN RUDDER 0 PORT STBD
Trim
Man
© Adjusting the maximum rudder angle of e.g. 35° STBD

On actuating the key, the bar
PARAM OFF TRK
graph segment moves towards
VARI.
GYRO
the STBD stop.
LIMITS
YAWING SET COURSE
Adjustment:
RUDDER STANDBY Turn the potentiometer R38 (on
CNTRUD
STBD SPEED
10 20 30 the I/O PCB) until a voltage level
MAN RUDDER 35 PORT STBD from --2.3V to --2.5V appears on
the voltmeter.
¢ Adjusting the maximum rudder angle of e.g. 35° PORT
On actuating the key, the bar
PARAM
VARI.
OFF TRK graph segment moves towards
LIMITS
GYRO the PORT stop.
YAWING
RUDDER
SET COURSE The voltmeter indicates a voltage
CNTRUD
10 20 30
STANDBY
level of +2.3V to +2.5V.
SPEED
PORT
£ Adjusting the rudder in the fore--and--aft line
PARAM
VARI.
OFF TRK On actuating both keys, the bar
LIMITS
GYRO graph segment moves to midship
YAWING
RUDDER
SET COURSE position.
STANDBY
CNTRUD
10 20 30
SPEED
Adjustment terminated:
Remove the test lines.

PILOTSTAR D
Autopilot
4.9.1.1 Adjusting/Checking the Rudder Slack (RUD SLACK)
¡ Calling up the parameter RUD SLACK

For calling up the parameter se-
PARAM OFF TRK quence, see Chapter 4.5.1, Point
Rud VARI.
LIMITS
GYRO ¡.
YAWING SET COURSE
RUDDER STANDBY
CNTRUD
10 20 30 CONFIG
SPEED
RUD SLACK 1.2 PORT STBD
© Adjusting the parameter value RUD SLACK, e.g. 0.9

Adjust a parameter value that en-
sures a stable rudder position
PARAM OFF TRK
(0.3,0.6,0.9,1.2,...3).
VARI.
GYRO
In case of steering gear with
LIMITS
YAWING SET COURSE
2 pumps, the adjustment has to
RUDDER STANDBY be performed with both the
CNTRUD
SPEED
10 20 30 CONFIG pumps connected. Subsequently,
RUD SLACK 0.9 PORT STBD
close the parameter sequence
via CONFIG. off (see Chapter
4.5.1, Point ¥).
¢ Checking the RUD SLACK effect; calling up manual operating mode
PARAM
VARI.
OFF TRK
Prior to calling up the manual op-
Trim LIMITS
GYRO
erating mode, the steering mode
Man YAWING SET COURSE
RUDDER STANDBY
selector has to be set to position
CNTRUD
10 20 30 AUTO.
SPEED
Trim
Man
£ Adjusting the rudder e.g. for 10° PORT
PARAM OFF TRK

VARI.
GYRO
LIMITS
YAWING SET COURSE
RUDDER STANDBY
PORT CNTRUD
10 20 30
SPEED

PILOTSTAR D
¤ Adjusting the rudder in the fore--and--aft line

On actuating both keys, the rud-
der shall move into midship posi-
tion without considerable over-
PARAM OFF TRK swings and assume a stable rud-
VARI.
LIMITS
GYRO der position.
YAWING SET COURSE A continuous oscillation of the
RUDDER
CNTRUD
STANDBY
steering gear is to be compen-
10 20 30
SPEED sated by augmenting the
MAN RUDDER 0 PORT STBD RUD SLACK parameter value,
see Point ¡.

PILOTSTAR D
Autopilot
4.10 Adjusting the Magnet Sonde 108--010

Test Equipment:
A normal voltmeter must be available as test equipment (DC range)
Requirement:
The magnetic probe of type 108--010 has already been assembled in accor--
dance with the assembly instructions.
Check the valency (1) of the ship specific parameter MAG TYPE
(refer to Chap. 4.5.1 and appendix -- 4).
Select the MAG COMPASS type on the control panel.
The parameter value for VARIATION must be 0°.
Check whether the signal inputs of the fluxgate terminal (B26 on the terminal
PCB) are bridged.
Adjusting procedure:
If the I/O PCB has no R140 (SCALE REF. MAGN) potentiometer
Connect the voltmeter to the following test points (TP):
TP1 ⊥
TP12 + (COS)
1) Turn the probe in its holder until the actual heading display in the LCD display
panel shows 0°. The voltmeter must now display a voltage between -- 4.9 and
-- 5.9 V. If the voltage is < -- 4.9V, then the distance between the magnetic com--
pass and the probe must be decreased (shorten the spacing pieces). If the va--
lue is > -- 5.9V, then a set of extended spacing pieces must be used.
2) Turn the probe slowly in its holding ring until the actual heading display
(PILOTSTAR D) is identical to that of the magnetic compass heading.
(In this setting, check the sense of rotation of the phases):

-- if the probe is turned in the direction of higher magnetic compass
values, then the actual heading display must be correspondingly larger.
If the sense of rotation is incorrect, then probe connections S1 and S3
must be swapped.)
The probe is screwed in at this location.

PILOTSTAR D
R140
SCALE
TP12 TP11 TP1 REF.MAGN
Adjusting procedure:
If the I/O PCB has an R140 (SCALE REF. MAGN) potentiometer
(refer to composition diagram 102 D 863 HP011)
TP1 ⊥
TP12 + (COS)
1) Turn the probe until the voltmeter shows a maximum voltage value. Adjust potentiom-
eter R140 until a voltage of +5.5V (--5.5V) appears.
2) Turn the probe slowly in its holding ring until the actual heading display
(PILOTSTAR D) is identical to that of the magnetic compass heading.
(In this setting, check the sense of rotation of the phases):

-- if the probe is turned in the direction of higher magnetic compass
values, then the actual heading display must be correspondingly larger.
If the sense of rotation is incorrect, then probe connections S1 and S3
must be swapped.)
The probe is screwed in at this location.

PILOTSTAR D
Autopilot
4.11 Adjusting the Flux--gate Compass Sonde (with SIN/COS Output)

Notes for a flux--gate compass sonde with a serial data transmission:
For this compass type, no adjustment is required.
The ship--specific parameter MAG TYP (see Chapter 4.5.1 and Annex -- 4)
has to be adjusted for the value 2.
Measuring equipment:
A commercial voltmeter is to be made available (PC range).
Pre--condition:
Check the significance (1) of the ship--specific parameter MAG TYP (see Chapter
4.5.1 and Annex -- 4).
Adjust the COMPASS Type MAG via the operator unit.
Make shure that the ”Variation” parameter is 0°.
Measuring / Adjustment:
(refer to summary diagram 102 D 863 HP011)
TP1 ⊥
TP12 -- (COS)
Turn the flux gate until the heading indication in the LCD display indicates 0°.
The voltmeter have to indicate a voltage of -- 4,9 ..... --5,9V.
If the value is >--5,9V, the value has to be reduced via an additional input resistor
(terminal B26.5 and B26.3).
Example of calculation :
For a reduction by the factor 2, a resistor of 100 kΩ is to be built--in.
Alternative measurement
TP1 ⊥
TP11 -- (SIN)
Turn the flux gate until the heading indication in the LCD display panel is 90°.
The voltmeter have to indicate a voltage of --4,9 .... --5,9V.

PILOTSTAR D
4.12 Sea Trial Procedure
Note The following procedures and adjustments are made

at the time of installation only and are ”ship specific”.
For the best possible performance and continued effi-
cient operation, sufficient time must be allowed, usu-
ally a minimum of 4 hours. If the necessary trials are
cut short for any reason, the vessel’s owner should
be notified that the pilot may be operating at a level
that is below the design capabilities.
1. Ensure that all of the supporting equipment is operating properly

(such as gyro, log...).
The vessel should be at normal operating speed.
The vessel should be steering into the prevailing sea or current during the initial
tests. Set the rate to turn parameter to 30°/MIN. Set the parameter value step by
step by the sea trial procedure to an higher value (make some heading changes).
2. When the vessel mode selection switch is switched from ”HAND” to ”AUTO”
(LED Auto
On/Off
lights up), the PILOTSTAR D operates with standard values for
YAWING, RUDDER, CNT.RUD.

If the rudder shows unstable behavior (oscillation) immediately after changeover,
the parameter value for ”RUDDER” must be reduced step by step.
The vessel should now continue on a stable heading. SET HEADING is the same
as ACTUAL HEADING.
3. Make several 10° heading changes each. Observe the heading change maneuver
with respect to the following criteria:
• The vessel must not react too quickly or too slowly to the new SET HEADING
setting. If the heading change is too rapid, the ship will oscillate around the new
heading.
-- Increase the ”CNT. RUD” value by 1.
Repeat the heading change maneuver.
-- If this behavior cannot be compensated by this parameter value, reduce the
parameter value for ”RUDDER” step by step.

PILOTSTAR D
Autopilot
-- If this behavior cannot be compensated by this parameter value either, then

set the parameter value for ”S_LENGTH” to the next highest value.
If the heading change is too slow, the ship will cease to turn shortly before
reaching the SET HEADING setting.
-- Reduce the ”CNT. RUD” value by 1.
-- If this behavior cannot be compensated by parameter value, increase the
parameter value for ”RUDDER” step by step.
-- If this behavior cannot be compensated by this parameter value either, then
set the parameter value for ”S_LENGTH” to the next lower value.
Storing the optimized parameters:
Yaw

4. Make some additional heading maneuvers; turn the vessel into the wind.
Observe the heading stability of the vessel.
The PILOTSTAR D begins to compensate the drift effect (rudder offset begin).
If the rudder offset takes effect too slowly, the parameter must be increased.
Press the Rud key until ”CONFIG.off” appears in the line of text.
When the key is pressed, the parameter series for the ship--specific
parameter series is released (”CONFIG.on”).
Press the Rud key until ”SERV CODE” appears in the line of text.
Press the key until ”SERV CODE 3” appears in the line of text.

PILOTSTAR D
Press the Rud key until ”autotrim ...” appears in the line of text.
Press the key until optimal control behavior is achieved.
Make a heading change of 180° and check the heading behavior.
Press the Rud key until ”ex?=1” appears in the line of text.
When the key is pressed, the service menu is left; a previously changed
parameter setting is not stored.

If a new parameter value is to be stored, ”CONFIG. on/off” must be called up
(see #3).
5. On the navigation receiver, define a route of 3 way points and two legs.
Refer to the navigation receiver’s manufacturers manual regarding this operation.
Each leg of the route should be a minimum of 10 nautical miles in length.
The track course of first leg should be directly into the prevailing sea and wind.
The track course for second leg should be +/-- 90° of the first leg.
5.1 Steer the vessel as close as possible to the first way point using heading control
(angular range approx. ± 60°).
Press the Track key and the Track LED will now illuminate accompanied by the
red LED and an audible alarm will sound.
The text indication will read ”xte meter ...” for approximately 3 seconds and will
be replaced by ”NEW TRACK ...”. Pressing the key will accept the track
and write the track course to the ”SET HEADING” indication.
The SET HEADING indication will now retain the same value until the track has
been completed or superseded. Observe the track keeping ability of the pilot for a
minimum of 20 minutes. If the pilot does not stay close enough to the track line,
increase the ”TRACK <>” parameter until the vessel requirements are satisfied.

PILOTSTAR D
Autopilot
Storing the optimized parameters:
Yaw

5.2 The course change

When the second waypoint is reached, the acoustic alarm sounds.
(In case of a position receiver with XTE transmission, there is no automatic alarm
and display; see chapter 2.2.8.3)
The text indication will read ”xte meter ...” for approximately 3 seconds and will
be replaced by ”NEW TRACK ...”. Pressing the key will accept the track
and write the track course to the ”SET HEADING” indication.
The SET HEADING indication will now retain the same value until the track has
been completed or superseded.
Observe the course change maneuver.
If the vessel cannot reach the track or if the vessel begins to oscillate around the
new track course, increase the ”XTE TRIM” parameter value.
If the vessel begins to swing slowly over the track, reduce the ”XTE TRIM”
parameter value (see chapter 2.4.1).
After completion of the second track leg the track follow-up can be ended.
Press the Auto

On/Off
key. Reverse the waypoint of the route previously covered.
Upon completion of the first leg, switch to auto and bring the vessel within
+/-- 60° of the next track course and go to Track .
Check the quality about the track and the course change maneuver.

PILOTSTAR D
6. The setting of parameter is now completed.

It is advisable to enter all ship--specific parameter values in the tables of the
Appendices -- 2 and -- 3 in writing.
In case of a possible defect, for example of the CPU PCB, the parameter values
can be updated quickly after changing the PCB.

PILOTSTAR D
Autopilot
4.13 A Guide to when which Parameters must be Set
: marked parameters must be set every time the ship is put into operation in the har
bour or during test runs. The parameters should be noted in the appropriate areas.
No. Parameter When Why How

1 COMPASS Initial putting into operation (e.g. Heading sensor serves as heading reference for the 2.1.5
setting magnetic compass or PILOTSTAR D.
gyro compass) or in case of a de- Note: This parameter is not shown when only for the gyro
fective heading sensor. compass or the magnetic compass.
2 VARIATON For a magnetic compass. Compensates for errors from the magnetic compass. The
Note: The parameter is only value results from the combined magnetic heading correction
not shown in case of the value VARIATION (see sea chart) and from the DEVIATION
gyro compass. value taken from the deviation table referred to the ship (opera-
tional parameter).
3 TRACK LIM TRACK operating mode. Used to ensure track monitoring. 2.3.2
Setting Defines the monitoring limits to the left or right of the track. An
At which track error an OFF TRACK warning is emitted when a limit is reached.
alarm is to be generated.
4 OFF HEAD- HEADING CONTROL operating Used to ensure HEADING CONTROL. 2.3.3
ING mode. Defines the monitoring limit for the set heading/actual heading
Setting deviation in HEADING CONTROL operating mode. An OFF
At which track error an HEADING warning is emitted when the limit setting is
alarm is to be generated. exceeded.
5 RoT° / MIN Feature is active when in HEAD- Defines the rate of turn for the ship during a heading or track 2.3.1
ING CONTROL and TRACK ope- change manoeuvre.
rating modes..
Setting
As required
6 RUD.LIM HEADING CONTROL or TRACK With this value, the maximum permissible rudder position in 2.3.4
operating mode. degrees is to be adjusted, which, for safety reasons, must not
be exceeded by the steering gear during autopilot operation.
7 YAWING HEADING CONTROL or TRACK The YAWING setting defines the rudder activity and the head- 2.3.1.1
operating mode. ing accuracy of the PILOTSTAR D.
TRIM YAW Setting The optimal setting is determined from the conditions:
Dependent on swell. YAWING tendency = 1, means control with the greatest
activity (maximum amplification
factor)
YAWING tendency = 6, means control with the least activity
(minimum amplification factor)
When not set correctly, the steering gear can be overworked.
Off-- headings are caused by large rudder angles.
8 RUDDER HEADING CONTROL operating Every heading deviation must be corrected by a rudder value 2.3.1.1
mode. specific to the ship. The RUDDER setting defines the realtion
TRIM RUD Set during between the rudder angle and the heading error.
Initial putting into operation, test RUDDER tendency too great:
run -- unstable behaviour " over--reaction during a heading
correction
" overswing during a heading change
RUDDER tendency too low:
-- Heading control too inaccurate
" preset R.o.T. not achieved during
heading change manoeuvre.

PILOTSTAR D

9 CNT.RUD HEADING CONTROL operating Every ship has its own time constant, depending on its mass 2.3.1
mode. and load. This constant must be observed during a heading
TRIM CNT Set during change maneouvre.
Initial putting into operation, Before reaching the new set heading, the R.o.T. must be mini-
test run mised on time (e.g. by counter rudder).
This effect is set by the counter rudder (CNT.RUD).
Tendency -- counter rudder too great:
Ship overshoot avoided before reaching the new set
heading.
Tendency -- counter rudder too low:
The ship is not stopped on time and overshoots the preset
heading.
10 SPEED When there is no log sensor on The ship’s behaviour depends on its speed. 2.3
board, the current speed must be To ensure optimal control, the controller must be adjusted for
set manually. the speed.
11 TRACK< > TRACK operating mode. Tendency -- not enough gain in track controller: 2.3.5
Setting Drift influences are strong and result in a greater track
-- track deviation is too great deviation.
(drift) Accuracy can be increased by the amplification setting
-- too much gain in track (greater) TRACK > .
controller. Tendency -- too much gain in track controller:
Reduce the amplification setting via TRACK< until the
required setting is reached.
Optimum between accuracy and controller gain
(heading trim).
12 SYCHRON. No absolute heading transmis- The heading display between the compass and the 2.3.6
: sion from the heading sensor PILOTSTAR D is desynchronized.
(gyro compass) to the PILOT-
STAR D is used.
Set
-- during initial putting into
operation
-- desynchronization after power
failure
13 XTE TRIM TRACK operating mode. The temporal coordination of the track error compensation has 2.4.1
Set when not been correctly adjusted.
The track controller is not yet Track error correction is too slow or too fast
functioning optimally. (see figure in Chap. 2.4.1).
14 SPECI SL HEADING CONTROL operating In most cases, an approximate entry of the ship’s length 2.4.1
: mode. (S_LENGTH) fulfils the requirements of the PILOTSTAR D for
(test run). an optimal heading control.
Set during SPECI SL is available for special cases.
Initial Putting into Operation. With this feature, the ship’s length can be increased or decrea-
Heading behaviour is still not sed as a percentage, whereby the temporal control behaviour
optimal after a change in is influenced.
heading. The resulting ship’s length must not necessarily correspond to
A stepwise increase in previous the original length .
measure CNT.RUD and a
stepwise decrease in
RUDDER is unsuccessful.

PILOTSTAR D
Autopilot

15 RELAIS .... Set during PILOTSTAR D must be adapted to the system configuration 2.4.1
Initial Putting into Operation. (Central Alarm System).
Tiller Basic setting in the harbour.
or Tiller on = when the tiller status
Relais is to be indicated via
Alarm an external status
(Central indication.
Alarm Sy-
stem)
Alarm Reset = when an external

alarm system for
acknowledging/
indicating an Summary of acoustical/optical alarms
alarm message
is to be used.
16 FIX TURN HEADING CONTROL operating Makes certain maneouvres simpler. 2.2.6.2
mode.
Set
When a fixed set heading
change
is to be immediately executed
on pressing a key.
17 FU DIFF Set during The difference between the set rudder and teh acutal rudder 2.4.1
: Initial Putting into Operation. can be made up by the FU amplifier of the PILOTSTAR D.
Basic setting in the harbour. The amplification factor can be set (FU DFF 1..8). If no diffe-
Only required in case of analog rence is required, the parameter must be set to 0.
rudder control.
FU DIFF= 0 means that set The controller must be adjusted to the ship and on the rudder
rudder output is dynamics (difference mode active).
required. Tendency -- amplification too great:
FU DIFF= 1...8 means that the -- the rudder does not assume a stable position.
difference between Tendency -- amplification too low:
the set rudder and -- the control is too innacurate
actual rudder is
required for control.
18 S_LENGTH Set during The approximate entry of the ship’s length defines the control 2.4.1
: Initial Putting into Operation. behaviour of the PILOTSTAR D. If the heading behaviour of
Basic setting in the harbour. the PILOTSTAR D is not optimal, then fine adjustment via
SPEC SL is required.
19 MAG Set during by instable Magnet-- or It depends aboput the sensor storage. The filter will be inserted 2.4.1
: FILTER Fluxgate--indication. for signal smoothing.Total range controller output 1 ... 10
Set during (1 for minimum filtering).
Initial Putting into Operation.
Basic setting in the harbour.
20 RUD Set during PILOTSTAR D must be adjusted to the maximum adjusting 4.9.1
: SCALE Initial Putting into Operation. range of the available steering gear.
Basic setting in the harbour.
21 RUD Set during Setting the rudder slack. Hereby, the rudder angle controller of 4.9.1.1
: SLACK Initial Putting into Operation the PILOTSTAR D is adjusted to the rudder dynamics of the
Basic setting in the harbour. steering gear. The rudder slack should be increased during
”rudder hunting”.
22 RUD LEAD Set during In case of steering gears with large temporal delays, the rudder 2.4.1
: Initial Putting into Operation. command HALT results in a rudder follow up.
Basic setting in the harbour. A rudder correction is generated via the RUD LEAD setting,
allowing the rudder to be prematurely switched off. The requi-
red rudder setting is thereby obtained together with the follow
up of the steering gear.

PILOTSTAR D

23 RUD Set during The rudder speed is used to calculate the control time during a 2.4.1
: SPEED Initial Putting into Operation. rudder command. If the tset time is exceeded substantially, an
Basic setting in the harbour. alarm is triggered.
When using the rudder angle mo- The RUD SPEED and RUD FAIL parameters are dealt with
nitoring (STEERING FAILURE). together.
24 RUD FAIL Set during Additional safety by monitoring the steering gear and the feed- 2.4.1
: Initial Putting into Operation. back system. The tolerance range can be set in steps from 1 to
Basic setting in the harbour. 9 degrees.
The steering gear system should
also be monitored, (Steering Fai-
lure)
Set rudder=actual rudder after
tset
25 CRS TYPE Set during PILOTSTAR D must be set to the physical interface of the gyro 2.4.1
: Initial Putting into Operation. compass system. Appen.
Basic setting in the harbour. ......
26 NAV TYPE Set during PILOTSTAR D must be adapted to the ship--specific navigation 2.4.1
: Initial Putting into Operation. reaceiver. For list of available telegramme types, refer to the Appen.
Basic setting in the harbour. Navigation Receiver Manual. .....
27 LOG TYPE Set during PILOTSTAR D must be adapted to the ship--specific log sen- 2.4.1
: Initial Putting into Operation. sor. For list of available transmission, refer to the Log Sensor Appen.
Basic setting in the harbour. Manual. ......
28 MAG TYP Set during PILOTSTAR D must be set to the physical interface of the 2.4.1
: Initial Putting into Operation. magnetic or fluxgate compass system. Appen.
Basic setting in the harbour. Sonde or coursebus transmission. ......
29 SER OUT Set during A digital or an analog repeater indicator can be connected to 2.4.1
: Initial Putting into Operation. the PILOTSTAR D. According to the type of R--Anschütz re- Appen.
Basic setting in the harbour. peater indicator, the corresponding output interface must be ......
If a repeater system is to be con- connected.
nected to the PILOTSTAR D
30 CHECK- Information. Internal functional check. 2.4.1
SUM Checksum for data transmission
of control unit and connection
box.
31 sin mag... Information. Functional check. 2.4.1
When the external signal feed Indicates the coded sin magnetic compass signal. Appen.
(magnetic compass--PILOTSTAR No coded signal: transmission path or compass defective. ......
D) is to be checked.
32 cos mag... Information. Functional check. 2.4.1
When the external signal feed Indicates the coded cos magnetic compass signal. Appen.
(magnetic compass--PILOTSTAR No coded signal: transmission path or compass defective. ......
D) is to be checked.
33 remote .... Information. Functional check. 2.4.1
When the external signal feed Indicates the hardware status Appen.
(REMOTE--MODE) is to be chek- 0= no remote operation ......
ked. 1= free for remote operation
34 act.rud... Information. Functional check. 2.4.1
When the external signal feed Indicates the actual rudder setting from the sensor in ”1/10° ” Appen.
(from the feedback unit) is to be above the feedback unit. Rudder offset and rudder scaling can ......
checked. be adjusted.

PILOTSTAR D
Autopilot

35 rudsw/min Information. Functional check. 2.4.1
.... In case of NFU rudder control Checks the RUD SLACK setting. The switch pulses / min for Appen.
(Bang--Bang control). the steering gear are counted and indicated. ......
Test run required. A reduction in RUD SLACK increases rudder activity and the-
reby the accuracy of the control.
Attention: Rudder Hunting occurs when RUD SLACK
selection is too low.
36 tiller .... Information. Functional check of the tiller (FU / NFU) 2.4.1
When the external signal feed for Indicates a coded rudder value, depending on the set rudder Appen.
the selected tiller is to be chek- scaling (+ for starboard, -- for port). ......
ked. Offset and ccale adjustment of the FU tiller 1/10°.
NFU tiller mid--position --700, STBD approx. +672, PORT
--672.
37 rudcom .... Information. Functional check. 2.4.1
When the set rudder output is to Indicates a coded set rudder value in 1/10°. Appen.
be checked. ......
38 log .... Information. Functional check. 2.4.1
When the external signal feed Indicates the speed from the log in 1/10° KN. Appen.
(from log sensor) is to be chek- ......
ked
39 step .... Special service information. Functional check. 2.4.1
When the external signal feed Indicates the step input from the gyro compass. Appen.
(from the gyro compass) is to be ......
checked (step transmission)
40 hex 1--3 .... Information. Functional check. 2.4.1
Allows remote diagnostics via 3 callable hexcodes. Appen.
......
41 xte i 0--2 Set only in particular circumstan- The integral component of the track controller can be increa- 2.4.1
: ces sed. Appen.
TRACK operating mode. The increase can be carried out in 2 steps. ......
Special service setting for navi- Aim: the track error is to be better compensated for in case of
gation receivers with XTE tele- stronger drift.
gram transmission. Disadvantage: Longer settling processes can be expected in
The track controller reacts too case of abrupt disturbance changes.
slowly to a strong drift.
Attention: The selected setting is deleted after a POWER
DOWN. The DEFAULT value is effective after a
renewed putting into operation.
42 xtefi 0--1 Set only in particular circumstan- If track error jumps occur -- caused by the navigation receiver -- 2.4.1
: ces then xtefi can be set to 1. Appen.
TRACK operating mode. The transmission errors are reduced by switching on an elec- ......
Special service setting for navi- tronic filter.
gation receivers with XTE tele- Disadvantage: The entire track control is less accurate.
gram transmission.
Transmission errors from the na- Attention: The selected setting is deleted after a POWER
vigation receiver. DOWN. The DEFAULT value is effective after a
43 autotrim Set only in particular circumstan- The heading controller should compensate for DRIFT EF- 2.4.1
: ces FECTS within an adequate time. Appen.
HEADING CONTROL operating The time can be shortened or lengthened with this setting (inte- ......
mode. gral component of the controller is changed).
Heading deviations, that can only 0 = fast/250 = slow
be corrected after a longer period
of time, occur during a test run. Attention: The selected setting is deleted after a POWER
DOWN. The DEFAULT value is effective after a
44 cts =.... Information. Functional check. 2.4.1
When the external NMEA feed Indicates the Course to Steer from the NMEA telegram (or the Appen.
(track course) is to be checked. track course). ......

PILOTSTAR D

45 xte meter.. Information. Functional check. 2.4.1
Indicates the track deviation in Indicates the Cross Track Error from the NMEA telegram and Appen.
the text display. can be used for optimization of the track controller setting. ......
46 COLD Special service activity. Re--establishes a start configuration (DEFAULT values) when a 2.4.1
STRT When all ship--specific values are configuration is defective. Appen.
ro be replaced by default values ......
(e.g. initial putting into operation)
47 VERSION E Check of the program version Indicates the actual program version 2.4.1
(in case of a software update). Appen.
......
48 ex?=1 Return from service mode to Fastest possibility for leaving the service mode. 2.4.1
notrmal mode (operator level) Changed configuration values are not stored! Appen.
......

PILOTSTAR D
Autopilot
PilotStar D Ersatzteilkatalog
Operator Unit and Connection Unit ANSCHÜTZ
SPARE PART S
CAT A LOGUE
Type 102--864.NG003 and 102--863.NG001 E03
2
6
Pos. Lager--Nr. Benennung Designation Zeichnungs--Nr. Stck. Herst.Code Versorgungs--Nr.

Stock--No. Part--No. Qty. MFRC NSN
4002082 Bediengerät, neu Operator Unit, new 102--864.NG003 D2865
grau grey
1 4002326 Bediengerät, AT Operator Unit 102--864.NG003 AT D2865
grau reconditioned; grey
4001904 Bediengerät, AT Operator Unit 102--864.NG001 E03 D2865
schwarz reconditioned; black AT
4002102 Anschlusseinheit, Connection Unit, 102--863.NG001 E03 D2865
neu new
2
4002492 Anschlusseinheit, Connection Unit, 102--863.NG001 E03 D2865
AT reconditioned AT
3 3600205 Verdrahtungskarte Wiring PCB 102--863.20 E01 1 D2865
4 3600206 Klemmenkarte Terminal PCB 102--863.23 E01 1 D2865
5 3600197 I/O--Karte I/O PCB 102--863.22 E01 1 D2865
6 3610437 CPU--Karte CPU PCB 102--863.100 E04 1 D2865
All depicted items hich

w are notmentionedin the text are not applicable for this uni
t. Since further dev
elopment maynecessitate making modifications toisting
ex
equipment, its conformity
with the relevant illustrations and draw
ingsis not always ensured.Raytheon Anschütz iwll be underno liabilitywhatever that mayarise
from anysuch differences.
14.636RAN/ST--SU 0903 EDITION 03 1 of 1

PILOTSTAR D

PILOTSTAR D
Autopilot
Annexes:
The PILOTSTAR D Operator Unit Annex -- 1
Information on the Current Parameters Annex -- 2
The Parameter Management Annex -- 3
The Parameter Management (Service) Annex -- 4
Set of Drawings:
Connection Diagram AP02 C S01 HP051
Dimensional Drawing Connection Unit 102 E 863 HP005
Assembly Drawing CPU PCB 102 D 863 HP100
Assembly Drawing I/O PCB 102 D 863 HP011
Circuit Diagram Junction PCB 102 D 863 HP023
Assembly Drawing Junction PCB 102 D 863 HP010
Dimensional Drawing Operator Unit 102 D 864 HP005
Dimensional Drawing Operator Unit 102 D 864 HP014
Dimensional Drawing Feedback Unit 101 C 529 HP005
Assembly Drawing 101 D 529 HP006
Feedback PCB 101 E 529 HP010
Retro Package Type 102--839/840 21--CO--D--X00007--C
Short Instruction
Edition: March 13, 2009 Annex Content 3060.DOC012

PILOTSTAR D
3060.DOC012 Annex Content Edition: March 13, 2009

PILOTSTAR D
Autopilot
Keys of the Operator Unit LCD Display

• Switches to course
control (ON) when there is
no steering mode selector
or when the latter is in
position AUTO.
• Opens the parameter list LED panel is alight.
with the parameter • Switches the operator unit
Yawing. into standby mode (OFF)
• Permits paging within
parameter list in direction • If existing, changes over
of arrow. to track control, LED • Actual heading indication • Status indication; in • Indicates track deviation in
PILOTSTAR D
panel is alight. with indication of heading passive mode, the nm.
ANSCHÜTZ
With any key depression, sensor corresponding indication is Indicates the preset
the current distance of switched dark. monitoring limits
• Opens the parameter list between the ACTUAL The text cannot be read
PARAM OFF TRK
with the parameter Auto
Yaw VARI. On/Off POSITION and the SET • Continuous indication
Rudder OFF CRS
LIMITS GYRO COURSE is indicated of most widely used
• Permits paging within YAWING SET COURSE (xte meter ...).
Rud EXT. CRS parameters
parameter list in direction RUDDER Track
STANDBY PARAM OFF TRK • Indicates the course
of arrow CNTRUD • Switches to course control
10 20 30 difference of between set
SPEED CONFIG VARI.
with trimming function, GYRO OFF CRS
course and actual course.
Trim LIMITS
RUD LIMIT 15 PORT STBD Man LED is alight. Indicates the preset
2nd set of parameters is YAWING EXT. CRS
SET COURSE monitoring limits
loaded and faded in, • Indicates the controller RUDDER STANDBY
• Acknowledges the
Rudder limitation is parameter values for CNTRUD
internal alarm signalling. Set 10 20 30 CONFIG • SET HEADING indication
cancelled. 1st or 2nd set of
• LED panel alight as long SPEED
Test • Changes over to manual parameters
as an alarm, error or
steering control. LED panel RUD LIMIT 15 PORT STBD
track control message is
is alight.
applied
Rudder limitation is
cancelled. • Text line; indicates the • With normal operation, the • Ruder angle indication
• Dimmer for key and LCD • Masks out the text line, the • Set course pre--setting via • Set course pre--setting corresponding parameter status indication is dark. (rudder blade) with preset
illumination pointer of the parameter list (resolution 0.5°) the rotary (resolution 1° ) via PORT or and fades in alarm or The status indication rudder limitation
• Varying of parameter values is set to list start knob in the STBD keys in the disturbance messages as flashes on opening or (resolution 2°)
• Storing the operational (see. Annex 3--2) operating mode: Course operating mode: Course a plain text information modifying the ship--specific
parameters by short--time Within the CONFIG control or course control control or course control CONFIGURATION. As a
release (CONFIG. on/off) parameter list the text line with trimming function with trimming function rule, the ship--specfic data
• Change--over of GYRO/ cannot be masked out! or in the or in the will be modified only with
MAGNETIC compass • Acknowledges the operating mode: Manual operating mode: Manual first putting into operation or
• Enabling (ON) or locking adjusted synchronization control, dodge function control, dodge function in case of system
(OFF) of the parameter list value (only with step (emergency turn) with (emergency turn) with extension.
found under CONFIG transmission) direct rudder activation direct rudder activation
(PILOTSTAR configuration). • LED panel is alight with any (resolution 1°). (resolution 1°).
• Display test (actuate both parameter fading--in
keys simultaneously)
Set Set
Edition: March 13, 2009 Annex -- 1 3060.DOC012

PILOTSTAR D
Autopilot
NOTES Operationally--conditioned parameter list
Parameter Designa- Signification Possible Indication on LCD

tion in Text Line Value from/to Display
Own Parameter Setting for GYRO or MAG on actual
COMPASS ... Permits selection of course sensor (see
Rud Chapter 3.1.4). GYRO for a gyro compass course display.
MAG for a magnetic or fluxgate compass.
RoT ° / MIN
VARIATION ... Takes into account the magnetic course -- 35° to+35° In 0.5° steps
correction value.
RUD.LIMIT TRACK LIM ... Determines monitoring limit, see OFF TRK 0.2nm to In 0,1nm steps
bar--graph indication on LCD display. 1.2nm
OFF TRK
YAWING OFF HEADING ... Determines the off--course alarm threshold, 5° to 30° In 5° steps
see OFF CRS bar--graph indication on
OFF CRS
LCD display.
RUDDER Max. permissible rate of
ROT ° / MIN ... Determines the rate of turn for a heading 10°/min to
change. 100°/min, full turn. In 10° steps.
CNT.RUD RUD.LIMIT ... Determines the rudder limitation; 5° to 35° In 5° steps; this corres-
see rudder angle graph on LCD display for ponds to one segment in
PORT and STBD. the rudder angle graph.
SPEED Yaw YAWING ... To be adjusted in accordance with seaway. 1 to 6 Numerical value
(1st set of parameters)
TRIM YAW Rud RUDDER ... Determines the proportional gain of the 1 to 9 Numerical value
(1st set of parameters) heading controller.
CNT.RUD ... Determines the differential component of 1 to 9 Numerical value

TRIM RUD the heading controller with adequate coun-
(1st set of parameters)
ter--rudder effect.
SPEED ... Determines the adaptation of the heading 5kn to 60kn In 5kn steps; this corres-
TRIM CNT controller to the ship’s speed. This pre--set- ponds to one segment in
(1st set of parameters) or
ting can be made manually or automatically the speed graph indication.
(log sensor). log
TRACK < >
TRIM YAW ... Must be adjusted acc. to seaway. 1 to 6 Numerical value
(2nd set of parameters)
TRIM RUD ... Determines the proportional gain of head- 1 to 9 Numerical value
(2nd set of parameters) ing controller.
NOTE
For detailed information about the parameters see also chapter TRIM CNT ... Determines the differential compnent of the 1 to 9 Numerical value
”Parameter Information” at the beginning of the description. (2nd set of parameters) heading controller with adequate counter--
rudder effect.
TRACK < > ... Supports the gain of the track controller, --280..0.. Numerical value
e. g. in case of heavy drift. +280
(Mean gain setting = 0)
SYNCHRON. For a gyro compass with STEP transmis- 0.0° to Numerical value
sion, SYNCHRONIZATION must be perfor- 359.9°
med on putting into operation.
CONFIG Permits storage of the operational parame- off / on
Yaw
ters and access to the ship--specific para-
meters.

PILOTSTAR D
Autopilot
Parameter Management in PILOTSTAR D

Survey of Parameters
Operationally--conditioned Parameter list for the Survey of maximally permissible parameter values
parameter list PILOTSTAR D configuration
Rud
COMPASS .... Rud CONFIG. on Parameter Significance Default Ship--specific
VARIATION .... XTE TRIM .... Code Text Adjustment Adjustment
TRACK LIM .... SPECI SL .... XTE TRIM 0......1000 numerical 0
OFF HEADING .... RELAY ....
SPECI SL --50....+150% numerical 0
RoT ° / MIN .... FIX TURN ....
RUD.LIMIT .... RELAIS Tiller, Alarm status Tiller
FU DIFF ....
Yaw FIX TURN off...10...180° 10° off
Entry into YAWING .... S LENGTH ....
parameter Neutral range (no text line) FU DIFF off...1....8 numerical off
Rud MAGFILTER ....
list RUDDER ....
RUD SCALE .... S LENGTH 15,30,50,70,120,150,180 numerical 50m
CNT.RUD ....
RUD SLACK .... MAGFILTER 1,2,3,4,5,6,7,8,9,10 numerical 2
SPEED ....
RUD LEAD .... RUD SCALE in steps from 35°to90°, 95,100* 5° steps 35°
TRIM YAW ....
RUD SPEED .... RUD SLACK 0.3,0.6,0.9,1.2,...3 0.3 steps 1.2
TRIM RUD ....
RUD FAIL .... RUD LEAD 0 to 40 numerical 0
TRIM CNT ....
CRS TYPE .... RUD SPEED 0.5° to15° /s 0.5° steps 3.0 °/s
TRACK < > ....
NAV TYPE .... RUD FAIL off.... 1,2,3,4,5,6,7,8,9° numerical off
SYNCHRON.
Yaw LOG TYPE .... CRS TYPE 1 ⇒ Std20 course bus status 1
CONFIG. off/on
MAG TYPE .... 2 ⇒ ACO Step Std14
SER OUT .... 3 ⇒ Sperry Step
These keys are required for setting Yaw
CHECKSUM .... 4 ⇒ No--Gyro
and storing parameters. SERV CODE .... NAV TYPE 0 ⇒ $IIHSC ... status
The pilot star configuration must be 1 ⇒ $IIAPB.... 1
switched free for NEW settings via
(on). On quitting the pilot star configu- 2 ⇒ $IIAPA...
(off) Test
(on) ration, the following request is made 3 ⇒ $IIXTE...
automatically: LOG TYPE 1 ⇒ LOG 200pulses/nm status 1
STORE? sel (Y/N)
2 ⇒ NMEA LOG serial
OFF TRK 3 ⇒ LOG X pulses/ nm
STORE (Y) SET OFF CRS
1x The new configuration is stored. (optional)
Set Data stored MAG TYPE 1 ⇒ ACO--Sonde or status 1
Flux--Gate
or CONFIG
2 ⇒ Flux--Gate serial
STORE (N) SET 3 ⇒ NO MAG
2x The original configuration remains un- SER OUT D--REP.⇒ Digital repeater status D--REP
changed The status display flashes
Data unchanged on opening the pilot star output serial
Set
configuration. (S4) RS232
A--REP.⇒ Analog repeater
For a gyro compass with The status display extin-
guishes on quitting the pilot output
Set SPERRY step transmission,
synchronization must be made star configuration. STD 20, RS422
on putting into operation CHECKSUM
(SYNHRONIZE!).
Then actuate the SET key. The
value changes over from the
text line into the actual course
* RUD SCALE setting 95/100 can be used for the twin rudder function.
indication.
Rudder scaling adjusts itself for 35°√45°.
The set rudder value is halved in order to reduce rudder action.
If the PILOTSTAR D is made
dead for a short time, the value
gets lost! NOTE
For detailed information about the parameters see also chapter
”Parameter Information” at the beginning of the description.

PILOTSTAR D
Autopilot
Parameter Management in PILOTSTAR D Parameter list for service support. After disconnection of the operating voltage,
all individual parameter settings will lose ther valency.
Survey of Parameters With connection of the operating voltage, all adjustable parameters will be set to
default values (in bold--face type here).
Operationally--conditioned Parameter list for the Survey of maximally permissible parameter values
parameter list PILOTSTAR D configuration NOTE:The parameters** are only used when the sentence$IIXTE is used.
Rud ”xte i 0--2”: Function is similar to ”XTE TRIM”, but is used as a limiter since
COMPASS .... Rud CONFIG. on Parameter Significance Default Ship--specific the ”$IIXTE” sentence doesn’t include the track course.
VARIATION .... XTE TRIM .... Code Text Adjustment Adjustment ”xte fi 0--1”: Filters the cross track error ”jumps” which can be caused by GPS
TRACK LIM .... SPECI SL .... selective availability or possible effects of poor radio reception . ”0”
XTE TRIM 0......1000 numerical 0 has a low filter effect, and the pilot will respond to errors or jumps
OFF HEADING .... RELAY .... faster. ”1” provides a greater filtering of the off track data and
SPECI SL --50....+150% numerical 0
RoT ° / MIN .... FIX TURN .... ignores jumps of >100 meters.
RUD.LIMIT .... RELAIS Tiller, Alarm status Tiller
FU DIFF ....
Yaw FIX TURN off...10...180° 10° steps off
Entry into YAWING .... S LENGTH .... Rud SERV CODE 3
parameter Neutral range (no text line) FU DIFF off...1....8 numerical off sin mag .... (sin magnetic compass, coded)⊕
Rud MAGFILTER ....
list RUDDER .... cos mag .... (cos magnetic compass, coded)⊕
RUD SCALE .... S LENGTH 15,30,50,70,120,150,180 numerical 50m
CNT.RUD .... remote (hardware status, OFF -- 1)
RUD SLACK .... MAGFILTER 1,2,3,4,5,6,7,8,9,10 numerical 2 act.rud .... (actual rudder from feedback unit)⊕
SPEED ....
RUD LEAD .... RUD SCALE in steps from 35°to90°, 95,100* 5° steps 35° rudsw/min .... (rudder order per minute)⊕
TRIM YAW .... tiller .... Tiller value (tiller active)⊕
RUD SPEED .... RUD SLACK 0.3,0.6,0.9,1.2,...3 0.3 steps 1.2
TRIM RUD .... rudcom .... (set rudder)⊕
RUD FAIL .... RUD LEAD 0 to 40 numerical 0 log= .... (speed from NMEA log 0..60)⊕
TRIM CNT ....
CRS TYPE .... RUD SPEED 0.5° to 15° /s 0.5° steps 3.0 °/s step .... (step input from GYRO)⊕
TRACK < > ....
NAV TYPE .... RUD FAIL off....1,2,3,4,5,6,7,8,9° numerical off hex 1--3 .... (input/output status 1--3)
SYNCHRON. **
Yaw LOG TYPE .... xte i 0--2 .... (increase of the i component: 0
CONFIG. off/on CRS TYPE 1 ⇒ Std20 course bus status 1
factor 2 1, factor 3 2)
MAG TYPE .... 2 ⇒ ACO Step Std14 xte fi 0--1 .... (suppression of track error jumps,
**
SER OUT .... 3 ⇒ Sperry Step poor filter effect 0;
Yaw
CHECKSUM .... 4 ⇒ No--Gyro high filter effect 1)
These keys are required for setting
SERV CODE .... autotrim .... (automatic course control with
and storing parameters. NAV TYPE 0 ⇒ $IIHSC ... status
The pilot star configuration must be trim function 0...250)
1 ⇒ $IIAPB.... 1 cts .... (CTS from NMEA telegram)⊕
switched free for NEW settings via
(on). On quitting the pilot star configu- 2 ⇒ $IIAPA... xte meter .... (XTE from NMEA telegram)⊕
(off) Test
(on) ration, the following request is made 3 ⇒ $IIXTE... COLD STRT
automatically: VERSION E .... Program version
LOG TYPE 1 ⇒ LOG 200pulses/nm status 1
STORE? sel (Y/N) ex?=1 (leaving the service mode, setting 1
2 ⇒ NMEA LOG serial message on text display)
OFF TRK 3 ⇒ LOG X pulses/ nm NORMAL MODE
STORE (Y) SET OFF CRS (⊕ external signal input)
1x The new configuration is stored. (optional)
Set Data stored MAG TYPE 1 ⇒ ACO--Sonde or status 1
The cold start is released, the
Flux--Gate INITIALIZED
PILOTSTAR D is initialized with the
or CONFIG
2 ⇒ Flux--Gate serial default values!
STORE (N) SET 3 ⇒ NO MAG
The service parameter list is closed.
2x The original configuration remains un- SER OUT D--REP.⇒ Digital repeater status D--REP
changed The status display flashes The operationally parameter list is now available.
Data unchanged on opening the pilot star output serial
Set
configuration. (S4) RS232
A--REP.⇒ Analog repeater Enabling the service code:
For a gyro compass with The status display extin-
output Actuate the key until the code number 3
Set SPERRY step transmission, guishes on quitting the pilot
star configuration. appears in the text line.
synchronization must be made STD 20, RS422
By actuating the keys, the intended
on putting into operation CHECKSUM Rud
Yaw parameter can be called up.
(SYNHRONIZE!).
Then actuate the SET key. The SERV CODE 3 numerical 0
value changes over from the Leaving the service parameter list:
text line into the actual heading Yaw Call up the text line SERV CODE 3.
* RUD SCALE setting 95/100 can be used for the twin rudder function.
indication.
Rudder scaling adjusts itself for 35°√45°. Rud
Adjust the code number 0.
The set rudder value is halved in order to reduce rudder action.
If the PILOTSTAR D is made
dead for a short time, the value
gets lost! NOTE
For detailed information about the parameters see also chapter
”Parameter Information” at the beginning of the description.

Operating Instructions, Short Version Operating Instructions, Short Version
Autopilot
Indications Remarks, Indications Remarks,

Notes Notes
¡ PILOTSTAR D, Status Indications shows STANDBY £ Heading Control with TRIM FUNCTION
-- Steering mode selector has been set to position HAND -- This operating mode will be active on actuating the key twice.
Auto
-- A secondary steering station is active (2nd operator unit, tiller) On/Off
YAWING
OFF CRS The resulting situation is as follows:
RUDDER GYRO
The following device functions remain active: The 2nd set of parameters appears and is effective.
CNTRUD Trim
Indication of current heading and rudder position. Trim Man The rudder limitation is eliminated.
EXT. CRS Man 10 20 30
Set heading indication is caused to follow up the heading. SPEED The HEADING is accepted as SET HEADING presetting.
STANDBY Possible alarm or error messages appear in the text line Heading change manoeuvres are now to be performed
(no audible alarm signalling !!!!). OFF CRS exclusively via the rotary knob.
SET COURSE
Within the text line, the manual trim rudder value in ”°” can be
© Switching on PILOTSTAR D read off (see Point ¤).
-- The steering mode selector is to be set to position AUTO
Auto
HAND AUTO On/Off
The operating conditions ia as follow: TRM RUDDER--3 PORT STBD
The autopilot is avtive, operating mode COURSE CONTROL.
The HEADING is accepted as SET COURSE presetting. ¤ TRIMMING the rudder presetting
GYRO
The ship’s course is kept with the last active parameter settings.
The bar graph indication shows possible set course/heading -- By actuating an arrow key, the intended TRIM rudder value can
Auto
OFF CRS
differences. On/Off be adjusted.
YAWING
Possible alarm or error messages --in conjunction with audible GYRO The sign describes the rudder position, ”--” for PORT, ”no sign”
Auto SET COURSE RUDDER
On/Off signalling-- appear in the text line. for STBD.
CNTRUD Trim
Man -- If both keys are actuated simultaneously, the TRIM value will
10 20 30
SPEED automatically be reset to 0°.
¢ Course Change Manoeuvre OFF CRS The resulting situation is as follows:
-- The heading change manoeuvre can be initiated by turning the Indication and situation as under Point £. The rudder position
Auto SET COURSE
rotary knob or by actuating an arrow key.
On/Off changed by 1° steps. The automatic rudder bias is now switched
In case of a heading change, the ship is led to the new set
GYRO
off. The TRIM rudder value is not stored, after changing the
heading always through the shortest way.
operating mode, it will be set to 0°. The automatic rudder bias will
now be connected again.
OFF CRS The heading change manoeuvre is initiated immediately. The ship TRM RUDDER--3 PORT STBD
starts turning with the preset rate of turn (RATE OF TURN) into
Changing the operating mode may bring about an unintended
SET COURSE the adjusted SET HEADING value.
reaction of the ship. For this reason, the TRIM rudder value
During a heading change manoeuvre, the parameter value for the
should be reset to 0° step by step before the operating mode is
rate of turn (ROT °/min.) has been not varied!
changed.
For the rate--of--turn adjustment of ROT °/min. full, the rate--of--
turn limitation is not active.
¥ Operating Mode MANUAL CONTROL (DODGE Function)
PORT STBD -- By actuating the key for the first time, this operating mode is
With this adjustment, the rudder position is limited only by the Trim
rudder angle limit stting RUD.LIMIT. Man adjusted.
Trim
GYRO The resulting situation is as follows:
The resulting situation is as follows:
Man The operating modes of HEADINGCONTROL or
For the period of heading change, the OFF HEADING monitoring
SET COURSE TRACK CONTROL are no longer active.
is deactivated. If the limit setting is exceeded, this part of the bar
graph indication starts flashing.
The rudder angle indicator shows the set rudder value. The The operational parameter settings are now in effective
heading change manoeuvre is terminated as soon as the (no rudder limitation, no RATE OF TURN presetting).
HEADING indication corresponds to the SET HEADING PORT STBD
MAN RUDDER A rudder position of 0° is adjusted as rudder value.
indication.
The OFF HEADING monitoring is active. The SET HEADING is caused to follow up the HEADING.
¦ Heading Change Manoeuvre via MANUAL CONTROL

-- The rudder presetting can be adjusted via the rotary knob or via
Trim
Man the PORT/STBD keys (resolution 1°).
-- If both keys are actuated simultaneously, the rudder is
GYRO automatically brought to midships position.
SET COURSE The resulting situation is as follows:
Indication and situation as under Point ¥.
PORT STBD
The rudder order acts directly upon the steering gear.
MAN RUDDER --10

The current rudder angle is numerically indicated via the next
line. The sign indicates the rudder position, ”--” for PORT and
”no sign” for STBD.
Edition: March 13, 2009 3060.DOC012

Operating Instructions, Short Version Operating Instructions, Short Version
Autopilot
Indications Remarks, Indications Remarks,

Notes Notes
§ Operating Mode TRACK CONTROL (in Conjunction with a Navigation Receiver only)
Change--over between Main and Secondary Operator Units
-- Change--over is performed by actuating the key on the
-- The following pre--conditions have to be fulfilled: Main operator unit intended operator unit.
Track • Track control on the navigation receiver
YAWING PARAM OFF TRK
RUDDER GYRO • The ship has been turned into the AHEAD direction with VARI. The resulting situation is as follows:
GYRO OFF CRS
regard to the track (angular range approx. α 60°)! LIMITS The main operator unit is given the STANDBY status
CNTRUD
10 20 30 • The ship has been within the track monitoring limits. (see Point ¡).
SPEED RUDDER
STANDBY The secondary operator unit is declared to be the steering
CNTRUD
10 20 30
Track -- By actuating the key, the operating mode is preselected. SPEED station. Change--over is announced via an audible signal
PORT STBD repeated three times.
OFF TRK The resulting situation is as follows:
Audible signalling is heard, the LED of the symbol key is flashing. For changes in configuration, switching back to the main
OFF CRS
Within the text line, the track heading data offered by the operator unit is required.
SET COURSE navigation receiver is indicated. Secondary operator unit
EXT. CRS Actuation of the symbol key results in that the audible signalling
PARAM OFF TRK
is silenced. The text line becomes dark, the track heading data is
VARI. GYRO
accepted as set heading presetting and appears in the Auto OFF CRS
On/Off LIMITS
SET HEADING indication. YAWING EXT.CRS SET COURSE
The OFF TRACK and OFF HEADING monitoring will be active RUDDER
STANDBY
PORT STBD CNTRUD
only when the SET HEADING presetting is reached. 10 20 30
SPEED
xte meter 140 (for approx. 3s) If the ship is still outside the pre--defined monitoring limits, sub--
segments of the bar graph indication will be flashing. This track PORT STBD
NEW TRACK 163.5 run--in phase is terminated as soon as the planned track has
been reached. ¡¡ Change--over to Tiller Control (FU / NFU)
The rudder position indicator shows the set rudder angle by -- Change--over is performed by actuating the key on the tiller.
2° steps.
¨ Track Change
All operator units are given the STANDBY states (see Point ¡).
-- A pending track change manoeuvre is recognized via the The tiller is declared to be the steering station.
external navigation system. PARAM OFF TRK
Track
YAWING VARI.
LIMITS GYRO OFF CRS
RUDDER GYRO
The resulting situation is as follows: YAWING EXT.CRS SET COURSE
CNTRUD Within the text line, the new track heading appears. RUDDER
STANDBY
10 20 30 CNTRUD
SPEED The LED of the symbol key is flashing, audible signalling is 10 20 30
SPEED
heard. On actuating the symbol key, the track heading value
OFF TRK changes into the SET HEADING indication. PORT STBD
The text line becomes dark, the audible signalling is silenced.
OFF CRS
The track change manoeuvre is carried out via the ¡© Switching back to PILOTSTAR D
SET COURSE PILOTSTAR D.
EXT. CRS
-- Change--over is performed by actuating the key on the tiller.
Auto
If the track change manoeuvre cannot be initiated within an On/Off
-- or by actuating the key on the PILOTSTAR D operator unit.
adequate time, an exact track control is not longer possible.
The ship will continue on the still valid track course of the former
The resulting situating is as follows:
track section, thus leaving the planned route. PARAM
The main operator unit is switched to operating mode HEADING
OFF TRK
PORT STBD VARI. CONTROL.
The audible and visual signalling remain in existence until a OFF CRS
LIMITS GYRO The last HEADING is accepted as SET HEADING.
NEW TRACK 180.5 decision is made (acknowledgement of new track heading or Auto YAWING EXT.CRS SET COURSE
change--over to another operating mode). RUDDER
STANDBY
CNTRUD
oder 10 20 30
SPEED
Auto PORT STBD

On/Off
¡¢ Lamp test
-- The lamp test is released by actuating the keys simultaneously
PARAM OFF TRK (for a time of approx. 5s).
VARI.
GYRO OFF CRS
LIMITS
YAWING SET COURSE
EXT. CRS During the test phase
RUDDER
CNTRUD STANDBY -- all keys has been alight with equal intensity
10 20 30
SPEED -- all LEDs has been alight
Test -- within the LCD display, all sequents has been activated
PORT STBD
-- audible signalling has been heard
Subsequent to the test, the previous operating mode with the
corresponding indications adjusts itself again.
Edition: March 13, 2009 3060.DOC012

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Raytheon Anschütz GmbH

3060.DOC012 Edition: March 13, 2009

Operating mode of TRACK CONTROL

Edition: March 13, 2009 I 3060.DOC012

" Please note

3060.DOC012 II Edition: March 13, 2009

No. Action Effect Operator Note Reaction time

b) Switch over to manual control and use a

“RELAYS ALARM” output active

Edition: March 13, 2009 III 3060.DOC012

No. Action Effects Operator Note Reaction time

3. Hazard when accelerating or changing heading and in heavy seas

No. Action Effects Operator Note Reaction time

Edition: March 13, 2009 IV 3060.DOC012

No. Action Effect Operator Note Reaction time

Edition: March 13, 2009 V 3060.DOC012

Intentionally left blank

Edition: March 13, 2009 VI 3060.DOC012

Edition: March 13, 2009 VII 3060.DOC012

1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--1

1.2 General Information on the Autopilot Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 1--6

1.3 Principle of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--7

1.4 Heading and Sensor Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--11

1.5 Function of the TRIM MODE (TRM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--12

1.6 System Extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--15

1.7 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--17

Edition: March 13, 2009 IX 3060.DOC012

2 Operating Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--1

3060.DOC012 X Edition: March 13, 2009

3.1 SAFETY NOTES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--1

3.2 Care and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--3

3.3 Shipboard Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--4

3.4 LED Displays on the CPU PCB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--7

3.5 Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--8

4 Installation, Putting into Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--1

Edition: March 13, 2009 XI 3060.DOC012

4.3.3 Feedback Unit (Dimensional Drawing 101C529 HP005) . . . . . . . . . . . . . . . . . . . . . 4--2

4.4 Cabling of the Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--3

4.5 Ship--specific Parameters (CONFIG. on) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--4

4.6 Cold start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--7

4.8 Installation of the Feedback Unit (Type 101--529) . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--17

4.9 Electrical Zero Adjustment on the I/O PCB (OFFSET)

4.10 Adjusting the Magnet Sonde 108--010 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--25

4.12 Sea Trial Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--28

4.13 A Guide to when which Parameters must be Set . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--33

Spare parts catalogue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--39

3060.DOC012 XII Edition: March 13, 2009

Edition: March 13, 2009 XIII 3060.DOC012

3060.DOC012 XIV Edition: March 13, 2009

Edition: March 13, 2009 XV 3060.DOC012

Change of “Preselected heading”

Direction of rotation of the preselected heading

3060.DOC012 XVI Edition: March 13, 2009

The regular system includes (see Fig. 1--5):

1.1.1 The Operator Unit

PARAM OFF TRK Auto

Fig. 1--1: Operator Unit PILOTSTAR D

Edition: March 13, 2009 1--1 3060.DOC012