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Raytheon Anschütz GmbH

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D -- 24100 Kiel
Germany
Tel +49--4 31--30 19--0
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www.raytheon--anschuetz.de

Follow--Up Amplifier AS

Type: 139--158 NG001/NG002


Type: 139--158 SA001

Description
Installation
Maintenance/Repair

3927.DOC010002 Edition: September 30, 2009


Revision: November 16, 2010
Revision: September 12, 2011
For information only:

No page number on the back site of the frontpage.


Latin numbered pages for content and preliminary remarks.
All other pages arabian numbered pages.

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Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

Section CONTENTS Page

1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Application of the Follow--Up Amplifier AS, Type 139--158 . . . . . . . . . . . . 2
1.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1.2 Mode of operation/functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.1 Mechanical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.2 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.3 Cable length and diameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2.4 Maximum loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Operation elements on the PC--board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2 Installation/Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.1 Installation and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.1.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1.2 Connecting the cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1.3 General Information about establishing a common ground connection . . 17
2.1.4 Connecting/selecting the supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.1.4.1 Supply voltage 230V AC or 380V AC to 460V AC . . . . . . . . . . . . . . . . . . . 19
2.1.4.1 Supply voltage 115V AC or 230V AC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.1.5 Connection/termination to a dual CAN--bus . . . . . . . . . . . . . . . . . . . . . . . . 23
2.1.6 Connecting CAN--bus and supply voltage to a Rudder Feedback Unit AS
(single CAN--bus) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.1.7 Connecting the analog output (set rudder) . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.1.8 Connecting control signals to the pumps . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.1.9 Connecting status signals (in and out) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.1.10 External 24V DC supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.2 Settings and Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.2.1 General remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.2.2 Menu structure of Follow--Up Amplifier AS configuration . . . . . . . . . . . . . . 33
2.2.2.1 “RUDDER SCALE” Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.2.2.2 “DEADBAND” Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.2.2.3 “RUDDER PULS” Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.2.2.4 “RUDDER LEAD” Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.2.2.5 “ANALOG GAIN” for set rudder output Configuration . . . . . . . . . . . . . . . . . 38
2.2.2.6 “STEERING FAIL” Threshold adjustment and activation . . . . . . . . . . . . . . 39
2.2.2.7 “STEERING FAIL” Delay activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.2.2.8 “ACTIVE FAULT” Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Edition: Sept. 30, 2009 I 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

2.2.2.9 “ERROR LOG” Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41


2.2.2.10 “SHOW SETTINGS” Displaying all values . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.2.2.11 “BITE/FRAM” Checking the Follow--Up Amplifier AS . . . . . . . . . . . . . . . . . 49
2.2.2.12 “RUDDER COM”Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
2.3 Recommended Procedure to adjust/configure a
Steering Control System AS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
2.3.1 Recommended Sequence of Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
2.3.2 Recommended Procedure to set Follow--Up Amplifier AS into Operation 52

3 Maintenance and Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55


3.1 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.2 Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.2.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.2.2 Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Drawings:

Dimensional Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . 139--158.HP005


Connection Diagram (NG001) . . . . . . . . . . . . . . . . . . 139--158.HP008
Connection Diagram (NG002) . . . . . . . . . . . . . . . . . . 139--158.HP009
Assembly Drawing with Configuration (NG001) . . . 139--158.HP100
Assembly Drawing with Configuration (NG002) . . . 139--158.HP103

3927.DOC010002 II Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

Please note:
The Follow--Up--Amplifier AS is an important part in the
Steering Control System. In view of the ship‘s safety,
particular attention must therefore be given to its care
and maintenance and make sure that only original
Raytheon Anschütz equipment/parts are used.

Caution!
Alarm outputs must be connected to a central
Alarm Panel/Signal Unit.
Alarm Panel or Signal Unit must have an acoustical and
optical alarm indication.

Caution!
Use only original Raytheon Anschütz spare parts

Caution!
Descriptions are for explanation only.
Please refer to the specific project documentation also.

Please note:
Configurations which are displayed in section 2.2.2.10
can be adjusted/changed with a special Service Tool
only.
This Service Tool should be utilized from well--trained
service personnel only.

Edition: Sept. 12, 2011 III 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

Caution!
Maintenance and repair must performed by trained and
qualified personnel who are awared in equipment safety
requirements.

Device may be damaged!


Exchange of spare parts, when power is on can cause
severe damage to the equipment.
Exchange of spare parts only with the supply voltage
switched off or disconnected.

Use care during maintenance and repair to avoid contact


with energized electrical conductors. Applicable safety
regulations must be followed, such as VDE, VBG 4,
OSHA 1919, and other consensus safety standards.

ESD = Electrostatic Sensitive Device

EBP
(Earth Bonding Point)

Dissipative mating
work surface

Devices/assemblies which are labeled as shown are electrostatic sensitive.


This label indicates, that handling ore use of this of this item may result in
damage from ESD if proper precautions are not taken.
To perform installation and/or calibration work appropriate protective measures
must be deployed.
All necesary equipment for this protective measures
can be supplied (on special order) with the Raytheon Anschütz Identnumber
1.990106.

3927.DOC010002 IV Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

1 Description

Please note:
The Follow--Up--Amplifier AS is an important part in the
Steering Control System. In view of the ship‘s safety,
particular attention must therefore be given to its care
and maintenance and make sure that only original
Raytheon Anschütz equipment/parts are used.

A Follow--Up Amplifier AS is a central component in a ship‘s Steering Control System.


It activates the valves of the rudder machines according to the difference between a set
rudder value (from a handwheel or an autopilot) and the actual rudder position.

Please note:
The Follow--Up--Amplifier AS, type 139--158 SA001 is
designed for an external 24V DC supply.
This type is available on special order only.

Please note:
The Follow--Up--Amplifier AS, type 139--158 NG001 is
designed for supply voltages 230V AC or 380V AC to
460V AC.
The Follow--Up--Amplifier AS, type 139--158 NG002 is
designed for supply voltages 115V AC or 230V AC.

Edition: Sept. 30, 2009 1 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

1.1 Application of the Follow--Up Amplifier AS, Type 139--158

Handwheel Tiller Autopilot

Steering Interface AS

Dual CAN--bus

Follow--Up Amplifier AS

Supply Supply
voltage voltage

CPU

Set rudder1 Set rudder2


r 10V r 10V
Single CAN--bus

Valve1 Valve2
Pump1 Pump2
Power Pump2
Power Pump1

Rudder Feedback Unit AS

Rudder shaft

Fig. 1 Principle of Follow--Up Amplifier AS, Type 139--158

3927.DOC010002 2 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

INPUT/OUTPUT
Communication

Single CAN--bus Dual CAN--bus

Main/ Rudder Feedback


Sec. stop bus BUS1 BUS2 Power
out
24V DC 24V DC

Power Supply2
Power Supply1 Power1 CAN2 Power2 (NG001)
CAN0 CAN1
(NG001) 230V AC or
230V AC or 380V AC to
380V AC to 460V AC
460V AC Power Supply2
(NG002)
Power Supply1
115V AC or
(NG002)
230V AC
115V AC or Sys Fail
230V AC Power Fail
Up +
Service
5V/15V
LCD display Wire Break
Down -- CPU
Set Steering
Fail

Indication of
direction
Port/Stb

P S P S

MOS FET
Port Starboard Port Starboard
Analog output1 Analog output2
(set rudder) HYDR. PUMP1 HYDR. PUMP2
(set rudder)

+/--10VDC 24..110VDC 24..110VDC +/--10VDC


(5 mA max.) (5 mA max.)

STEERING
OUTPUT

Fig. 2 Block diagram of Follow--Up Amplifier AS, Type 139--158

Edition: Sept. 30, 2009 3 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

1.1.1 Introduction

The Follow--Up Amplifier AS is used as rudder control amplifier within a ship Steering
Control System.

Rudder set information is transmitted via a dual CAN--bus system from a Tiller, a Hand-
wheel or an Autopilot (only with a Steering Interface AS) to the Follow--Up Amplifier AS.
This dual CAN--bus serves for a redundancy within this Steering Control System.
Actual rudder information (rudder position) is transmitted via a single CAN--bus from a
Rudder Feedback Unit AS to the Follow--Up Amplifier AS.
Both information are compared and the difference controls the pump valves of the rud-
der machine working in ON/OFF mode.
The output signal is doubled to control the valves
The 24V DC output of the amplifier is used to supply the Rudder Feedback Unit AS and
set rudder steering components.

1.1.2 Mode of operation/functions

Follow Up Mode (switching output)


The comparison (set rudder -- actual rudder) is recognized as controller difference and
activates the switching outputs. Depending on the sign of this difference the port or star-
board valve of the pump is opened.
Both channels are activated synchronously. The outputs are active until the difference is
balanced.

Deadband:
The deadband of the Follow--Up Amplifier avoids instable (hunting) rudder actions.
The deadband adjustments are defined and stored after installation of the rudder ma-
chine.
The deadband is dynamically adapted using pump1 or pump2 or pump1 and pump2.

Rudder lead:
At rudder machines with a big delay the rudder lead parameter can be switched on.
The adaption depends on the status of pump1 and pump2 and the tune is aligned to the
delay. This function switches off the valves before the set value is achieved.

3927.DOC010002 4 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

Rudder stop function:


The rudder stop function is used to keep the actual rudder position in case of a fail
(e.g. wire break). The switching outputs are disabled -- the analog outputs (set rudder)
are stopped.

Non Follow Up Mode (switching output)


In this mode the control signals from a NFU Tiller are passed directly to the valves of the
pumps.

Analog Outputs (set rudder) of the Follow--Up Amplifier AS


The analog set rudder outputs can be configurated into “trans” mode, “diff” mode or “Sin/
Cos” mode.

“Trans”:
Configurated in mode “trans” the set rudder output is scaled to a voltage value and out-
put according to the requested rudder position. The amplification can be adjusted from
0.1 to 10. Both channels are controlled synchronously.
In case of a fail with a “rudder stop”, the actual rudder position is kept and the rudder
position is fixed.

“Diff”:
Configurated in mode “diff” the difference of set rudder and actual rudder is calculated
and output as an analog value.
The amplification is adjustable from 0.1 to 10. With this gain the rudder control loop can
be tuned to the best performance by controlling the rudder speed.
In case of a fail with a “rudder stop” the control difference is set to zero and the actual
rudder position is kept.

Edition: Sept. 30, 2009 5 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

“Sin/Cos”
Configured in sin/cos mode one set rudder output is scaled in sine voltage the other is
scaled in cosine voltage.
Sin/cos can be used in 260 deg. azimuth steering.
Plug B5 = sine output, plug B6 = cosine output or vice versa.

Power:
The supply voltage for the Follow--Up Amplifier AS is monitored by the hardware of the
amplifier. In case of a power fail of both supplies a ”Sys Fail” (Power Fail) -- alarm is gen-
erated (plug B12, terminals 1/2).

Communication and alarm monitoring:


The communication via the dual and single CAN--bus system is monitored cyclic.
A Wire Break alarm (plug B12, terminals 7/8) can be generated.

Single CAN--bus:
If there is no information from the rudder feedback (single CAN--bus) the switching out-
puts are deactivated and the rudder position is kept. “Wire Break” (plug B12), terminals
7/8) and “Sys Fail” (plug B12, terminals 1/2) alarms are generated
Dual CAN--bus:
If there is no communication on CAN--bus1 and CAN--bus2 a “Sys Fail” (plug B12, termi-
nals 1/2) and a “Wire Break” (plug B12), terminals 7/8) alarm are generated. If only one
CAN--bus from the dual bus system is interrupted the communication changes to the
other bus line.

Attention
In case of a redundancy change from CAN--bus1 to CAN--bus2
and vice versa the user can get an alarm situation for about
3 seconds. The system checks the integrity of steering device
communication.
If both CAN--bus lines are disturbed alarm is pending and the
operator has to change over to NFU--Tiller steering

Steering Failure:
The rudder speed, rudder direction and rudder accuracy are monitored by the “Steering
Failure” monitoring system.
The rudder speed is monitored to a minimum value of 2q/sec. If one of these terms do
not match the limits the “Steering Fail” (plug B12, terminals 5/6) relay is activated and
distributed by bus.

3927.DOC010002 6 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

1.2 Technical Data

1.2.1 Mechanical Data

The mechanical data, as there are dimension and weight are shown in the Dimensional
Drawing 139--158.HP005.
For distance from Magnetic Compass see also Dimensional Drawing.

IP 22 (not for installation in rudder rooms).

1.2.2 Electrical Data

Supply voltage at Plugs B1 and B2 (NG001): 230V AC or


380V AC to 460V AC, +6%--10%
(+/-- 15% for max. 3 seconds)
47.5.......63.0Hz
Supply voltage at Plugs B1 and B2 (NG002): 115V AC or 230V AC, +6%--10%
(+/-- 15% for max. 3 seconds)
47.5.......63.0Hz
Power consumption: 3W

Outputs
24V DC at Plug B4 18--31V DC max., 9 W max.
Analog outputs (set rudder) at Plugs B5 and B6 +/--10V, 5mA
Valve control at Plugs B14 and B15: 24V DC, 2A max.
110V DC, 450mA max.
Supply voltage to a Rudder Feedback Unit AS
at Plug B9 18--31V DC max.

Inputs
Status information at Plug B13 Ri = 5 kOhm

Data via CAN--bus Plugs B7, B8 and B9 according to Dual CAN--bus


Raytheon Anschütz Specification

Edition: Sept. 30, 2009 7 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

1.2.3 Cable length and diameters

CAN--bus: 4x2x0.75 twisted/screened, maximum 400 meters


Status lines 12 mm
Power lines: 1.52 mm

1.2.4 Maximum loads

Input load (status contacts): 24V, Imax. 5mA


Output load (status/alarm contacts): 30V, Imax. 1A

3927.DOC010002 8 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

1.3 Operation elements on the PC--board

There is no user operation necessary after installation and configuration.


Below mentioned operation elements are necessary to perform a local configuration of
the Follow--Up Amplifier AS furthermore they can be helpful to detect errors on the
PC--board.

4 5 6 7 8 9 10 11 12 13 14 15 16 17

3 18
2 19
20
1 21
38 22
37
23
36
24

25
35
34
33
32

31 26

30 29 28 27

Fig. 3 PC--board layout of Follow--Up Amplifier AS, Type 139--158

Edition: Sept. 30, 2009 9 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

Desig. Pos. Type Remarks


(see Fig. 3)

B1 31 Plug Input AC1, Supply voltage from pump1 via starter box
B2 26 Plug Input AC2, Supply voltage from pump2 via starter box
B4 28 Plug 24V DC supply for external devices (as Steering Interface,
Handwheel)
B5 1 Plug Analog set rudder output (analog2)
B6 3 Plug Analog set rudder output (analog1)
B7 30 Plug CAN--bus1, Input/output via Steering Interface AS
B8 29 Plug CAN--bus2, Input/output via Steering Interface AS
B9 27 Plug 24V DC supply for connected Rudder Feedback Unit AS
CAN--bus0 for communication from/to Rudder Feedback
Unit AS
B12 22 Plug Status information -- SYS Power Fail, Steering Fail and
Wire Break
B13 36 Plug Status1 and Status2
Status1 = Steering mode selector switch (main or
secondary steering) (must be configured)
Status2 = Rudder stop status input
(kept rudder position)
B14 35 Plug ON/OFF output to control valve1 for connected pump
B15 25 Plug ON/OFF output to control valve2 for connected pump
B19 18 Plug Development only
B28 16 Display To configure the Follow--Up Amplifier AS
B30 12 Push F--, to select displayed function (direction “down”)
Button
B31 14 Push F+, to select displayed function (direction “up”)
button
B32 17 Push +, to adjust selected values (direction “up”)
Button
B33 19 Push --, to adjust selected values (direction “down)”
button
B35 10 Push RESET microprocessor
button
B37 15 Push Set, to acknowledge selected function or to set adjusted
button value (store to memory)
B39 11 DIP-- Development only
switches

3927.DOC010002 10 Edition: Sept. 12, 2011


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

Desig. Pos. Type Remarks


(see Fig. 3)

H1 5 LED Analog Output1 (set rudder) supply voltage --15V DC,


lights up green if present
H2 4 LED Analog Output1 (set rudder) supply voltage +15V DC,
lights up green if present
H3 7 LED Analog Output2 (set rudder) supply voltage --15V DC,
lights up green if present
H4 6 LED Analog Output2 (set rudder) supply voltage +15V DC,
lights up green if present
H5 2 LED Processor clock, flashes green in normal operation
flashes red in case of a system fail
flashes blue for development only
H6 8 LED Analog Output1 (set rudder) supply voltage +15V DC,
lights up green if present
H7 9 LED Analog Output2 (set rudder) supply voltage +15V DC,
lights up green if present
H14 32 LED CAN--bus2 of dual CAN--bus, lights up green if supply
voltage of 5V DC is present
H15 33 LED CAN--bus1 of dual CAN--bus, lights up green if supply
voltage of 5V DC is present
H16 34 LED Single CAN--bus, lights up green if supply voltage of 5V DC
is present
H17 13 LED SYS Power Fail, lights up green if there is no fail
H25 37 LED Monitor for valve1, lights up red if the pump is activated to
port
H26 38 LED Monitor for valve1, lights up green if the pump is activated
to starboard
H27 23 LED Monitor for valve2, lights up red if the pump is activated to
port
H28 24 LED Monitor for valve2, light up green if the pump is activated to
starboard
H30 20 LED Steering Fail, lights up green if there is a fail
H31 21 LED Wire Break, lights up green if there is a fail

Edition: 2 11 3927.DOC010002
Follow--Up Amplifier AS
Type 139--158

2 Installation/Configuration

For installation see dimensional drawing 139--158.HP005.


The Follow--Up Amplifier AS is built for wall mounting.

For connecting the cables see also respective System Wiring Diagrams (part of delivery
for the complete Steering Control System).

2.1 Installation and Connection

Caution!
Installation and setting into operation must be performed
by trained and qualified personnel.

Caution!
When establishing cable connections ensure that the cables
are disconnected from any power supply.
It is essential to ensure that all cables are disconnected from
the power supply, if necessary measure the voltage
beforehand and/or disconnect the relevant distributor.

Caution!
While connecting cables to the equipment, do not bend
cables to a cute angle, pinch, twist, or impart exessive force.
Cracks or damage to the cable coating can cause a fire or
electical shock.

Caution!
Alarm outputs must be connected to a central
Alarm Panel/Signal Unit.
Alarm Panel or Signal Unit must have an acoustical and
optical alarm indication.

3927.DOC010002 12 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.1.1 Installation

Observe precautions for handling electrostatic sensitive


devices (ESD).

2.1.2 Connecting the cables

For version NG001:


See also Fig. 6 and appended Connection Diagrams 139--158.HP008.
For setting the jumpers, see also appended Assembly Drawing 139--158.HP100.
For version NG002:
See also Fig. 7 and appended Connection Diagrams 139--158.HP009.
For setting the jumpers, see also appended Assembly Drawing 139--158.HP103.

CAUTION!
By connecting the supply voltage for the pumps
NG001: 230V AC or 380V AC to 460V AC
NG002: 115V AC or 230V AC
the Follow--Up Amplifier AS is set into operation.
There is no separate power switch.

CAUTION!
The shielding clamp should not be fixed to clamp.
Use tie wraps to fix cable position.

-- Strip the cable over a length of approximately 60 mm (see Fig. 4).


-- Be careful not to damage the screening.
-- Trim the screening until approximately 15 mm is on the cable.

Edition: Sept. 30, 2009 13 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

approx.
15 mm

approx. 60 mm
Fig. 4 Requirements for stripping the connecting cable
-- Insert the cable ends into the terminal strip and tighten the terminal screws.
-- Clamp the cable shield by fastening the suitable shielding clamp in the slits of the
bent mounting plate. The shielding clamp is available in three sizes.

Shrinking sleeves must be used.


But do not strip the shrinking sleve over the screening.

Fig. 5 Example for a proper cable connection

It is recommended to fasten the connected cables with


tie--wraps to the housing of the Follow--Up Amplifier AS
(as shown in Fig. 5).

3927.DOC010002 14 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

NG001

Fig. 6 Connection Diagram (inside the housing cover), NG001 only

Edition: Sept. 30, 2009 15 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

NG002

Fig. 7 Connection Diagram (inside the housing cover), NG002 only

3927.DOC010002 16 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.1.3 General information about establishing a common ground connection

In order to comply with the stringent EMC requirements, please follow by the information
given below regarding cable connections.
Use the cable types specified.

It is essential to ensure that these connections have a


common reference to the ship’s common ground.
Any additional components (options) must also be con-
nected to the common ground!

Fig. 8 Establishing a common ground connection

All common ground connections must be made as shown in Fig. 8.


The earthing cable attached to the cable bracket must possess a cross-section of mini-
mum 1.5 mm2.
The cable bracket should be mounted between two toothed washers.
Common ground connections must be free of corrosion and well fastened.

Edition: Sept. 30, 2009 17 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

2.1.4 Connecting/selecting the supply voltages

Caution!
By connecting the
230V AC or 380V AC to 460V AC supply voltage (NG001) or
115V AC or 230 AC supply voltage (NG001) the Follow--Up
Amplifier AS is set into operation.
There is no separate power switch.
Power switch of the starter box (to switch off both pumps)
must be used. Caution!
When establishing cable connections ensure that the cables
are disconnected from any power supply.
It is essential to ensure that all cables are disconnected from
the power supply, if necessary measure the voltage
beforehand and/or disconnect the relevant distributor

The Follow--Up Amplifier AS, type 139--158 NG001 is supplied with


230V AC or 380V AC to 460V AC.
The Follow--Up Amplifier AS, type 139--158 NG002 is supplied with
115V AC or 230V AC.
This is the supply voltage of the hydraulic pumps, the supply voltage is direct fed from
the starter box to the Follow--Up Amplifier AS.

It is to select by jumpers on the Follow--Up Amplifier AS if the pumps have a


230V AC or 380V AC to a 460V AC supply (jumpers are part of delivery) for version
NG001
and if the pumps have a 115V AC or 230V AC supply (jumpers are part of delivery) for
version NG002.

Note: Jumpers have to be set for both inputs (plug B1 and plug B2).

See also Fig. 6 or Fig. 7 and appended Connection Diagrams 139--158.HP008 or


139--158.HP009.

3927.DOC010002 18 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.1.4.1 Supply voltage 230V AC or 380V AC to 460V AC

Plug B1 Plug B2

Jumper

1234
1234

Cable
Cable

with jumpers
NG001 only

NG001 only
for 230V AC

with jumpers
1234
1234

Cable
Cable

for 380V AC
to 460 V AC
Jumpers are part of delivery

Fig. 9 Connecting/selecting the supply voltage (NG001)

Supply voltage/ Jumper


plug/terminal
l /t i l Plug B1 Plug B2
230V AC Jumper between Jumper between
terminals terminals
NG001

B1/1 and B2/1


B1/4 and B2/4 1 and 2 1 and 2
3 and 4 3 and 4
NG

380V AC to Jumper between Jumper between


460V AC terminals terminals
B1/1 and B2/1 2 and 3 2 and 3
B1/4 and B2/4

Edition: Sept. 30, 2009 19 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

230V AC
+24V DC
1 ~ +

Jumper
2 ~ --
3
Jumper

380V AC to 460V AC
+24V DC
1 ~ +
Jumper

2 ~ --
3

Fig. 10 Principle of selecting the supply voltage (NG001)

3927.DOC010002 20 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.1.4.2 Supply voltage 115V AC or 230V AC

Plug B1 Plug B2

Jumper

1234
1234

Cable
Cable

with jumpers
NG002 only

NG002 only
for 115V AC

with jumpers
1234
1234

Cable
Cable

for 230VAC

Jumpers are part of delivery

Fig. 11 Connecting/selecting the supply voltage (NG002)

Supply voltage/ Jumper


plug/terminal
l /t i l Plug B1 Plug B2
115V AC Jumper between Jumper between
NG002

B1/1 and B2/1 terminals terminals


B1/4 and B2/4 1 and 2 1 and 2
3 and 4 3 and 4
N

230V AC Jumper between Jumper between


B1/1 and B2/1 terminals terminals
B1/4 and B2/4 2 and 3 2 and 3

Edition: Sept. 30, 2009 21 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

115V AC
+24V DC
1 ~ +
Jumper

2 ~ --
3
Jumper

230V AC
+24V DC
1 ~ +
Jumper

2 ~ --
3

Fig. 12 Principle of selecting the supply voltage (NG002)

3927.DOC010002 22 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.1.5 Connection/termination to a dual CAN--bus

Jumper are part of delivery


Plug B7 Plug B8 Plug B7 Plug B8
(CAN1) (CAN2) (CAN1) Jumper (CAN2)
T L H GND T L H GND

1234 1234
1234 1234
T L H GND T L H GND
T L H GND T L H GND With termination
Without termination (last CAN--bus device)

Fig. 13 Connecting/terminating the CAN--bus to an actuator

Plug/terminal Remarks
B7/1 CAN--bus termination (T)
B7/2 CAN--bus low (L)
B7/3 CAN--bus high (H)
B7/4 CAN--bus ground (GND)

B8/1 CAN--bus termination (T)


B8/2 CAN--bus low (L)
B8/3 CAN--bus high (H)
B8/4 CAN--bus ground (GND)

Edition: Sept. 30, 2009 23 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

Principle of CAN--bus application:

The CAN--bus is a Multi-Master-Bus allowing


the connection of all devices and systems
regardless of their task and function. This
means that any number of devices can be
connected. These devices must be designed
Dual CAN--bus for CAN--bus technology.
For the CAN--bus it is essential that every
Follow--Up Amplifier AS bus user is addressable via a unique ad-
dress. This address is set within each bus
Single CAN--bus user.

Rudder Feedback Unit AS


Each bus user can send and receive data
via the CAN--bus.

= terminating jumper
The CAN--bus must be terminated at both
ends via a resistor (147 Ohms). This termin-
Example of a ating resistor is activated by jumpers on the
Steering Control CAN--bus plugs.
System application
There are two CAN--bus systems in a Steer-
Must not mixed up with ing Control System application possible:
STD 22 CAN--bus also A Dual CAN--bus and a Single CAN--bus.
The Dual CAN--bus is a redundant bus sys-
tem (CAN1 and CAN2).
The Single CAN--bus (CAN0) between Fol-
low--Up Amplifier AS and Rudder Feedback
Unit AS.

Fig. 14 Principle of a CAN--bus application

Jumpers to be set for termination:

Jumper
ers arere
at both endss of the CAN----bus

Plug B7 Plug B8 Plug B9


nation jumpe

CAN1 Jumper be- Jumper be-


tween terminals tween terminals
1 and 2 1 and 2
Only 2 termin

CAN2 Jumper be- Jumper be-


tween terminals tween terminals
1 and 2 1 and 2
Attention: O
allowed -- a

CAN0 Jumper be-


system.

(see section tween terminals


2.1.6) 4 and 5

3927.DOC010002 24 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

Connecting a Service Tool:

A Service Tool can be connected via the CAN--bus connectors (for Raytheon Service
personnel only).
The Service Tool has to be connected via an “USB to CAN Converter” to
plug B7 or B8.
Plug B7 or B8 , terminal 2 = CAN L
terminal 3 = CAN H
terminal 4 = CAN GND

Inserted termination must not be removed.

Please note:
Only one bus line is active.
Change over from plug B7 to plug B8 in case of the
Service Tool is not communicating with the Steering
Control System.

Edition: Sept. 30, 2009 25 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

2.1.6 Connecting CAN--bus and supply voltage to a Rudder Feedback Unit AS


(single CAN--bus)

Plug B9

Always with termination


Jumper is
part of delivery

Cable

Fig. 15 Connecting the CAN--bus and the supply voltage to the


Rudder Feed Back Unit AS

Plug/terminal Remarks
B9/1 + 24V DC supply
B9/2 Reference to + 24V DC supply
B9/3 PE
B9/4 CAN0 termination (T)
B9/5 CAN0 low (L)
B9/6 CAN0 high (H)
B9/7 CAN0 ground (GND)

Note: For terminating the Single CAN--bus see also section 2.1.5.

3927.DOC010002 26 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.1.7 Connecting the analog output (set rudder)

+
--

+
--

Plugs B5 and B6

Fig. 16 Connecting the analog outputs (set rudder)

Plug/terminal Galvanically isolated set rudder output voltage


B5/1 r 10V set voltage (+)
B5/2 Reference to r 10V set voltage (--)

B6/1 r 10V set voltage (+)


B6/2 Reference to r 10V set voltage (--)

Edition: Sept. 30, 2009 27 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

2.1.8 Connecting control signals to the pumps

Plug B14 Plug B15

Common + Common -- Common + Common --


Jumper

1234 1234 Valve 1234 1234

+ + + +
Jumper are part of delivery

Fig. 17 Connecting the control signals to the valves

Plug/ Remarks
terminal
B14/2 Common + ON/OFF Port valve
B14/4 Common + ON/OFF Stbd valve
B14/1 Common -- ON/OFF Port valve
B14/3 Common -- ON/OFF Stbd valve

B15/2 Common + ON/OFF Port valve


B15/4 Common + ON/OFF Stbd valve
B15/1 Common -- ON/OFF Port valve
B15/3 Common -- ON/OFF Stbd valve
Note: The jumpers have to be set according to the demand of the steering gear.

3927.DOC010002 28 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.1.9 Connecting status signals (in and out)

Caution!
Alarm outputs must be connected to a central
Alarm Panel/Signal Unit.
Alarm Panel or Signal Unit must have an acoustical and
optical alarm indication.

Input status Output status


signals signals

Plug B13

Plug B12

Fig. 18 Connecting status information (in and out)

Edition: Sept. 30, 2009 29 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

Plug/terminal in/out Remarks


B13/1 in Status1 (Main/secondary)* +24V
B13/2 in Reference to status1*
B13/3 in Status2 (Stop)* +24V
B13/4 in Reference to status1*
A.m. status information can be:
Status1 = Steering mode selector switch (main or secondary steering)
Status2 = Rudder stop within the Steering Control System
* has to be configured

B12/1 out 2
SYS/POWER FAIL
B12/2 out 1

B12/3 out 4
SYS/POWER FAIL
3

B12/4 out 4
SYS/POWER FAIL
3

B12/5 out 6
STEERING FAIL
5

Alarm contacts (version E00)


“normally open contacts”
B12/6 out 6
STEERING FAIL
5

B12/7 out 8
WIRE BREAK
B12/8 out 7

Modified alarm contacts (version E01), up from november 2010


“normally closed contacts”
B12/5 out 6
STEERING FAIL
B12/6 out 5

B12/7 out 8
WIRE BREAK
B12/8 out 7

3927.DOC010002 30 Edition: Nov. 16, 2010


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.1.10 External 24V DC supply

Note: Only for the special application 139--158 SA001

Plug B4
1 2

Fig. 19 Connecting supply voltage for external devices

Plug/terminal in/out Remarks


B4/1 in +24V DC
B4/2 in GND

Note: Plug B4 is designed to lead the supply voltage to other loads also.

Edition: Sept. 30, 2009 31 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

2.2 Settings and Configuration

CAUTION:
Configurations and Settings are possible only, when the Follow--Up Amplifier AS
is open.

There is a protection foil (ESD protection) to prevent unintentionally contact to the PCB
during the installation and configuration.
After the installation/configuration this foil has to be removed and the housing of the Fol-
low--Up Amplifier AS has to be closed.

Caution!
Configuration or performing/changing of settings must
performed by trained and qualified personnel which is
knowledgeable in equipment safety requirements only.

Caution!
By connecting the supply voltage the Follow--Up Amplifier AS
is set into operation.

There is no separate power switch.

Use care during configuration or performing settings to avoid


contact with energized electrical conductors. Applicable
safety regulations must be followed, such as VDE, VBG 4,
OSHA 1919, and other consensus safety standards.

3927.DOC010002 32 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.2.1 General remarks

-- The display is activated by pressing one of the buttons, either “F+”, “F--”, “SET”, “+”
or “--”.
-- Many menus have sub--menus. If there is no sub--menu (see section 2.2.2), then the
next display is a display for setting/changing values.

Sign/Line Meaning
" The sign “ "” points to the selected line.
BACK The line “BACK” means there is one step within the menu structure back
(without storing changed values).
SET By pressing the button “SET” within a menu structure a selection is per-
formed.
By pressing the button “SET” after changing a value, this value is stored.
Only if the function “SET” is selected a value can be changed.
To leave a menu the function “BACK” must be used.
Selecting “BACK” without pressing the button “SET” before, no value
change is executed.
F+ By pressing the button “F+” (or n for main menus) a selection within the
menus lines is performed to the direction “up”.
F-- By pressing the button “F--” (or p for main menus) a selection within the
menus lines is performed to the direction “down”.

By pressing the button “F--” (the line “" BACK”.............”SET” is dis-


played, a toggle function between “BACK” and “SET” is performed.
Selected item (with a leading “"”) is active by pressing the button “SET”.
+ By pressing the button “+” a displayed value is changed to a “higher” value.
-- By pressing the button “--” a displayed value is changed to a “lower” value.

2.2.2 Menu structure of Follow--Up Amplifier AS configuration

An overview about the menu structure is given in Fig. 20.

Edition: Sept. 30, 2009 33 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

RUDDER
ADJUSTMENT " RUDDER SCALE 2.2.2.1
DEADBAND 2.2.2.2 " DEADBAND 1
RUDDER LEAD) 2.2.2.4 DEADBAND 2
SET ANALOG GAIN 2.2.2.5 DEADBAND 1/2
n BACK RUDDER PULS 2.2.2.3
BACK

RUDDER LEAD
" RUDDER P1
RUDDER P2
RUDDER P1/2
BACK

ANALOG OUT
" GAIN 1
GAIN 2
BACK

n STEERING STEERING FAIL


FAIL
THRESHOLD 2.2.2.6
" DELAY 2.2.2.7
BACK
n SET

n SHOW SHOW ALARMS POWER FAIL


ALARM LIST CAN 1
" ACTIVE FAULT 2.2.2.8
TIME COUNTER
ERROR LOG 2.2.2.9 " NEXT LOG
n SET BACK BACK

n
SHOW
SETTINGS
2.2.2.10 " RUDDER
CONFI.STATUS
n SET TIME
SOFTW.
BACK

n
BITE/FRAM
FRAM 2.2.2.11
" BITE SYSTEM DEFAULTS
TO
BACK
n SET FRAM
SET
" BACK

BITE START

n SET
RUDDER " BACK
COM RUDDER COM 2.2.2.12
PORT/STBD " STBD TEST
PORT TEST
SET BACK

Note: Numbers point to a section.


There are detailled information about adjusting procedure.

Fig. 20 Scope of menu structure of Follow--Up Amplifier AS

3927.DOC010002 34 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

After activating the display shows the initial main menu:

RUDDER
ADJUSTMENT

p SET

By pressing the button “F--” on the lower left side of the display the next main menu is
displayed.

By pressing the button “SET” below the display the menus to perform the “RUDDER AD-
JUSTMENT” are displayed.

2.2.2.1 “RUDDER SCALE” Adjustment

With this menu the maximum rudder range is determined.

Way of selection:
Main menu “RUDDER ADJUSTMENT”o“RUDDER SCALE”

Display:
RUDDER SCALE
35 DEG (DEG = Degree)
SET
" BACK

Adjusting:
Default = 35 DEG
Range = 30 DEG to 75 DEG
Step = 5 DEG

Edition: Sept. 30, 2009 35 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

2.2.2.2 “DEADBAND” Adjustment

With this menus the deadband within the control loop can be adjusted to avoid rudder
hunting.
DEADBAND 1 adjustment means: rudder machine works with pump1 only.
DEADBAND 2 adjustment means: rudder machine works with pump2 only.
DEADBAND 1/2 adjustment means: rudder machine works with pump1 and pump2.

Way of selection:
Main menu “RUDDER ADJUSTMENT”o“DEADBAND” o “DEADBAND 1”
or o “DEADBAND 2”
or o “DEADBAND 1/2”

Display: or Display: or Display:


DEADBAND 1 DEADBAND 2 DEADBAND 1+2
1.2 DEG 1.2 DEG 1.2 DEG
SET SET SET
" BACK " BACK " BACK

Adjusting: or Adjusting: or Adjusting:


Default = 1.2 Default = 1.2 Default = 1.2
Range = 0.2 to 2.6 DEG Range = 0.2 to 2.6 DEG Range = 0.2 to 2.6 DEG
Step = 0.1 Step = 0.1 Step = 0.1

(DEG = Degree)

2.2.2.3 “RUDDER PULS” Selection

This function is for tests only (Raytheon Service and development personnel only).
This function can be switched ON/OFF via the Service Tool.
Way of selection:
Main menu “RUDDER ADJUSTMENT”o“DEADBAND”o”RUDDER PULS”

Display: Adjusting:
RUDDER PULS Default = 0
0 MSEC Range = 0 SEC to 1000SEC
SET Step = 20 SEC
" BACK

(MSEC = millisecond, SEC = second)

3927.DOC010002 36 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.2.2.4 “RUDDER LEAD” Adjustment

With this menu the rudder machine delay can be compensated by using the rudder lead
parameter
This parameter is normally switched off (zero) and should only be used if the rudder
overshoots the set position.

Way of selection:
Main menu “RUDDER ADJUSTMENT”o“RUDDER LEAD”

Display:
RUDDER LEAD
" RUDDER P1 (P1 = pump1)
RUDDER P2 (P2 = pump2)
RUDDER P1+2
BACK

Next menus
Display: or Display: or Display:
LEAD P1 LEAD P2 LEAD P1+P2
0 0 0
SET SET SET
" BACK " BACK "BACK

Adjusting: or Adjusting: or Adjusting:


Default = 0 Default = 0 Default = 0
Range = 0 to 10 Range = 0 to 10 Range = 0 to 10
Step = 1 Step = 1 Step = 1

Edition: Sept. 30, 2009 37 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

2.2.2.5 “ANALOG GAIN” for set rudder output Configuration

With this menu the gain for set rudder output analog can be adjusted.

Default gain =1(Rudder scale 35qļ10V)

Way of selection:
Main menu “RUDDER ADJUSTMENT”o“ANALOG GAIN”o”ANALOG OUT”

Display:
ANALOG OUT
" GAIN 1
GAIN 2
BACK

Next menus
Display: or Display:
GAIN GAIN
OUTPUT 1 OUTPUT 2
1.0 1.0
SET SET
" BACK " BACK

Adjusting: or Adjusting:
Default = 1.00 Default = 1.00
Range = 0.01 to 10.0. Range = 0.01 to 10.0
Step = 0.04 Step = 0.04

3927.DOC010002 38 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.2.2.6 “ STEERING FAIL” Threshold adjustment and activation

Steering Fail monitors the difference between set rudder and actual rudder by setting a
threshold value in degree and a response time for a rudder movement.
A threshold of 0q means “steering failure monitoring is switched OFF.

Way of selection:
Main menu “STEERING FAIL”o“THRESHOLD”

Display:
THRESHOLD
0 DEG (DEG = Degree)
SET
" BACK

Adjusting:
Default = 0 (switched OFF)
Range = 1 to 20 DEG
Step = 1

2.2.2.7 “STEERING FAIL” Delay activation

With this menu the time delay activating “Steering fail” alarm can be terminated.

Way of selection:
Main menu “STEERING FAIL”o“DELAY”

Display:
DELAY
0 SEC (SEC = second)
SET
" BACK

Adjusting:
Default = 0
Range = 0 to 20 (sec)
Step = 1

Edition: Sept. 30, 2009 39 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

2.2.2.8 “ACTIVE FAULT” Display

With this menu the all active faults (not acknowledged) are displayed.

Way of selection:
Main menu “SHOW ALARM LIST”o“ACTIVE FAULT”

Display:
SHOW ALARM
" ACTIVE FAULT
ERROR LOG
BACK

Possible active faults (error log entries) are shown in a table,


see section 2.2.2.9 “ERROR LOG”

After selection of this menu line the display shows


either: or (for example):
NO Active fault (see table in section 2.2.2.9)
ACTIVE FAULT " BACK

3927.DOC010002 40 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.2.2.9 “ERROR LOG” Display

The error log shows the error history of the Follow--Up Amplifier AS.
-- If UTC is available within the Steering Control System, the error entry is shown with
date and time. Otherwise the operation counter can be used to determine the time.
-- The error log shows all failure messages in sequence,additional a time information of
occurrence is displayed.
(UTC = Universal Coordinated Time)
Way of selection:
Main menu “SHOW ALARMS”o“ERROR LOG”

Display:
SHOW ALARMS
ACTIVE FAULT
" ERROR LOG
BACK

Next menu
Display:
POWER FAIL
CAN 1 (example, see table below)
TIME COUNTER
" NEXT LOG
BACK

If the display shows an active line “TIME COUNTER”, then the next operation of button
“SET” leads to the time information of displayed error log entry.

POWER FAIL
CAN 1
" TIME COUNTER Ÿ COUNT 15
NEXT LOG OP--HOURS 0
BACK OP--HOURS 234
" BACK

“COUNT 15” means: There are in total 15 faults.


“OP--HOURS 0” means The 1st fault occurs within the 1st operating hour.
“OP--HOURS 234” means The 15th fault occurs within the 234th operating hour.

Edition: Sept. 30, 2009 41 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

At the end of the all error log entries the display shows:

END
ERROR LOG
" DELETE

With this menu it is possible to clear all error log entries.


After selection of the line “DELETE” a time counter of 15 seconds is displayed.
This 15 seconds are counted down and during this it is possible to stop the clearance
procedure:

CLEAR ERROR--LOG
ERROR--LOG CLEARED
15 SEC. 0 SEC. (SEC = second)
" BACK " BACK

3927.DOC010002 42 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

Possible log entries and their meaning:

Log entry Meaning


POWER FAIL Internal CAN0 voltage supply missing.
CAN 0
POWER FAIL Internal CAN1 voltage supply missing.
CAN 1
POWER FAIL Internal CAN2 voltage supply missing.
CAN 2
POWER FAIL Internal DAC1 voltage supply missing.
DAC 1
POWER FAIL Internal DAC2 voltage supply missing.
DAC 2
POWER FAIL Internal voltage supply 12V for display missing or faulty.
OLED 12V
POWER FAIL Internal voltage supply 3.3V for display missing or faulty.
OLED 3.3V
CAN 1/2 Both bus lines CAN--bus1 and CAN--bus2 not connected
FAIL or disturbed.
DAC 1 FAIL Set rudder analog output1 disturbed.
(DAC = Digital to Analog Converter)
DAC 2 FAIL Set rudder analog output2 disturbed.
SET RUDDER Autopilot selected.
AUTO FAIL Set rudder information not available (disturbed).
SET RUDDER Hand steering selected.
HAND FAIL Set rudder information not available (disturbed).
SET RUDDER Tiller steering selected.
TILLER FAIL Set rudder information not available (disturbed).
SET RUDDER Azimuth steering selected.
AZIM. FAIL Set rudder information not available (disturbed).
SET RUDDER Non Raytheon steering (Raytheon eXTernal control).
RXT--ST FAIL Set rudder information not available (disturbed).
SET RUDDER Incorrect Service Tool input
S--TOOL FAIL
FEED BACK Feedback CAN--bus not connected or disturbed.
FAIL

Edition: Sept. 30, 2009 43 3927.DOC010002


Follow--Up Amplifier AS
Type 139--158

2.2.2.10 “SHOW SETTINGS” Displaying all values

With this menu all configured values, actual steering values and general system informa-
tion are displayed.
After selection of respective line the values are displayed with several (scrolling) dis-
plays.
Not all setting can be performed at the Follow--Up Amplifier AS. Some of these settings
must be performed with the Service Tool (as there are system settings) or must be per-
formed with local configuration of other devices in the Steering Control System.

For more information to the displayed values see table below.

Way of selection:
Main menu “SHOW SETTINGS”

Display:
" RUDDER
CONFI. STATUS (CONFI. = configuration)
TIME
SOFTW.
BACK

Displays of RUDDER settings

SET--R xx.xq (R = rudder)


ACT--R xx.xq (ACT--R = actual rudder)
DIFF. x.xq (DIFF. = difference)
SCALE
p FU TILLER (p= calling up next display) (FU = follow--up)

n SECONDARY (n= calling up previous display)


ASSIG. RUD.1 (ASSIG = assigned)
RUDDER 1
CHANNEL 1/2
" BACK (to initial menu)

3927.DOC010002 44 Edition: Sept. 30, 2009


Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

Displays of CONFI. STATUS

MASTER
FU (FU = follow--up)
SECONDARY 0
DUAL.SYNC. 1 (SYNC = synchronization)
p RU.STOP 0 (p= calling up next display) (RU = rudder)

n PULS 0 (n= calling up previous display)


LIN. SINCOS 0 (LIN = linear)
RU. LIMIT 0 (RU = rudder)
TRANS. DIFF 0
p INDEPENDENT 0 (p= calling up next display)

n STEE. FAIL 1 (n= calling up previous display)


STEE. CH1 1 (CH = channel)
STEE. CH2 1
p STEE. CH1+2 0 (p= calling up next display)

n AC1 33.0V (n= calling up previous display)


AC2 33.0V (AC = AC voltage)
OLED 3.3V (OLED = display type)
p OLED 12.0V (p= calling up next display)

n ACT--R MM S (n= calling up previous display)


NFU STOP (NFU = non follow--up)
SYNC
RUDD. RUN
p RUDD. ON (p= calling up next display)

n (n= calling up previous display)


MAIN/SEC OFF
RUDSTOP. OFF (RUDSTOP = Rudder stop)
p (p= calling up next display)

n CAN -- BUS (n= calling up previous display)


ADDRESS
0
" BACK (to the initial menu)

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Follow--Up Amplifier AS
Type 139--158

Displays of TIME

NO UTC or date and time from UTC (UTC = Universal Coordinated Time)
INPUT
p (p= calling up next display)

n TIME OF (n= calling up previous display)


OPERATION
269:40:36
p (p= calling up next display)

n (n= calling up previous display)


ON/OFF
63
" BACK (to the initial menu)

Display of SOFTW.
SW VERSION (SW = software)
139--158 P01
E00.00(for example)
p (p= calling up next display)
n (n= calling up previous display)
SERIAL NO.:
3609966001011(for example)
p (p= calling up next display)
n (n= calling up previous display)
TYPE NO.:
139--158.NG001(for example)
p (p= calling up next display)
n (n= calling up previous display)
REMARKS
(text string)
p (p= calling up next display)
n (n= calling up previous display)
DESCRIPTION
(text string)
" BACK (to the initial menu)

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Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

Table of displays:

Display Meaning
SET--R xx.xq Continuously display of set rudder value.
ACT-- R xx.xq Continuously display of actual rudder value.
DIFF. x.xq Continuously display of difference between set rudder value
and actual rudder value.
SCALE Adjusted rudder scale (30 DEG...... 75 DEG)
FU TILLER Type of actuator. Possible actuators are
NFU TILLER, FU HANDW., FU AUTOP., FU TILLER.
Displaying dotted line means steering mode “MAIN”
SECONDARY Steering mode “MAIN” or “SECONDARY”
ASSIG. RUD.1 This Follow--Up Amplifier AS is designed
to rudder 1 (2, 3 or 4) within the steering line.
RUDDER 1 Rudder 1 (2, 3 or 4) is connected to this
Follow--Up Amplifier AS.
CHANNEL 1/2 Channels for the pump control.
MASTER Steering mode. In this example “RUDDER 1” is designed as
FU master. Possible settings are: “MASTER” or “SLAVE” and
“FU” or “NFU”.
SECONDARY Steering selection.
SECONDARY = 1 means:
The steering mode “MAIN” or “SECONDARY” is input via
the Status 1 (at Plug B13).
SECONDARY = 0 means:
The steering mode “MAIN” or “SECONDARY” is input via
the CAN--bus (via connected Steering Interface, Steering
Signal Unit or Alarm Signal Unit).
DUAL.SYNC. Steering mode (only for double rudder systems).
0 = disabled
1 = enabled
RU.STOP Signal output.
0 = disabled
1 = enabled
PULS “DEADBAND PULS” (for development only).
0 = disabled
1 = enabled
RU. LIMIT Evaluation of rudder limit function “ON” -- “OFF”
0 = disabled
1 = enabled
LIN. SINCOS Analog output “LIN” or “SIN/COS” mode.
0 = linear
1 = sin/cos

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Follow--Up Amplifier AS
Type 139--158

Display Meaning
TRANS. DIFF Analog output “TRANS” or “DIFF” mode.
0 = TRANS
1 = DIFF
INDEPENDENT Double Rudder function.
0 = INDEPENDENT
1 = SYNCHRONOUS
STEE. FAIL Signal output.
0 = STEERING FAIL output disabled
1 = STEERING FAIL output enabled
STEE. CH1 Steering output1 connected to valve.
0 = No
1 = Yes
STEE. CH2 Steering output2 connected to valve.
0 = No
1 = Yes
STEE. CH1+2 Steering output1+2 connected to valve.
0 = No
1 = Yes
AC1 33.0V Supply voltage from pump1 (transformed to 33V AC).
AC2 33.0V Supply voltage from pump2 (transformed to 33V AC).
OLED 3.3V Display supply voltage.
OLED 12.0V Display supply voltage.
ACT--R MM S There are additional actual rudder information on the
CAN--bus. (Two information from a master and 1 from a
slave).
NFU STOP NFU STOP = No NFU steering or
NFU RUN = NFU steering.
SYNC Yes = Synchronous mode is possible
No = Synchronous mode is not possible
RUDD. RUN Rudder is following the actual rudder value.
RUDD. ON Rudder is actually without fault.
MAIN/SEC Plug B13 not connected (optocoupler status input).
RUDSTOP Plug B13 not connected (optocoupler status input).
CAN -- BUS CAN--bus address of this Follow--up Amplifier AS.
ADDRESS
NO UTC Display if there is no UTC data available.
INPUT If available: yyyy:mm:dd
hh:mm:ss
TIME OF Total operation time of this Follow--up Amplifier AS
OPERATION (hh:mm:ss).
ON/OFF Numbers of switching ON after first installation.
SOFTW. Software status

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Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.2.2.11 “BITE/FRAM” Checking the Follow--Up Amplifier AS

With this menu the internal functions of the Follow--Up Amplifier AS are tested or the de-
fault settings can be stored into the FRAM (Ferroelectric Random Access Memory).

Way of selection:
Main menu “BITE/FRAM”o“BITE START”

Display:
" FRAM
BITE SYSTEM
BACK

Selecting the menu line “FRAM” following displays are shown sequentially:

DEFAULTS DEFAULTS DEFAULTS TO


TO IN PROCESS FRAM
FRAM Ÿ Ÿ COMPLETED
SET " BACK
" BACK

Selecting the menu line “BITE SYSTEM” following displays are shown sequentially:

BITE START BITE BITE


SET Ÿ BITE OK or DAC1 ERROR (example)
" BACK " BACK " BACK

Possible detected faults and their meaning:

Display Meaning
DAC1 ERROR Voltage fault at the digital to analog converter.
DAC2 ERROR

For measurements after detected errors see section 3.2.1

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Follow--Up Amplifier AS
Type 139--158

2.2.2.12 “RUDDER COM” Selection

With this menu the rudder can be activated to port or stb direction to test the settings
and to optimize the performance of rudder steering (stimulus).
Activating the test, sets the rudder first to zero and than according to selected direction.

Caution!
Application: 2 connected Follow--Up Amplifiers AS.
In case of a stimulus of the rudders with two Rudder
Feedback Units AS, then the Follow--Up Amplifier AS which
is not simulated must be switched OFF.

Way of selection:
Main menu “RUDDER COM PORT/STB”

Display:
RUDDER COM
" STB TEST
PORT TEST
BACK

Next menus
Display: stb selected or Display: port selected
RUDDER COM RUDDER COM
" STB TEST STB TEST
PORT TEST " PORT TEST
BACK BACK

Display: from stb to zero or Display: from port to zero


RUDDER COM RUDDER COM
0 DEG STB 0 DEG PORT
SET SET
" BACK " BACK

Display after selecting “SET”:

0 DEG STB or 0 DEG PORT (DEG = degree)


" RUNNING " RUNNING
BACK BACK

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Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

2.3 Recommended Procedure to adjust/configure a Steering Control System AS

2.3.1 Recommended Sequence of Operations

1. Feedback adjustment:
(see manual no.:3928 “Rudder Feedback Unit AS, type 101--532).

2. Follow--Up Amplifier AS adjustment:

2.1 Adjustment of switching output (bang--bang):


x Deadband adjustment (see section 2.2.2.2).
x Rudder Lead adjustment (check if necessary otherwise Rudder Lead = 0)
(see section 2.2.2.4).
x Steering Failure adjustment (threshold and delay time)
(see sections 2.2.2.6 and 2.2.2.7).

2.2 Adjustment of set rudder analog output:


Check which mode is in use (selecting the modes is only possible with the
Service Tool -- for Raytheon Service personnel only)

x Trans mode gain (see section 2.2.2.5)


x Diff mode gain (see section 2.2.2.5)
x Sin/Cos gain (see section 2.2.2.5)

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Follow--Up Amplifier AS
Type 139--158

2.3.2 Recommended Procedure to set Follow--Up Amplifier AS into Operation

1. Voltage selection pump starter box:


(see section 2.1.4)
Look for voltage supply coming from the pump starter box and change jumper
setting on the power connector if necessary.

-- Default jumper setting on the power connector:


NG001

380V AC to 460A AC, 50/60Hz


-- Change jumper setting (if necessary) on the power connector to:
230V AC 50/60Hz

-- Default jumper setting on the power connector:


NG002

230V AC 50/60Hz
-- Change jumper setting (if necessary) on the power connector to:
115V AC 50/60Hz

x Default jumper setting on the power connector:


380V AC to 460V AC, 50/60Hz
x Change jumper setting (if necessary) on the power connector to:
230V AC V AC50/60Hz

2. Valve operation supply voltage:


(see section 2.1.8)
Check for valve operation supply voltage and power consumption.

x Working range 24......110V DC, 50W (supplied by the starter box).


x No AC supply possible -- use external relay units to operate AC valves
(check project drawings).

3. Common+ Common--:
(see section 2.1.8)
Check for correct valve connection (see also system connection diagrams).

x Default jumper setting on the valve connector is common+.


x For common -- jumper position must be changed according to the
appended assembly drawing with configuration (139--158.HP100).

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Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

4. Rudder machine -- setting into operation with the Follow--Up Amplifier AS


Handwheel is selected and in zero position.

x Switch on pump1.

Rudder machine shall follow to midships position.

If not:
x Check correct common polarity.
x Check valves polarity and port and stb connection of the Follow--Up amplifier AS
(common+ or --).
x Check feedback polarity (change polarity if necessary with the Service Tool).
x Look for alarm indication on the local display and watch the relay alarm outputs
(no sys fail = LED green ON, see also section 1.3, LED H17)
x Look if all power LEDs on the PCB are in green condition
(see also section 1.3).
x If rudder stop status is on, the Follow--Up Amplifier AS is not active -- look for
possible reasons (use the display menu “SHOW SETTINGS”).

If the rudder machine follows the handwheel commands, then check settings and
optimize the parameters.

Check:
x Rudder scale setting, it must correspond to the actual rudder range.

Optimize parameter setting -- deadband (see section 2.2.2.2):


x Check deadband setting with pump1 ON -- reduce the actual deadband until the
rudder machine starts hunting and increase the valve until the rudder machine
stops hunting.
x Move the rudder to different positions and make sure that the rudder
follows the rudder commands without intermittent stops (deadband should have
a secure distance to the hunting situation).
Store the deadband pump1 value with set.
x Continue with pump2 ON (pump1 is OFF) in the same way.
x Continue with pump1 and 2 ON in the same way.

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Follow--Up Amplifier AS
Type 139--158

Optimize parameter setting -- rudder lead (see section 2.2.2.4).


x Check if the rudder machine overshoots the set value from the handwheel.

If it does:
x Start with pump1 ON
Adjust the rudder lead parameter and start with rudder lead = 1, continue up to
value “x” until the rudder stops at the desired position.
Store that value with set.
x Continue with pump2 with the same procedure.
x Continue with pump1 and 2 with the same procedure.

Optimize parameter setting in analog mode (see section 2.2.2.5).

Trans mode:
x Check if the rudder is working within the desired range.
If not:
x Adjust the parameter analog gain -- range 0.1.....10.
Store the value with set.

Diff mode:
x Check if the rudder speed responds with no overshot and there is no creeping to
the new position
If not:
x Adjust the parameter analog gain -- range 0.1....10 until overshot is eliminated.
Rudder speed too slow -- increase gain.
Rudder speed too fast -- reduce gain.

Sin/Cos mode:
x Check if the analog gain of both outputs (analog1 and analog2) are set to 1.0
(see section 2.2.2.5).

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Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

3 Maintenance and Repair

Caution!
Use only original Raytheon Anschütz spare parts

Caution!
Maintenance and repair must performed by trained and
qualified personnel who are knowledgeable in equipment
safety requirements.

Device may be damaged!


Exchange of spare parts, when power is on can cause
severe damage to the equipment.
Exchange of spare parts only with the supply voltage
switched off or disconnected.

Use care during maintenance and repair to avoid contact


with energized electrical conductors. Applicable safety
regulations must be followed, such as VDE, VBG 4,
OSHA 1919, and other consensus safety standards.

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Follow--Up Amplifier AS
Type 139--158

3.1 Maintenance

The Follow--Up Amplifier is maintenance free.

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Follow--Up Amplifier AS
Type 139--158 NAUTOSTEER

3.2 Repair

3.2.1 Troubleshooting

It is recommended to restart the Follow--Up Amplifier AS before replacing the complete


device.

Possible Fault Error message Measurement


Error after BITE DAC1 FAIL Remove analog output
and check again.
DAC2 FAIL Remove analog output
and check again.
INTERNAL POWER Replace PCB (or com-
FAIL plete Follow--UP Ampli-
fier AS).
Rudder stop WIRE BREAK Check cable and proper
bus connection (CAN--
bus).
Ext. Status Active Extern device stops
RUDSTOP status input rudder, look for reason.
SYS FAIL Check correct power
supply.
INTERNAL POWER Replace PCB (or com-
FAIL plete Follow--UP Ampli-
fier AS).
POWER FAIL
No valve action or false STEERING FAIL Replace PCB (or com-
valve action. plete Follow--UP Ampli-
fier AS).
Analog steering outputs Rudder steering fails Check proper connec-
are not working. tions.
Check analog voltage.
Check “Trans”, “Diff” or
“Sin/Cos” configuration.
24V DC supply “SYS FAIL” Steering In- Overload
-- Rudder Feedback terface (PTC active)
Unit AS is OFF Disconnect both units
-- Steering Interface AS “Wire Break”, and check for possible
is OFF “SYS FAIL” reason.

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Follow--Up Amplifier AS
Type 139--158

3.2.2 Repair

A repair of the Follow--Up Amplifier AS is not possible, it has to be replaced.

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25.03.08