ASU363-D-VVV Page 1/24

AZIMUTH ASU Servo Description and Setup.

AZIMUTH ASU Servo Description and Setup. 2

1. Control Principle. 3
1. Steering Servo Unit Model ASU363-D-vvv, General Specifications. 4
2. Steering Servo Unit Model ASU363-D-vvv Description. 5
3. Interface to ASU363-D-vvv. 5
4. Module description: ASM. 7
5. Module description: APS. 8
5.1. APS Block diagram. 8
5.2. Control Relays. 9
5.2.1. Fusel, Local/Remote, Limit Switch. 9
5.2.2. NFU Order and Valve Order Relays. 10
5.3. Alarm and supervision. 11
5.3.1. Hydraulic Lock Alarm. 11
5.3.2. Power Supply and Power Supervision. 12
6. Module description: MPF11 Failure Detector Board. 13
6.1. MPF11 Functional: 14
7. LED indicators. 15
8. Pinjumper settings. 16
9. Potmeter settings. 17
9.1. Recommended initial settings. (Revised 14-05-2003) 17
10. Setting Up Instruction. 18
10.1. Visual inspection. 18
10.2. Electrical precheck. 18
10.3. Start-Up and Zeroing. 18
10.4. Local NFU-operation. 19
10.5. Stroke servo adjustment. 19
10.6. Hydraulic lock alarm adjustment. 20
10.7. Position servo adjustment. 21
10.8. System test. 22
11. Troubleshooting. 22
11.1. Troubleshooting and Set-Up of MPF11. 24

DENISON type of Steering Gear Pump.

Valid for ASU363-D-VVV-
Steering Failure Alarm Included. Two Feedback Units pr pump.

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AZIMUTH ASU Servo Description and Setup.

Valid for: ASU363-D -VVV.

Key-words: Azimuth 360 deg servo; Sine/cos order & feedback; Denison type pumps.
Fail-to-Safe.

This servo unit is applicable for control of a variable capacity pump working into a hydraulic motor circuit and
controlled by a proportional valve. Control current is in the range between 100 mA and 500 mA.
Pump stroke feedback is required in form of an RVDT sensor, energized from the servo unit with an AC signal:
6Vrms, 2.5 kHz. A stroke feedback circuits is included, utilised both for control and for hydraulic lock
detection.

The servo unit is designed for full 360 deg follow-up and non follow-up control.
Two or three servo units can be operated on the same Azimuth device, steered from the same wheel, autopilot
or NFU device. A servo to servo interlock circuit ensures constant servo bandwidth, independent of the number
of running pumps.

Supply voltage: 115VAC, 230VAC or 440VAC as specified in the part number as “vvv” Volt AC, derived
from the motor starter of the master pump.

Each servo includes the following state and functionality monitoring circuits:
1. Local or Remote operation selected. (Dry contact)
2. Follow-Up mode or Non Follow-Up mode selected. (Dry contact).
3. Output of given follow-up order (10V*sine and 10V*cos to order angle)
4. Servo power failure. All power supply circuits monitored. (Dry contact)
5. Hydraulick lock alarm sensing. (Dry contact).
6. Order and feedback core monitoring. (Alarm and zeroing of stroke signal in case of broken wire.)
7. Servo error monitoring by the MPF11 microcomputer. (Se details page 14.)
Each ASU-servo unit requires two azimuth feedback signals. Derived from 2 RFB360 feedback units.
Opens at FAIL

Opens at FAIL
NMEA mess.

Follow-Up
System Fail
once pr sec

Hydr.Lock
sin/cos
Select

Order

Order
NFU

OK P1
OK
+ +
Steer Follow
F
Failure UP
- Detect - SERVO
SOLENOID

HLA
FAILURE
ORDERS

MPF11 with
VALVE

NMEA to VDR +

-
Follow-Up
Select

STROKE STG P1 STAND-BY START

HPU

sin/cos /P1
STG ACTUATOR
Start Order to P2
Case Failure in P1
ASU363E1.DWG, 2005-04-08

sin/cos /P1
AZIPOD
SHAFT

STEERING SERVO PRINCIPLE

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1. Control Principle.

The steering gear is an electric hydraulic type with minimum two independent hydraulic power units. The
hydraulic flow to the steering gear cylinders is controlled by variable capacity pumps controlled by a
proportional type hydraulic valve. The pumps can operate one at a time or two in parallel. The maximum
steering speed doubles when two pumps are running.

The pump is provided with a stroke feedback transmitter of an RVDT type. The stroke signal is used for control
purposes and for hydraulic lock alarm purposes. Hydraulic Lock alarm signal is given in case of large error in
the stroke servo loop. (I.E. Stroke order is different from actual stroke during more than a few seconds).

With zero control signal the pump is in the zero postion and the oil flow is zero. The azipod retains its position
whereever left.

When a control signal is applied the pump is stroked and the oil will flow with a rate corresponding to the
control signal. The azipod will move with a steering speed proportional to the flow. Reversing the control
signal will make the azipod move to the other side.

BOTTOM
VIEW:
250

15

CABLE GLANDS: 4xPG16, 9xPG13.5,

3xPG11

4x 1O FRONT VIEW:

STEERING
CONTROL
UNIT
ASU

START STOP LOCAL REMOTE

PUSH BUTTONS
500
560

530

START STOP PUMP

HINGE IN THIS SIDE

CONTROL

LAMPS & PUSH PORT STBD LOCAL REMOTE

BUTTONS

PORT STBD
LOCAL NFU
CONTROL

A/S
TYPE: NO:

MADE IN DENMARK

GROUND 376
SCREW
500

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1. Steering Servo Unit Model ASU363-D-vvv, General Specifications.

The steering servo unit model ASU363-D-vvv has been developed to meet the requirements of a high quality
Analog Steering Control System for steering gears being controlable over 360 degrees.

1. Both Follow-Up and Non Follow-Up steering are available, electronically selectable (FUSEL
relay=Follow-up select). NFU and FU have independent output circuits. Separate control lines
to the bridge for Follow-Up and NFU.

2. Electronically selectable limit switch function providing limited angle at cruising condition.

3. Remote bridge control can be disconnected by a switch. Activating a bridge alarm and leaving
the control as: LOCAL NFU push-button steering.

4. Power failure alarm contact.

5. Built in Hydraulic Lock Alarm circuit activated when the valve order differs from obtained
pump position. Active both in FU and NFU modes.

6. Built in stabilised power supplies for transmitter and feedback potmeters. Built in TEST wheel
for easy setting up and diagnostics.

7. Circuits for control valve linearisation and a pump-stroke closed loop servo.

8. Adjustable proportional band, stroke ramp time and steering speed .

9. Interlock at more than one pump operation with gain reduction.

10. The unit is built for steering gear room installation, and is supplied with 1-phase
115/230/440VAC as ordered. The supply is derived from the motor starter of the pump which
the servo unit controls, being energised only when the pump is running.

11. Signal scale factor: Order 10V X SINE(Angle), 10V X COSINE(Angle)

Feedback 10V X SINE(Angle), 10V X COSINE(Angle)
Sign convensition: SINE(Angle) negative for STBD Orders, COSINE positive Ahead.

12. Built in LED diode lamps for easy power supply and condition monitoring.

13. Built in core monitoring of order signals and feedback signals. The stroke order signal to the
pump(s) can be zeroed in case a failure is detected. (This will be the default act. It is possible to
inhibit this function by a pin jumper). This failure results in a SERVO FAULT alarm.

14. General alarm contact for SERVO FAULT controlled from the monitoring microprocessor
circuit. Seperate alarm contacts for HYDR. LOCK, POWER FAILURE and LOCAL
CONTROL directly from the analog monitoring circuits.

15. Follow-Up Select line (FUSEL) is able to be routed through a digital

output mos-fet on the MPF11 microcomputer board. Thereby the servo is able to change
automatically between NFU ad FU-modes. This feature is used to enter the function:
“Fail-to-Safe”. The servo will automatically change to NFU mode and alarm in case of:
BROKEN WIRE in order or feedback, EXCESSIVE Servo ERROR, electrically or
hydraulically caused.

16. ASU363 SPECIFIC: Two feedbacks are used: One for Servo-action and one for failure
detection. This is to ensure correct “Fail-to-Safe” function also with failures to the feedback
belts or chains and linkages.

17. Halogene free cores. Phoenix type of terminals with spring-cage connections.

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2. Steering Servo Unit Model ASU363-D-vvv Description.

The Steering Servo Unit model ASU363-D-vvv comprises the following basic items:
See drawings of the Internal Arrangement & the Internal Wiring Diagram in the appended file

ASM12 PCB, Position Servo amplifier.

A position servo with the vector angle difference circuit providing SINE(order-actual) to the
proportional band amplifier having the more pumps interlock circuit with gain reduction, the
stroke ramp circuit and the TESTWHEEL with associated selection pin jumpers.The print also
contains the stabilised +/-15VDC power supply for the system and +/- 10VDC reference supply
for the order and feedback potmeters. Further the PCB also hold the core monitoring circuits.

APS31 PCB, Stroke Servo Circuit.

A stroke servo and power amplifier with the associated controls for valve linearisation and
stroke servo adjustment. Also included are the RVDT oscillator and demodulator circuits for the
stroke feedback transmitters together with the power amplifier for FU- and NFU operation, a
24VDC auxiliary supply for the LOCAL, REMOTE, NFU, FUSEL and LIMIT SWITCH
relays.The print also contains the power supply supervision and the hydraulic lock alarm circuit.

MPF11 PCB, Failure Detector Circuit.

A microprocessor board fitted with 9 DI, 3 DO, 4 AI & 1 serial port, (RS422).
The DI (digital inputs) read the servo operating mode and the 4 AI (analog inputs) are used to
compare the order and an independent reference feedback angle, both represented with their
sines and cosines. The DO (digital outputs) are used to energize the Follow-Up Select relay
plus a Servo OK relay. The third DO is connected to the other servo-unit and is used as a
communication link between the two servo-units.
In case of steering failure the MPF report an alarm to the bridge and changes the dervo mode to
NFU while it at the same time orders the second, Stand-By, pump started.

The Box front.

The box front contains the steering LOCAL/REMOTE selector and the illuminated
push-buttons for NFU, indicating pump running.

LOCAL/REMOTE switch for motor starter control with local start and stop push buttons.

3. Interface to ASU363-D-vvv.
Motor Starter

Power supply from the motor starter is 115/230/380/415/440VAC as ordered, consumption max.
100VA. A downstream supply available only when the pump is running.

Local/Remote selection & START / STOP from the ASU.front panel push-buttons.

Steering gear.

Control valve supply: 2 valve coils. (Port and Stbd independent). Max current capability approx.
0.9A. Adjustable current limitation. Coil resistance approx 41 ohm.

Steering Angle feedback unit: Supply +/-10.00VDC and 0VDC, Nom. consumption 10 mA.
Feedback signal 10V X SINE(Angle), 10V X COSINE(Angle).
Reference Angle feedback unit: Supply +/-10.00VDC and 0VDC, Nom. consumption 10 mA.
Feedback signal 10V X SINE(Angle), 10V X COSINE(Angle).

RVDT stroke excite voltage: 6V RMS, 2.5kHz, max. 120mA. Coil resistance: 85 ohm.
RVDT stroke detect: 265 mVRMS at full stroke. Coil resistance 440 Ohms (both secondaries in
series).

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Limit switches: Galvanically isolated NO switches closing at limit. Contact rating 30VDC 100
mA. Or Inductive three terminal NPN type proximity switches.

FAST contact. Galvanically free contact for ordering the steering gear FAST mode.
Simultaneous activation of both P1 and P2 FAST contacts are required to bring the the steering
gear in FAST mode. Contact rating 50VDC, 1A.

Contacts for valve/pump more than 50% activated. Closed at activation. 24Vdc supply 5mA
contact current.( Option)

Bridge steering system.

FUSEL: closed contact when follow up control is required. Contact rating 30VDC 100 mA.

NFU ORDER: Closed contacts for port or stbd orders. Contact rating 30VDC 100 mA.

FAST: closed contact to select FAST mode of the steering gear. Contact closes to PG ( power
ground ). Contact rating 30VDC 100 mA.

MUTE: closed contact to select zero stroke operation during change-over between NORMAL
and FAST mode of the steering gear. Contact closes to PG ( power ground ). Contact rating
30VDC 100 mA.

Steering order: 10V X SINE(Angle), 10V X COSINE(Angle). Input impedance 300Kohm.

Reference supply for wheel steering order potmeters +/- 10.00VDC, max. consumption 150 mA.

24VDC. Supply used for internal and external for relay circuits. Max. external consumption
300 mA . Also available as 24V & REMOTE .i.e. 24VDC only present when the pump is
running in REMOTE.

Alarm system.

1 Servo System OK contact opening at servo failure. (Broken wire, power failure and
excessive servo error). Galvanically isolated. Contact rating 50VDC, 50 mA.

Power OK contact opening at power fail. Galvanically isolated. Contact rating 50VDC, 50 mA.

Stroke Servo OK contact opening at Hydraulic Lock. Galvanically isolated. Contact rating
50VDC, 50 mA.

Remote contact opening at LOCAL. Galvanically isolated. Contact rating 50VDC, 50 mA

Other servos.

Pump running interlock: one short circuit proof output supplying one opto isolated input in
the other servo. Current approx. 5 mA.
Servo OK info is exchanged between the 2 MPF11-modules in ASU363 servo units.

VDR:

VDR-info is available as a proprietary NMEA-sentence. ($PEMRRxx,....).

See specific excel file with protocol definition in the ASU363 addendum.

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4. Module description: ASM.

Below is shown the block diagram of the ASM module.
Note: All test points except power supplies and SG have a 2K series resistor.

W3
Note: X2-terminals are located on the PCB
TESTWHEEL VECTOR
PROPORTIONAL STROKE

PLUG TO APS PRINT

DIFFERENCE
TP14 BAND RAMP
+10V X SINE(Order) X2-8 W5
CIRCUIT
STROKEORDER
+10V X SINE(Order)RET X2-14 ? P3
P2
10V W3
ORDER SIN(O) 1 5 DEG
TP13 TP19 TP11
1 SEC 0.3 SEC TP18
TP12 POLARITY
+10V X COSINE(Order) X2-10
COS(O)
+10V X COSINE(Order)RET X2-16 ? Neg/STBD
W4 W5-13
+10V X SINE(Actual) X2-7 W1 SIN(A) SIN(O-A) RAMP
W5-14
Pos/STBD CIRCUIT
+10V X COSINE(Actual) X2-9 COS(A)
STROKE
SLEW
SPARE X2-11
10V = MAX

2ND PUMP RUN

3RD PUMP RUN

4TH PUMP RUN

W3
NORMAL
STROKE ORDER
TEST CORE & W2

?
SIGNAL
NEG/STBD
SIGNAL REFERENCE X2-12 SUPERVISION
CIRCUIT

TESTWHEEL
SG

LARGE

SMALL
+15V
+10V TP17 +15V
+10V

X2-1 +10V
SUPPLY FOR TP4

?
X2-2
STABILIZED +15V -15V +15V -15V +15V -15V
FEEDBACK- TP16 TP10

X2-3 POWER &

PLUG J1

AND 4
TP3
X2-4
?

?
REFERENCE
ORDER- SG SG TESTWHEEL SG

TP15
X2-5 SUPPLY
POTMETERS

?
X2-6 -10V
X2-27

X2-28

X2-13

X2-15

X2-18

X2-20

X2-23

X2-19

X2-22

X2-24

X2-25

X2-26
X2-21

X2-17
-10V
-15V
-10V
-15V

ASM-Module Block Diagram ALARM

CONTACT
SUPPLY FOR RUNNING
INTERLOCKS
RUNNING INTERLOCK
INPUTS

The steering order received from the bridge is 10V X SINE and COSINE to the steering order. When the
testwheel has been selected COSINE is a constant 10VDC and SINE is the testwheel voltage. During bridge
control a full 360 degrees of operation is possible. Under testwheel control only a limited angle of operation is
possible, approx 45 degrees to port and stbd.

This steering order is compared to the feedback signal and the difference (SINE( order - actual )), the steering
error, is fed to the proportional band amplifier. The pump stroke order signal is proportional to the steering
error until the steering error exceeds the proportional band set by potmeter P2. When the steering error is
greater than the proportional band the stroke order is limited to a value set by the stroke limit potmeter on the
APS PCB. The value of the proportional band as set on the potmeter is valid when one pump only is running .
The proportional band is increased with the number of running pumps as detected by the pump running
interlock.

The ramp circuit limits the stroke order rate of rise to the value set by the stroke ramp potmeter P3.

The NORMAL/TEST jumper W3 enables local follow up control from the built in TESTWHEEL. Note: Follow
Up Select relay must be activated. (closed contact APS-X4-5/X4-7).

The STROKE TEST jumper W4 enables local stroke control from the TESTWHEEL. Full or limited range is
set by W2 Large/Small.

The stroke order is fed to the APS module by a 14 core ribbon cable via connector W7-13/14.

High impedance pull-up resistors on the sine- and cosine order & feedback inputs will create an excessive
signal in case of a broken or loose cable core. The feedback potmeter supply current is monitored. Also the
vector length of the bridge order is monitored. In case of excessive values an alarm detector will cause a relay
contact to open, and at the same time the stroke order is reduced to zero to stop the gear from moving. (This
interlock can be removed, if required). Correct action on the bridge will be to stop the pump of the alarming
side and to start the other pump side, if this is not already working.

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5. Module description: APS.

5.1. APS Block diagram.

The APS module contains:

y 30VDC power supply for the control valve.

y 24VDC Auxiliary supply for relay circuit.
y Aux relays for LOCAL /REMOTE selection, FUSEL, NFU orders PORT and STBD, and Limit
Switch relays.
y Linearisation amplifier for the control valve with adjustment possibilities for deadband
compensation port and stbd and valve feedforward, bias ond offset.
y Stroke loop amplifier with gain adjustment.
y Hydraulic lock detection circuit.
y Power supervision circuit

The block diagram of the servo is shown below

VSUP
CURRENT
X4 19 21 X4
DEADBAND LIMIT
COMPENSATION EXCL. BIAS &OFFSET

R231

R230

R234

R236

R235
4W

1N4148

4W

1N4148
4W
3K

3K
27
5

5
PORT STBD PORT STBD

HLMP-3300
P10 P8 P13 VALVE VALVE

D46

D45
ORDER

HLMP-3502
COIL COIL

LED23
LED20
0.1A 0.6A
3.3uF

3.3uF
NEG/STBD 0 - 0.3A
C56

C58
TP2
X4 17 23 X4
D44 D43
1N4004 1N4004
I_PORT_HI
R229

I_STBD_HI
+

R238
2.2

2.2

4W
4W

+
+
+

+ I_PORT_LO I_STBD_LO
9 6
10V/A PORT STBD
VALVE RL10 LIMIT RL14 LIMIT
POS/STBD
FEED TP6
TP13 10 8 5 7
FORWARD
6 9

P5 RL12 FUSEL RL12 FUSEL NFU

CURRENT
FROM 0.1A 0.5A
STROKE
5 7 PORT_FU 10 8 STBD_FU
+15V
ASM LOOP
10 8 5 7
STROKE 0.6A
GAIN RL11 PORT RL13 STBD
ORDER NFU NFU
9 6
P7
W1-13 0.15A
W1-14 SG
TP5

STROKE STROKE
+ + +
ORDER LOOP
+ TP15 TP17
+ + + + +
LIMIT -
SERVO
BIAS
50%
TP16
4W

4W
2.2

2.2

OFFSET GAIN +15V

?

150mA
P6 P4 TP4 W2 LOOP ACTIVE
PG
9V = BREAK LOOP
SG
100%
POS
BREAK
STBD
DEMO- STROKE-M LOOP
TP9
X3-3 SG
DULATOR
+15V
-15V

OFFSET
NOTE: X3 & X4 terminals are PCB-terminals. SG
+/- 50mA

The stroke order is received from the ASM module. Valve linearization and feedforward are performed by:

y Bias, common mode current i both valve coils

y Offset, difference mode current in the valve coils
y Deadband Compensation, jump voltage to compensate the deadband in the valve, adjustable to port
and stbd side individually.
y Valve feedforward, voltage proportional to the stroke order.

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The difference between the stroke order and the actual stroke, the stroke-error, is fed to a PI-type controller.
The controller may be disabled (output = zero) by the "Break Loop" pinjumper in order to be able to adjust the
compensation and feedforward without interference from the controller.

The maximum current order in FU-mode can be limited by the current limit potmeter P13.
The current order is fed to the power amplifier with a scale factor of 10V/A
A separate adjustable current generator is provided for NFU control.
The control mode is selected by the FUSEL relay. In NFU the Port/Stbd relays directs the current to port or stbd
coil.

In FU-mode the FU-power amplifier is connected to the valve coils.

The limit switch relays prevents further orders in the direction of the limit.

5.2. Control Relays.

5.2.1. Fusel, Local/Remote, Limit Switch.

Part of the relay circuit is shown below:

Fusel is interlocked with LOCAL.

Limit switch signals are interlocked with LIMIT-SELECT.

24V+
PORT STBD
FUSEL TP22
LOCAL REMOTE LIMIT SWITCH LIMIT SWITCH
LED19

LED16

LED24
D21

1 1 1 1 1 1
RL5 RL12 RL8 RL4 RL10 RL14
D42

D26

D40

D48
LED10

LED7
R233

R224

16 2 16 16 2 2

R254
1
RL6
3
O
R161

R138

LCL22

16
I
1
3

3
O

O
2

2
LCL24

LCL28

X4 2 8 X4
6 8
I

I
LOCAL

RL6

4
4 X4 X4 10

PORT STBD
3

LIMIT LIMIT
O
2

SWITCH SWITCH
LCL26
I
1

X4 6 12 X4

X4 7 J2 4 J2 5
1
I
LCL23

FUSEL LOCAL REMOTE

2
O
3

X4 5 3 X4

LCL25
1 3
I O LIMIT SELECT
11 9 J2 1
2
LOCAL

RL6 1 X4

13

PG
TP21

NOTE: In ASU363 the FUSEL-line passes through the MPF11-DO-0 port to enable auto-change to NFU.
In case of failure in the MPF11-computer itself, the bridge control can be regained by moving the yellow
jumper wire connected to X7-66 from the normal connect. X7-65 to X7-67. X7-67 bypasses the MPF11.

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5.2.2. NFU Order and Valve Order Relays.

PORT STBD 24V+

NFU NFU
NFU NFU PORT STBD
TP22
ORDER ORDER VALVE VALVE
ORDER ORDER

1 1
RL7 RL9
1 1
RL11 RL13

LED21
D32

D39

D41
LED12

LED13

LED17
16 16

D47
2 2

R204
R175

R227

R239
4 13
LOCAL

LOCAL
11 9 11 9
RL8 RL8

ORDER

ORDER
PORT
NFU

NFU
STBD
RL9 RL7
6 8 11 9
13 13
2 J2 3 J2

PORT LOCAL STBD 6 8

6 8
ORDER NFU ORDER

ORDER

ORDER
STBD
3

PORT
NFU

NFU
RL9
O

RL7
LCL27

LCL31

1 J2
4
4
I

I
1

9 X4 X4 15

PORT REMOTE STBD

ORDER NFU ORDER
X4 11 13 X4
1
I
LCL29

2
O
3

11 9
LOCAL

RL6

13

PG TP21

Remote NFU orders are interlocked with LOCAL.

NFU orders are interlocked so simultaneous activation of port and stbd NFU switch result in no NFU order.

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5.3. Alarm and supervision.

5.3.1. Hydraulic Lock Alarm.

A block diagram of the Hydraulic Lock Alarm is shown below:

HYDR. ORDER TRIG

STBD VALVE LOCK LEVEL
CURRENT
R245 0A 0.4A
P9 R139 OP2
0.5V/A 1
R246
I_STBD_LO

D19
C25 CW
SG
2 R121 R122
- 1 SG -15V 2
IC15
1

+ R117

LED4
R250 3 STBD
I_STBD_HI
2
-
R116 HLA
R249 6 5V/A R119 1
- 7 IC8

SG
IC8 + ORDER
+ 3
5
R118
R120

SG
TP10
PORT VALVE TP8
CURRENT OP3
R247 1
0.5V/A

D24
R248 SG
I_PORT_LO
C36
6 R146 R147 2
- 7 TP11
IC15 PORT
1

LED11
+ R142
R256 5
I_PORT_HI HLA
13 R141
R255 9
-
5V/A R144 - 14 ORDER
8 IC8
SG

IC8 +
+ 12
10
R143
R145
SG
ALARM
DELAY
0 =ALARM 0 =ALARM
PUMP/VALVE STBD R83
STBD ORDER
+15V IC7
PUMP +15V
1 CD4077B

D9
OP4 OP2
STROKE 5 5 1 = FAILURE TO STBD 3
OFFSET GAIN 9V=100%
2 6
4
POS/STBD 4 4 IC7 CD4077B 5

R85

R84

R82
+15V
12 D15 R78 IC7
P6 P4 +15V
11
R81
STBDORDER 13
TP4
+15V
PORT CD4077B
+15V R104
ORDER
R110

R103
R80

LVDT T4
T8

C17
PUMP/VALVE OP3
5
DETECT X3 3 PORT +15V

MASTER OP5
5 4 SG SG
R79

4 IC7
R109

PUMP 8 D16
R87

R86
STROKE 10
PORTORDER 9
DEMODU-
LED6

LATOR CD4077B 1
RL1 HYDR.LOCK
1 = FAILURE TO PORT
LED2

MASTER
D10

MASTER
R112

HYDR.LOCK ALARM
16
MASTER
PG

ACTIVATED
SG ALARM DELAY
PUMP
0 =ALARM 0 =ALARM
STROKE R201
OFFSET GAIN 9V=100% 1 = FAILURE TO STBD
IC12
POS/STBD IC12 12 CD4077B
D38

1 D29 11
P2 P1
3 13 9
STBDORDER 2 10
TP1 CD4077B
R199

R200

R202

8
CD4077B +15V
IC12
+15V
R198

R203
LVDT
+15V
DETECT X3 4
R174
SLAVE
R173
R196

T10 T9
C45

IC12
PUMP 5 D30 SG
STROKE 4
R197

PORTORDER 6
DEMODU-
R170

LATOR CD4077B
R106

R105

SLAVE 1 = FAILURE TO PORT

LED9

HYDR.LOCK 1
RL2
HYDR.LOCK
LED3

SLAVE SLAVE
D13

ACTIVATED ALARM
16
PG

The current to the valve coils are measured. When the valve current exceed the value corresponding to 50% of
the valve order to port (or stbd) HLA order port or stbd are triggered .

The stroke of the pump is measured. When the stroke exceeds 50%, the pump is regarded stroked to the side in
question.

If a discrepancy between order and obtained stroke exists for more than about 6 seconds a hydraulic lock alarm
will be issued.
LED's are provided to indicate both when the Hydraulic Lock condition are activated, and when the Hydraulic
Lock alarm is issued after a time delay.

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Note:
In ASU363 the “LVDT Detect Master” input (X3.3) and the “LVDT Detect Slave” input X3.4 are connected.
The Hydr. Lock Master Alarm relay is used as Alarm Contact and the Hydr. Lock Slave Alarm relay is used as
input to the MPF11 board.

5.3.2. Power Supply and Power Supervision.

24V+
FUSE BLOWN TP19
R140 REG1
VALVE
VIN VOUT
AC-SUPPLY LED8
VSUP
3 2
C35

C34

21 TO 25 VAC F1 1
D23

D22

R205
J1 2

C23

C24

R223
R115

C47
J1 1
C40

C41

C52
R206
D33

D34

PG

The +/-15V stabilised power supply for the electronics circuit is received from the ASM-module.

Valve power supply is an unstabilised approx 30VDC 1.5A supply fused with 3A.
A regulated 24VDC supply for relay circuit is derived from the 30VDC raw supply.
Low power supply, less than 27Vdc at the +/-15VDC Vdc supply and less than 20VDC at the 24VDC supply
will result in an opening power OK contact.

The supervision circuit is shown below.

+15V 24V+
R56

T3
R32

OP1
5
R57
LED1

15V-OK
4 POWER
OP1
1
C1

OK
C6
R4

R33

2
+/-15V 24V
3 3 1
R114

R2 R35 RL3
1 1
IC1
D18

2 2
IC5
16
LED5
R34
R3

PG
-15V

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6. Module description: MPF11 Failure Detector Board.

Board layout:

TP4 W5 1 1 W8
TP3 UNREG. -15V FLASH 1 W9 X2 3 1
UNREG. 15V LED4 15V OK!
MEMORY LED5 5V OK!
W13
1
PROM W14

+5V ISO 0 OK!

1
1
FLASH Write ENABLE FLASH Write DISABLE
UNREG. 5V 4 2 W15
TP1

LED7
Watchdog ENA 1

+5V ISO 1 OK!

1
1 W6 W17
P3 1 W16
W7 LED3 Never fit Pin-Jumpers here

LED6
PRIMARY 5V VOLTAGE ADJUSTMENT W16 & W17 are test-points
LED2 LED1 RESET (Turns off at manual - or watchdog reset)

POWER

W10
W11
BUSY (On during serial TX)
SUPPLY
IDLE (Indicates spare processor capacity)
TRAFO

1
1
ANALOG OUTPUT Ch. 0

ANALOG OUTPUT Ch. 1

OFFSET ADJUSTMENT

OFFSET ADJUSTMENT

W12
NOTE: THIS TERMINAL STRIP IS NAMED "X5" IN THE SERVO WIRING
1
X1 PARAM.
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 MONITOR
CABLE
+4.5V

1 CONNECTOR
W1
P1 P2 W2
TP2 W3
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45
W4

MPF11 is a microprocessor board. Hitachi H8 is the processor. The program is stored in the FLASH PROM.
Nine digital inputs are entered with:

1. X5-7 =PORT NFU Order

2. X5-8 =STBD NFU Order
3. X5-11=Other servo communication inlet
4. X5-12=Negated Hydraulic lock contact. (NB: From SLAVE circuit. Set APS-trimpots as Master pots)
5. X5-15=Servo in REMOTE mode
6. X5-16= Servo Power Supplies OK.
7. X5-19=ASM-Core check OK. (Order and feedback cores are monitored).
8. X5-20=Servo in Follow-Up mode
9. X5-21=Order from Bridge: Select Follow-Up mode.

Four Analog Inputs are used:

1. X5-43=10V*Sin(Order Azipod Angle)

2. X5-45=10V*Cos(Order Azipod Angle)
3. X6-2 =10V*Sin(Actual Azipod Angle) ( REFERENCE FEEDBACK ).
4. X6-4 =10V*Cos(Actual Azipod Angle)

Three Digital Outputs are used:

1. X5-23 to X5-24=Follow-Up select order

2. X5-25 to X5-26=Servo is OK (NB: Stand-By start order is given to the other servo if this DO goes OFF!)
3. X5-27 to X5-28=Signal to the other servo’s DI at X5-11

A NMEA-like serial message reports the state and the order + actual angle once pr second at X7-61 to X7-62).

There is no calibration to do except the zeroing of the REFERENCE FEEDBACK potmeter.

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6.1. MPF11 Functional:

The SERVO OK contact opens and reports a FAILURE in the following cases:

a. The pump is stopped and servo supply is OFF.

b. (Condition b is not used in ASU363).
c. The difference between the steering order and the Reference feedback exceeds 5 deg and if at the same
time the servo pump control does NOT minimize this difference with at least half pump stroke.
(While in Follow-Up mode).
d. The Servo Power is not OK.
e. A core failure is found.
f. Excessive analog input voltages are found.
g. (Condition g is not used in ASU363)
h. The servo is in NFU control mode and the steering speed is lower than a 50% pump stroke equivalent.
i. The Azipod drifts in NFU mode with more than 50% of one pump’s full stroke.
j. Core failure in the Follow-Up select line inside the servo or relay failure.

The SERVO OK relay (K9) has 3 contacts wired to the terminal strip.
X7.37 - X7.38: “Servo OK” for alarming. (Opens in case of failure).
X8.5 - X8.6: “Stand By Start” for stand by start of the other servo unit. (Closes in case of failure).
X8.7 - X8.8: “Stand By Start” for cyclo converter shut down in case of failure at both servos.
(Closes in case of failure).

The FOLLOW-UP SELECT select signal to the servo basically follows the bridge order, (with the
LOCAL/REMOTE switch in position REMOTE).
When a failure is detectec in follow-Up mode generally the Follow-Up signal opens unless the MPF decides
that it is wiser not to select NFU.

Change between Bridge NFU and FU to reset a latched “FAIL-TO-SAFE” decision.

Change to LOCAL NFU to disable the FAIL-TO-SAFE function completely. (A change to LOCAL NFU and
back will also reset a latched “FAIL-TO-SAFE” decision).
Changing to LOCAL PUMP CONTROL will also prevent Stand By Start.

Moving the yellow core from X7.65 to X7.67 will disable the FAIL-TO-SAFE function.

The VDR information sentence ($PEMRRCB) is found in drawing 4-7007-2. (Included in the service manual).
The sentence follows the NMEA standard for proprietary signals.

For detailed description of the MPF11 functions please see the document “MPF11 Description”,
MPFRCSW3.DOC. (Included in the service manual).

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7. LED indicators.
The printed circuit boards ASM and APS are equipped with LED indicators to ease condition monitoring and
fault diagnosis.
Except for the RUN INTERLOCK LED's all LED's in the ASU will be extinguished when the associated pump
is stopped.
PCB INDIC. COLOUR DESCRIPTION. ILLUMINATED CASE
ASM LED1 RED FB-POT SUPPLY FAIL Broken/loose wire to feedback potmeter
ASM LED2 RED > Order radius larger than 12.9 V
ASM LED3 RED < Order radius smaller than 9.0 V
ASM LED4 RED PORT STROKE FU stroke order to port
ASM LED5 GREEN STBD STROKE FU stroke order to stbd
ASM LED6 RED WIRE BREAK Loose or broken order or feedback wire
ASM LED7 GREEN RUN INTERLOCK 1 Other pump running interlock no. 1
ASM LED8 GREEN RUN INTERLOCK 2 Other pump running interlock no. 2
ASM LED9 GREEN RUN INTERLOCK 3 Other pump running interlock no. 3
ASM LED10 RED ALARM Broken wire or illegal order signal

PCB INDIC. COLOUR DESCRIPTION. ILLUMINATED CASE

APS LED1 GREEN 15V POWER OK +/-15VDC supply OK
APS LED2 RED HYD.LOCK ALARM MASTER Hydraulic Lock alarm (MASTER) released.
APS LED3 RED HYD.LOCK ALARM SLAVE Hydraulic Lock alarm (SLAVE) released.
APS LED4 GREEN STBD HLA ORDER Valve current > 50% STBD
APS LED5 GREEN POWER OK 24Vdc Supply > 20VDC and 15VOK
APS LED6 RED HYD.LOCK DET. MASTER Valve order and pump position differ master.
APS LED7 GREEN REMOTE REMOTE selected on the box front.
APS LED8 RED FUSE BLOWN Fuse for valve supply is blown or removed.
APS LED9 RED HYD.LOCK DET. SLAVE Valve order and pump position differ slave.
APS LED10 GREEN LOCAL LOCAL selected on the box front.
APS LED11 RED PORT HLA ORDER Valve current > 50% PORT
APS LED12 RED NFU ORDER PORT PORT NFU contact activated.
APS LED13 GREEN NFU ORDER STBD STBD NFU contact activated.
APS LED14 GREEN VALVE/PUMP STBD Valve/Pump switch activ. to STBD. (option)
APS LED15 RED VALVE/PUMP PORT Valve/Pump switch activ. to PORT. (option)
APS LED16 RED PORT LIMIT SW PORT limit switch activated
APS LED17 RED NFU PORT VALVE ORD. PORT NFU valve order.
APS LED18 RED PORT FU FU amplifier to PORT
APS LED19 GREEN FUSEL Follow-Up Select energised
APS LED20 RED VALVE PORT PORT valve order
APS LED21 GREEN NFU STBD VALVE ORD. STBD NFU valve order.
APS LED22 GREEN STBD FU FU amplifier to STBD
APS LED23 GREEN VALVE STBD STBD valve order
APS LED24 GREEN STBD LIMIT SW STBD limit switch activated
The MPF11 module is fitted with LEDs for OK, Transmission & Idle. Idle must flicker.

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8. Pinjumper settings.

Below tables explain the results of pinjumper settings.

Normal operation require all ASM pin-jumpers in upper position.

PCB W-NO JUMPER NAME POSI- FUNCTION

TION
ASM W1 POLARITY FB UPPER SINE angle neg. stbd and COS pos. ah. (“N”)
LOWER SINE angle pos.stbd and COS pos. ah.. (“I”)
ASM W2 SMALL /LARGE UPPER FULL RANGE Azi-speed order when W4 in lower
LOWER REDUCED RANGE Azi-speed order when W4 in lower
ASM W3 NORMAL-TEST UPPER Normal steering control from remote steering order.
LOWER Local testwheel generated steering position order.
ASM W4 STROKE TEST UPPER Normal operation, Steering position control
LOWER Stroke order from testwheel
ASM W5 POLARITY ORDER UPPER SINE angle order neg. stbd and COS pos. ah. (“N”)
LOWER SINE angle order pos.stbd and COS pos. ah.. (“I”)
ASM W6 BLOCK. UPPER Normal, stroke order=0 case signal failure, i.e. BLOCKING
INHIBIT LOWER No blocking case signal failure, only alarm

PCB W-NO JUMPER NAME POSI- FUNCTION

TION
APS W2 BREAK LOOP UPPER Stroke loop closed. Not Recommended !
LOWER Stroke loop open, only valve feedforw. compensation active.

Normal operations require APS W2 in LOWER position.

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9. Potmeter settings.
Below tables explain the results of potmeter settings.

PCB P-NO POTMETER NAME DESCRIPTION POT RANGE

MIN MAX
ASM P1 TESTWHEEL Test order (Voltage @ ASM TP3) +10V -10V
ASM P2 PROPORTIONAL BAND Proportional band setting (one pump run) 1 deg. 5 deg.
ASM P3 STROKE RAMP Rise time of stroke order 0 -> 100% 1 sec. 0.3 sec.

PCB P-NO POTMETER NAME DESCRIPTION POT RANGE

MIN MAX
APS P1 LVDT GAIN SLAVE Calibration slave stroke feedback signal min max
APS P2 LVDT OFFSET SLAVE Offset calibration slave stroke feedback +2.5V -2.5V
APS P3 STROKE ORDER LIMIT Max stroke order 5V 10 V
APS P4 LVDT GAIN MASTER Calibration master stroke feedback signal min. max.
APS P5 VALVE FEED FORW. Valve feedforw-current at max stroke order 0.1A 0.5A
APS P6 LVDT OFFSET MASTER Offset calibration master stroke feedback +2.5V -2.5V
APS P7 STROKE LOOP GAIN Loop gain in the stroke servo min max
APS P8 STBD DEADB. COMP. Jump current for stbd stroke movements 0mA 300mA
APS P9 HLA ORDER TRIG LEV. Valve current at 50% stroke=pump stroked 0A 0.4A
APS P10 PORT DEADB. COMP. Jump current for port stroke movements 0mA 300mA
APS P11 BIAS Common mode current in both valve coils 0mA 150mA
APS P12 OFFSET Difference mode current in valve coils +/-0.1A +/-0.1A
APS P13 CURRENT LIMIT FU-current limit excl BIAS and OFFSET 0.1A 0.6A
APS P14 NFU-CURRENT NFU-current generator 0.15A 0.6A

9.1. Recommended initial settings. (Revised 14-05-2003)

ASM-P2 ASM-P3 APS-P12 APS-P11 APS-P10 APS-P8

PROP. BAND STR. RAMP OFFSET BIAS P. DB. COMP S. DB. COMP
7,5 0 5 2 2 2

APS-P13 APS-P5 APS-P3 APS-P7 APS-P14 APS-P6

CUR. LIMIT VALVE FF STR.O. LIM STR L..GAIN NFU CURR. LVDT OFFS
6 -> 8 6,5 0 7 5 5

APS-P4 APS-P2 APS-P1 APS-P9

LVDT GAIN LVDT.O SLA GAIN SLAV HLA TRIG L.
8 As P6 As P4 5

Note: “SLAVE” trimpots (P1,P2) are used in ASU363. Set exactly as (P4,P6)

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10. Setting Up Instruction.

10.1. Visual inspection.

Check that all units are properly mechanically fixed.

Check that the beltdrive of the feedback units are are properly fixed, no slack.

Check that all cables are of the type specified in the Installation Information and that they are securely fastened
in the cable glands.

Check that all cable cores are correctly terminated in the units in accordance with the Installation Information.
Check that wire jumpers are correctly fitted in the terminal strips.

Check that pin-jumpers and potmeters are set to the recommended initial settings.

10.2. Electrical precheck.

By OHM-meter verify the presence of: IN: INSTALLATION TERMINALS:

PORT limit switch activated X7-49 to X7-51 1 ohms

STBD limit switch activated X7-53 to X7-54 1 ohms
( if mechanical switches are used).

PORT control valve coil X7-45 to X7-46 40 ohms

STBD control valve coil X7-47 to X7-48 40 ohms

RVDT master, excite X7-28 to X7-30 85 ohms

RVDT master, detect X7-30 to X7-29 440 ohms

Check that no earth leakage exists.

10.3. Start-Up and Zeroing.

Select local control by the switch on the ASU front.

Start a steering gear pump.

Check the supply voltage in X1 1/2.

Check that the power on LED's on the APS PCB are illuminated, LED1 and LED5.

Zeroing of Steering feedback and Reference feedback potmeters. (See datasheets for RFB360/RFC360.)

By manual control at the control valve position the Azipod precisely at midships.
Measure the steering feedback voltage: SINE(angle) in X7-2 with ref. to X7-5, COSINE(angle) in X7-3 with
ref. to X7-5.
Measure the reference feedback voltage: SINE(angle) in X7-B with ref. to X7-E, COSINE(angle) in X7-C with
ref. to X7-E.

The COSINE voltage must be close to 10VDC, Adjust the SINE voltage to 0.00 +/- 25mV by turning potmeter
unit in RFB-unit. Secure the potmeter unit and check that the fastening do not change the zero position voltage.

Move the Azipod to stbd 10 deg. Check that the polarity of the SINE voltage is negative and the magnitude is
approx. 1.7 VDC

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Stroke feedback zeroing and calibration.

Measure the master pump stroke feedback signal at TP4 with ref to TP9.

Zero adjust to 0.00VDC with the LVDT offset master potmeter P6.

By manual stroke the pump fully to STBD. Calibrate the strokesignal to +9.00 VDC with LVDT gain master
potmeter P4.
Stroke the pump fully PORT and check the stroke feedback signal is -9.00VDC

Measure the slave pump stroke feedback signal at TP1 with ref to TP9.
Zero adjust to 0.00VDC with the LVDT offset slave potmeter P2. Or set P2 exactly as P6.

By manual stroke the pump fully to STBD. Calibrate the strokesignal to +9.00 VDC with LVDT gain slave
potmeter P1. Or set P1 exactly as P4.

NOTE: Never adjust so that max stroke exceeds 9.00V . Tolerance: 8.00V to 9.00V.

10.4. Local NFU-operation.

Operate the steering gear from the local NFU push-buttons on the ASU front. Check that the Azipod moves in
the ordered direction.
NOTE: FOR ASU363: Selection of LOCAL control disables the Fail-to-NFU function and resets MPF11.

Adjust the NFU current with P14 so the pump is just fully stroked. Read the current at TP18 to TP20 as a
voltage with 2.2V per A.

In case 35deg Limit Switches are fitted: (If not go to 10.5. Stroke Servo Adj.)
Fit a temporary jumper between X7-25 and X7-26 (limit select). Verify the function of the limit switches by
manually operating the switches. Adjust the limit switches so the steering stops at the desired position.
Remove the temporary jumper.

10.5. Stroke servo adjustment.

NOTE: The Stroke Servo is normally to be inhibited.

This is done by setting the "Break Loop" pinjumper W2 on the APS PCB to the lower position.

On the ASM PCB: Check that the NORMAL/TEST plug W3 is in the UPPER position
Set the stroke-test pin-jumper W4 and the small/large pin-jumper W2 to their lower
positions.

Move the "Break Loop" pinjumper W2 on the APS PCB to the lower position.

Enable the FU-servo by switching the LOCAL/REMOTE switch to REMOTE. Please note the FUSEL relays
RL5/RL12/LED19 must be energised. If FUSEL has not already been selected, fit a temporary jumper between
X7-39 and X7-40.

Dead Band Compensation, Bias and Offset adjustment.

Set the bias potmeter P11 to 2.

Move the testwheel P1 on the ASM PCB to obtain approx. +200mV on APS TP2 (stroke order) with ref. to
TP9. At the port deadband compensation potmeter P10 increase the setting from zero until the steering gear just
starts to move. Then reduce the setting until the steering gear stops.

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Repeat to stbd side with -200mV on APS TP2 with ref. to TP9 and adjust with P8 stbd deadband
compensation.
Set ASM large/small pin-jumper W2 in the upper position.

With the testwheel P1 on the ASM order the valve fully out. Adjust with the valve feedforward potmeter P5 so
the pump is just fully stroked. Read the stroke feedback signal at TP4 with ref to TP9 and compare to the
readings obtained with manual operation. Check both directions.

With inner loop=stroke servo loop inhibited, which means W2 on APS in LOWER position:

Current Limit Setting:

Set the CURRENT LIMIT potmeter P13 to a value so high, that the current limit is NOT the factor limiting the
stroke. Check that current limit value is set so that the maximum current specified by the valve maker cannot be
exceeded. This setting is only meant to protect the solenoid from excessive current.

Enable the servo loop by moving the APS W2 BREAK LOOP pin-jumper to the upper position if You have
decided to use the inner loop.
Otherwise go to Stroke Ramp Adjustment.
Operate the steering gear from the testwheel fully CCW and CW ( +/- 10VDC @ ASM TP10 ) and adjust with
the stroke order limit potmeter P3 the maximum stroke. The limit should be set so the pump is almost fully
stroked. Hint: Measure the pump stroke signal and slowly reduce the setting of the limit potmeter until the
stroke feedback signal drops a little.
Set the Stroke loop gain potmeter P7 to best compromise between precision and heavy control activity.

Stroke ramp adjustment.

With the ASM stroke ramp potmeter P3 adjust the stroke travel time. A low setting will provide a slow ramp, a
high setting a fast. A slow ramp should be selected as long as the ramp time do not disturb the behaveour when
stopping after an order change. (Gives an overshoot.)

10.6. Hydraulic lock alarm adjustment.

The adjustment may best be performed with the BREAK LOOP jumper W2 on the APS in the lower position.
The TESTWHEEL will then act as direct control of the valve current.
Adjust with the testwheel so half stroke STBD is obtained, the stroke signal is measured to +4.5VDC on APS
TP4 with ref to TP9.
Adjust The HLA order trig potmeter P9 so the STBD HLA order LED4 is just lit.
Order stroke to PORT and observe that the PORT order HLA LED11 is lit at approx the same level of stroke as
to STBD.

A check of the adjustment: When slowly increasing the stroke order from below 50% to above and if the
HYDLOCK MASTER LED6 it lit first and then extinguished when the HLA order trig LED4 or LED11 is lit,
then the HLA ORDER TRIG LEVEL should be decreased. If on the other hand the HLA trig LED’s and the
HYDLOCK MASTER LED is lit simultaneously and the HYDLOCK MASTER LED then extinguishes at little
higher stroke, increase the setting of the HLA ORDER TRIG LEVEL.

Check for both port and stbd stroke orders, the pump may not respond symmetrically to the order. Adjust for
minimum time (= amount of order change) with the HYDLOCK MASTER LED lit. Distribute any discrepancy
even between the two sides, and check also for reducing stroke from above 50% to below. Hysteresis may exist
in the stroke order (valve current) to obtained stroke.

It is possible to adjust the Hydraulic Lock Alarm system while the ship is in normal operation, provided that the
LVDT GAIN is properly adjusted. (STROKE Signal = 8.0 to 9.0V at max stroke). There must be some
steering activity during this, either from the wheel or from the autopilot. (The POD must move a few deg.
frequently).
Watch the 2 LED4 & LED11 and the resulting LED6.
Adjust P9 so that you have as short time illuminations of LED6 as possible.
Use “Trial & Error”: Try a very low setting of P9 first and then a very high setting to understand the action.
Then find a compromise in the middle, where LED6 flashes as short time as possible.
Alarm comes if LED6 is ON during more than 5 seconds.

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10.7. Position servo adjustment.

Select LOCAL on the ASU front.

On the ASM PCB: Set the stroke-test pin-jumper W4 to the upper position.
Set the NORMAL/TEST W3 plug to the lower position.

Select REMOTE on the ASU front.

Proportional band setting.

Adjust the proportional band with the ASM potmeter P2 to obtain a smooth overshoot free response to an angle
order change. A potmeter setting between 5 and 7.5 corresponding to between 3 and 4 degrees is a reasonable
starting value for a steering gear with a speed of 3 deg/sec with one pump in operation . Select a lower setting
for slower pumps, higher setting for faster pumps. The proportional band is automatically increased
proportional to the number of running pumps.
NOTE: The lower the PROP BAND setting the more aggressive the pump wil be. And the higher the risk of
false hydraulic lock alarms, especially with worn pumps and feedback potmeters.

Always use the same setting of the proportional band in all the servos in a system.

Check the static accuracy of the steering control. Measure the RUDDER ERROR on ASM TP13 ref TP16.
Scalefactor is 0.175 V/deg.

Move the Azi some 10 to 20 degrees away from zero and then return to around zero from one side and from the
other side. Note the Rudder Error voltage at stand still.

In case the inner loop is active, i. e. the APS Break Loop jumper W2 in the upper position, the static error is
expected to be in the few mV range.

In case the inner loop is disabled, some static error in the magnitude of a couple of tenths of a degree must be
expected.

Increase if necessary with the Port and Stbd Deadband Comp. potmeters P10 and P8 a little to obtain a
satisfactory static accuracy, but without creating an overshoot or small signal hunting.

Note the final potmeters settings:

ASM-P2 ASM-P3 APS-P12 APS-P11 APS-P10 APS-P8

PROP. BAND STR. RAMP OFFSET BIAS P. DB. COMP S. DB. COMP
P1
P2

APS-P13 APS-P5 APS-P3 APS-P7 APS-P14 APS-P6

CUR. LIMIT VALVE FF STR.O. LIM SLOOP.GAIN NFU CURR. L.OFFS. MAS
P1
P2

APS-P4 APS-P2 APS-P1 APS-P9

STROKE GAIN M L.OFFS. SLA STR GAIN S HLA TRIG LEV.
P1
P2

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10.8. System test.

Restore to normal condition: Remove temporary bridges and set all ASM and APS-pinjumpers to normal upper
position.

Operate the Non Follow Up controller on the steering stand and check that the Azipod follows the orders.

Also operate with all pumps running.

Select hand mode on the steering stand.

Check that the steering gear follows the order. Operate pumps separately and together. Check that the other
pump running LED indicators on the ASM PCB (LED7, LED8, and LED9) are illuminated when the
corresponding pump is running. Observe the proportional band increases with the number of pumps running at
the same time.

Manually operate control valve and observe the Hydraulic Lock Alarm. Note a delay of approx. 6 sec.
Please note that the hydraulic lock alarm cannot be tested the removing valve plug as the "order" that is sensed
in the hydraulic lock alarm is the valve current which of course will be zero with the plug removed.
Removing the plug on the stroke sensor will (should) also generate a hydraulic lock alarm when the pump is
operated from the NFU push-buttons on the box front.

Restore the normal condition

Check the power failure alarm by lifting the power supply plug J1 on the ASM module.
Select LOCAL and observe the LOCAL/REMOTE alarm (if fitted).

11. Troubleshooting.

Necessary tools:
Screwdrivers, 3 mm for terminals, 8 mm for opening the boxes.
1 or 2 standard digital voltmeters, FLUKE, HP or similar.
The manuals of the system.
The bridge steering system and the steering gear manufacturer's interface drawings
Trouble shoot 1 pump at the time. Always compare the failing system with other, supposed ok system.

CHECK POINTS:
Check selected voltages according to the list below:

LIST OF IMPORTANT SIGNALS

BOX SIGNAL TEST POINT NOMINAL VALUE
ASU-BOX +15VDC source ASM-TP17 ref +15.00V +/-0.03V
TP16
ASU-BOX -15VDC source ASM-TP15 ref -15.00V +/-0.03V
TP16
ASU-BOX Steering FB pot supply +/-9.9V X7-1 ref X7-4 19.8VDC+/- 0.050V
ASU-BOX Reference FB pot supply X7-A ref X7-D 20.0VDC+/- 0.8V
+/-10V
ASU-BOX +10VDC ref source ASM-TP4 ref +10.0V +/-0.050V Supply for helm
TP16 potmeter
ASU-BOX -10VDC ref source ASM-TP3 ref -10.0V +/-0.050V Supply for helm
TP16 potmeter
ASU-BOX Valve supply (Vsup) APS TP19 ref Approx. 30Vdc, load and supply voltage
TP16 dependent

N:\ASU\ASU363\ASUIINFO.LWP 2007-03-22
ASU363-D-VVV Page 23/24

ASU-BOX 24Vdc(+) APS TP22 ref Relay and auxiliary supply 24Vdc +/-
TP16 1Vdc
ASU-BOX Steering order in (SINE) X7-17 ref X7-15 10V X SINE(Order) neg. stbd
ASU-BOX Steering order in (COSINE) X7-18 ref X7-15 10V X COSINE(Order) pos ahead
ASU-BOX Steering feedback (SINE) X7-2 ref X7-5 10V X SINE(Angle) neg. stbd
ASU-BOX Steering feedback (COSINE) X7-3 ref X7-5 10V X COSINE(Angle) pos ahead
ASU-BOX Reference feedback (SINE) X7-B ref X7-E 10V X SINE(Angle) neg. stbd
ASU-BOX Reference feedback (COSINE) X7-C ref X7-E 10V X COSINE(Angle) pos ahead
ASU-BOX Stroke order (NEG STBD) ASM TP18 ref 10V corresponding to max stroke order
TP16
ASU-BOX Measured stroke (POS STBD) APS TP4 ref TP9 9V corresponding to max stroke
ASU-BOX Valve Current order excl bias APS TP13 ref 10V/A pos. Stbd.
TP9
ASU-BOX Valve current FU STBD APS TP17 ref 2.2V/A Stbd FU orders
TP16
ASU-BOX Valve current FU PORT APS TP15 ref 2.2V/A Port FU orders
TP16
ASU-BOX Valve curr. NFU PORT/STBD APS TP20 ref 2.2V/A NFU orders Port or Stbd
TP18
ASU-BOX LVDT Excite voltage X7-28 ref X7-30 6Vrms/2.5kHz

RFB360 Servo supply TS-6 ref TS-9 19.8VDC +/- 0.050V

(Steering)
RFB360 Servo supply TS-6 ref TS-9 20.0VDC +/- 0.8V
(Reference)
RFB360 Servo angle feedback SINE TS-7 ref TS-10 10V X SINE(Angle) NEG/SB
(Both)
RFB360 Servo angle feedback COSINE TS-8 ref TS-10 10V X COSINE(Angle) POS/AH
Both)

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ASU363-D-VVV Page 24/24

11.1. Troubleshooting and Set-Up of MPF11.

(See also the specific diagrams).

In case of failure in the MPF11-microcomputer: Move the Yellow terminal jumper fitted between:
X7-65 and X7-66 to connect X7-66 with X7-67. This connects the bridge FUSEL-contact directly.
Also disconnect the STAND-BY START contact conn.to: X8-5 and X8-6.

The STAND-BY Start function is actually carried out in the motor starter.
Servo-unit ASU363 delivers a closing contact in case the MPF11-monitor concludes that an error has occurred
in the running pump’s follow-up circuit. This contact also closes in case of internal failure in the MPF11.
(It also closes in case of unenergized servo, which of course is counter-acted for in the motor-starter circuit.)

The MPF11 function can be monitored on the serial output port using a Laptop fitted with a serial port and a
communication program. (Hyperterminal or PCPLUS or PROCOM). (Baud=4800, No parity, 1 stopbit).
The special cable with EMRI part number 4-5172 (“Parameter Cable”) is used.
The Parameter Monitor Cable can be connected to connector W12 (just right off the MPF-terminal strip).
A working board will respond with the “>” prompt.
The most used laptop-instructions are <watch all> <enter> and <view param> <enter> .
<init> <enter> is used to clear the screen.
The same cable is used during parameter setup of an “empty” MPF11.
<set ‘parameter’ = ‘value’> <enter>
In order to identify itself properly in a VDR sentence the MPF11 must be informed with the PumpName.
Write:
Set PumpName=”STBDP2” <enter> to identify the pump is STBD Pod pump No. 2. Etc.
NOTE: Basic Software is loaded through a chip.

For detailed description of the MPF11 functions please see the document “MPF11 Description”
(MPFRCSW3.DOC). (Included in the service manual).

EMRI considers it necessary that you pass a training session before repairing MPF11 software or parameters.

N:\ASU\ASU363\ASUIINFO.LWP 2007-03-22
ASU-SETUP 1/1

SETUP OF Azipod Servo Units ASU360, ASU362 & ASU363:

RECOMMENDATIONS FROM EMRI:

BACKGROUND:
There have been too many reported cases of false HYDRAULICK LOCK ALARMS.
It seems to EMRI (although based on rather weak reporting) that many of those cases arise when
two pumps are in operation.
Our investigation to this has concluded:

Many false alarms are caused by an unavoidable mismatch at certain angles between the RFB-
feedback signals.
This feedback is never 100% ideal, since it is sine/cosine potmeter signals, and there can be
certain angles where the difference between P1 and P2 is above 2.0deg.

The sensitivity to false alarms with 2 pumps increase with mismatch between P1 and P2
feedback. It increases also with the reciprocal value of the proportional band, PB,of the servo
(PB = PROP BAND as set by ASM12-trimpot P2 ).

The sensitivity to false alarms also increase a lot with bad setup of the sensor signal itself and
with bad setting of the alarm detector.
APS31 trimpotmeters:
P4 and P6 (Sensor, LVDT gain and offset) and P9, HLA ORDER TRIG LEVEL.

REMEDY:
A:
Increase the PROP BAND of all Azipod Servos. From 3deg to 4.2 deg.
This is done by turning the ASM-PROP BAND trimpot P2 from index 5 to index 8 .
B:
NEVER exceed “ 9V=100% “ when calibrating the pump sensor feedback by APS-trimpot P4.
(Measured at TP4 ).
Distribute differences to the low side, i.e. go down in voltage on the lower side toward 8V
instead of letting the high side go above 9.0V.

CONSEQUENCES:
Lower bandwidth in the servo loop, causing softer steering, which also gives less wear on the
pump and on the mechanical gear.

Approved by EMRI.
31-May-2005

J.C.Nortoft Thomsen

NEWSETUP.DOC Electronic & Marine Research 05-05-31

Short Form Hints. ASU363 pg. 1/2

TROUBLE SHOOTING ASSISTANCE:

Bridge alarm panels differ from ship to ship. Reference is made to the instructions by ABB
Marine on those panels.

ASU363 has, however, the following alarm contacts wired down to terminals:

1. Hydraulic Lock Alarm:

X7-31 to 32 opens in case of a Stroke Servo Failure > 5 sec.

2. Power Failure Alarm:

X7-33 to 34 opens in case of ASU power supply failures.

3. Alarm for LOCAL CONTROL:

X7-35 to 36 opens in case LOCAL NFU control is selected.

4. Servo Fault:
X7-37 to 38 opens in case of a servo failure.

5. A closing contact to initiate Stand-By Start. (X8-5 closing to X8-6).

(In case of Servo Fault).

Hydraulic Lock Alarm can be caused by several failures:

A genuine loss of ability inside the pump to respond to orders.

AA: Current > 50% to Solenoid (LED4 or LED11) detected.
BUT: Stroke FB does not follow.
BB: Stroke > 50% is detected.
BUT: Current is < 50% or even reverse.
CC: The servo alarms after 5 sec. (APS-LED6 & 5 sec later LED2).

An adjustment failure in the ASU-servo causing the same as above.

OR: An electronic failure on the card or in the sensor or in the cabling.

Power Failure Alarm can be caused by two failures:

1. A loss of the ASM12-supply: +/-15VDC. Green LED1=”15VOK”

extinguishes.

2. A loss of the APS31-supply: 24VDC. All green monitor LEDs

extinguished. Relay 3 and LED5 OFF. (LED5=”POWER OK”).

TRSHTNY.DOC 2007-03-22
Short Form Hints. ASU363 pg. 2/2

REPAIR ACTIONS AFTER A “Power Failure” ALARM:

Open the ASU-box and check LEDs.

1. IF green APS-LED1=”15VOK” is OFF, then search the cause on ASM12 level.
(Lift the ribbon cable and check if this brings +/-15V of ASM12 back.)
If not, check the AC-Trafo voltage inlets and exchange the ASM12 if needed.
2. IF all green APS-LEDs are OFF, then search the cause on APS31-level.
(Check the AC-Trafo voltage inlets and exchange the APS31 board if needed).
3. Or exchange the Transformer if this is found failing.

Servo Fault Alarm is one or more of several causes, which also can
include those, which release the Hyd.Lock and the Pow.Fail. alarms.
Other causes:

Signal Failure (Order or feedback failure or broken wire).

SIGNAL FAILURE illuminateASU-ASM-LED10, lower right.
Possible Causes:
AA: LED1: “FB SUPP FAIL” = Supply Failure to Feedback Potmeter.
BB: LED6: “WIRE BREAK” = Order or Feedback sin/cos outside legal range.
CC: LED2: “ > “ = Order Radius larger than 12.4 V. (Failure in cable or bridge).
DD: LED3: “ < “ = Order Radius less than 9.0 V. (Failure in cable or bridge).
EE: Any error in the electronic sensor circuit that may create the same pattern.

Excessive difference between order and feedback.

WARNING: The servo fails to NFU mode! So: Watch for drifting Pod-angle!!
See more in the following pages on “Fail-to-Safe” properties.

REPAIR ACTIONS AFTER a SERVO FAULT alarm:

Properties:
The Servo Fault alarm is reset when you change from Bridge NORMAL to BACKUP (NFU)
and back to NORMAL steering.
The Servo Fault alarm is reset and cancelled if you change the ASU REMOTE/LOCAL
NFU switch to position LOCAL. Please note that one ASU-switch to LOCAL of a running
pump will also cancel the alarm of the other servo if this is running.

SERVO FAULT alarm can include any error in the servo loop, including hydraulic failures
and errors caused by false alarms.

In case of false alarms: (MPF11-module malfunctions):

Move the yellow core from ASU-X7-65 to X7-67 to disable the “FAIL-TO-NFU” function.
E the

TRSHTNY.DOC 2007-03-22
 PG.1/8

MPF11 description.

Software version: MPF:RCB.a20

Built into: ASU362, ASU363 AZIPOD STEERING Servo Unit.

Table of contents:

Table of contents: ............................................................................................................................................................... 1

1. MPF main functions: ...................................................................................................................................................... 2
2. The MPF logic functions are based on the following inputs: ......................................................................................... 2
3. MPF generates the following outputs ............................................................................................................................. 2
4. MPF Output signal definitions........................................................................................................................................ 3
A. The Servo System OK contact DO(1) (=Negated “Servo Failure Alarm”) ......................................................... 3
B. The FU-SEL signal to the APS servo module, DO(0).......................................................................................... 4
C. The NMEA sentence to the VDR ......................................................................................................................... 5
5. Description of the MPF parameter set-up....................................................................................................................... 6
MPF set-up commands ................................................................................................................................................... 6
MPF Normal Setup ......................................................................................................................................................... 8
Diagnostics ..................................................................................................................................................................... 8

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 PG.2/8

1. MPF main functions:

a. Collect steering gear related data for VDR.
b. Supervise the steering gear control and alarm in case of a detected failing function.
c. “Fail to Safe” function by changing the servo control to NFU when relevant.

2. The MPF logic functions are based on the following inputs:

Digital inputs
DI(0) Port Order. NFU
DI(1) Stbd Order. NFU
DI(2) Other Servo Status. *1)
DI(3) Not Hydraulic Lock
DI(4) Servo in REMOTE
DI(5) Servo Power Supplies OK
DI(6) Feedback Pot- & Order Cores OK & signals within OK ranges
DI(7) Follow-Up Mode selected, (FUSELD)
DI(8) Select Follow-Up Mode fm. Bridge (FUSELB)
Analog inputs
AI(0) 10V*sin(Steering Order) from ASM.
AI(1) 10V*cos(Steering Order) from ASM.
AI(2) 10V*sin(Actual Azipod Angle) . *2)
AI(3) 10V*cos(Actual Azipod Angle) from *2)
*1 No signal means servo is off or DEAD.
If ALIVE a pulse is sent starting a series of pulses equally spaced in time and if all ON
resulting in a 50% duty cycle. The pulses indicates the following states mentioned in pulse
sequence from ALIVE to NFU:

ALIVE: Heart beat received, the other servo is ON.

LOCAL: Switched to LOCAL control.
FAIL: Reporting a failure (Alarm Active)
NFU: NFU forced (the other servo “Failed to Safe”)

NOT_OK: Not part of the sequence. Steady high state (ON).

*2 Servo feed back in ASU362, independent reference feedback in ASU363

3. MPF generates the following outputs:

Digital outputs
DO(0) FU-select to APS servo module based on the FUSELB input and the failure state.
DO(1) Servo system OK contact for relay K9.
DO(2) This Servo system status. *3)

Serial output
PORT B NMEA: $PEMRRCB to VDR
*3: Transmission to other servo following the protocol given under *1.

N:\ASU\ASU363\MPFRCSW3.DOC 2007-03-22
 PG.3/8

4. MPF Output signal definitions:

A. The Servo System OK contact DO(1) (=Negated “Servo Failure Alarm”):

The Servo System OK contact stays closed while the related pump is running and there has
been no failure in the servo function detected.
The contact opens when one or more of the following conditions are met:
Condi Functional state description. Alarm delay Al. state Fail
- Parameter Latching to NFU
tion
A The pump is stopped and the servo power supply is off.
B Not Considered
C The difference between the steering order and the steering feedback ConditionC Latching (Yes)
reference is greater than the allowed servo error (RudErrMax, parameter, In most
default equal to 5 degrees), except for steering angles above 35 degrees, cases, se
where larger servo error is allowed if the steering order is larger than the descrip-
actual steering angle. tion in 4.B
AND
The steering rate of turn is at the same time less than 50% of nominal,
what is equal to 100% increase in the nominal 35-30 degrees steering
time with one pump running (RudderTime1 is a parameter).
AND
The servo is in FU-mode or has been switched to NFU by the ”Fail to
Safe”
“Fail to safe”-Function. (See description below).
Condition c. shall always open the SYSTEM OK contact.
D A power failure is reported to the MPF. ConditionD Latching Yes
E An Order or Feedback Signal Failure is reported to the MPF. ConditionE No Yes
F Any steering order to the MPF is greater than +/-11V or lower than 9.0V ConditionF Latching Yes
radius.
G Not Considered
H The servo is in NFU control and the steering does not move according to ConditionH Latching No
the orders
with the expected steering speed above 50% of nominal speed for one
pump. (Equivalent to 100% increase in steering time 35-30degrees).
I The steering is in NFU mode and the steering is drifting with a steering ConditionI Latching No
speed above 25% of what is nominal speed for one pump.
J FUSELB is requested from bridge but FUSELD is not returned to MPF. ConditionJ No No

Condition B is in other systems covering the case where the reference feedback and the
servo feedback differs too much. In the ASU362 only the actual feedback are monitored by
the MPF (There is no ref. FB). In the ASU363 only the reference feedback are monitored.
The situation will be covered by the Condition C supervision if the 2 feedbacks differs in an
ASU363 system.

Condition G is in other systems equal to Local Select. In ASU362/363 local select is not
reflected in the Servo OK condition. Local Select has its own specific alarm contact.

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 PG.4/8

All failure conditions are latched except for condition E and J, coming from external
contacts and therefore not MPF detected.
The failure conditions are latched and the alarm contact stays open until one of the
following release situations occurs:
- One of the running servos have been switched to LOCAL.
- The NFU mode has been selected from the bridge.
- The pump with latched condition is stopped and restarted.
A failure will always issue a standby start order to the other pump.
If the stand-by pump is running already, it will not latch a stand-by start condition, and can
then immediately be stopped from the bridge again.
The stand-by start order will then be executed and start the pump again.
A pump cannot be stopped from the bridge, when it is stand-by started.
First stop the failing pump that caused the stand-by start.

A failure in both servos will make both servo OK contacts go open, and the AIU box
will then order the Propulsion system to the “Propeller Free Wheeling” state.

There is no search sequence programmed in the 2 pump running case.

It could have been an advantage first to signal alarm on the bridge after the servo systems
have had the opportunity to analyze the system and detect (if possible) where the failure is
located.
This search calls for a test sequence putting an arbitrarily selected pump in the “Fail to
Safe” condition, in order to collect more information of the failure situation.
This intermediate trial condition could turn out to be not a “Fail to Safe” but a “Fail to
Worse” condition, and therefore it is better (more safe) just to let both servo systems
announce an alarm condition right away, with the “Free Wheeling” as a consequence to
that, and let the OOW make further investigations by running the pumps separately.
B. The FU-SEL signal to the APS servo module, DO(0).
The FU-SEL signal to the APS module is basically equal to the FU-SEL signal from the
bridge. This bridge signal passes the MPF module in order to let the MPF supervision
function decide if the APS shall continue in FU-MODE or in case of a failure decide to
select the NFU mode if this is considered more safe.

No logic in the MPF can force the FU-SEL signal to the follow-up mode if NFU is selected
from the bridge. This is not an output from any “state machinery” but a simple
programmed logic function bypassing all state machinery.
The FU-mode will be cancelled (Fail to Safe) and NFU selected in case of all servo failure
conditions a. to f. as listed above, except when the steering moves in the correct direction,
or at least not more than 20% of nominal speed in the opposite direction under failure
condition c.
If the steering gear is observed running with above 50% of the nominal steering speed (in
the wrong direction) after having selected NFU in order to “fail to safe”, then this
overriding shift to NFU-mode is released again and is not chosen again as long as the
failure state remains. (Until released/reset).
The NFU state of the MPF’s DO(0) is reported to the other MPF in the serial state
information on DO(2).

N:\ASU\ASU363\MPFRCSW3.DOC 2007-03-22
 PG.5/8

C. The NMEA sentence to the VDR.

Sentence $PEMRRCB ,X ,XXXX ,x.x ,A ,x.x ,A *CS

1 2 3 4 5 6 7 8

Field # 1 Address, Proprietary EMRI Rudder Servo Information Sentence B

Field # 2 Pump number. 6 Characters max. (PORTP1, PORTP2, STBDP1, STBDP2)
Field # 3 16 digital states represented as 4 hexadecimal characters.
Field # 4 Azipod order data in degrees. Signed real, 1 decimal, Neg/STBD, rounded to 0.2
Field # 5 A=Azipod Order data valid. V=Order data invalid. (Invalid if vector<9V or signals>11V)
Field # 6 Azipod actual angle in degrees. Signed real, 1 decimal, Neg/STBD
Field # 7 A=Azipod Actual data valid. V=Actual data invalid. (Invalid if vector<9V or signals >11V)
Field # 8 Checksum.

N:\ASU\ASU363\MPFRCSW3.DOC 2007-03-22
 PG.6/8

5. Description of the MPF parameter set-up.

One of the two serial ports (Com A) on the MPF11 board is reserved
for setup and diagnostics.

This port (connector W12) can be connected to a serial port on a PC,

using a straight-through cable with a 10 pin header in one end and a DB9 female
connector (wire 10 is N.C.) in the other.

Jumper W15 on the MPF11 board should be set to position 2-3 (RS232),
which is factory default.

The PC should be running a terminal emulation program like Procomm/ PcPlus,

set to 4800-n-8-1. Most other standard terminal emulating programs, for example
HyperTerminal, may be used as well.

Start a standard terminal emulation program (like Procomm/ PcPlus or HyperTerminal) on the PC
and set the used Com-port to a baudrate of 4800,
no parity, 8 bits, 1 stopbit and no handshake.

MPF set-up commands.

Via the terminal, following commands are available:

Calibrate Starts calibration sequence.

Calibrate cos Calibration of offset on

Cos inputs.

Calibrate sin Calibration of offset on

Sin inputs.

Dump parametername Shows parameter as a

hex memory dump.

Dump tablename Shows table as a

hex memory dump.

Dump address Shows a hex memory dump.

Init Clears the screen and writes a

headline with type- and
version-info.

Log Clears logging setup.

Log n Starts logging for n seconds.

Log variablename Adds variable to logging setup.

N:\ASU\ASU363\MPFRCSW3.DOC 2007-03-22
 PG.7/8

Reset Forces a reset of the MPF11.

Set parametername = value Changes the parameter to a new value.

Set tablename [ n ] = value Changes one entry of the table to a new value.

The new value is stored in flash-memory

and will be retained during power off.

Note: Storing data in flash-memory requires

that the jumper W5 is in position 2-3 (Write Enable).

View all Displays values of all accessible

parameters, tables and variables.

View param Displays values of all parameters.

View parametername Displays actual value of

parameter.

View serial n Starts dump of chars received

on serial port n (0 or 1).

View tablename [ n ] Displays actual table value.

Note: View serial command is cancelled by

entering any other command.

Hint: The View param command is very useful for

documenting parameter setup. By using the logging
feature found in most terminal emulator programs,
the parameter values may be saved in a text file.

Watch Clears all watch setups.

Watch all Setup watch of values

relevant for diagnostics.

Watch variablename Setup watch of variable.

Watch tablename [ n ] Setup watch of table value.

Watched values will be shown dynamically in

a column in the righthand part of the screen.
Up to 22 values can watched.

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 PG.8/8

MPF Normal Setup

In most installations only a few parameters need to be set:

As these systems operates in pairs, they need to know whether they are pump no. 1
(default) or pump no. 2. So on pump no. 2 you may need to enter set PumpNo = 2

For proper identification in the NMEA sentence to the VDR, the pumps name
also needs to be set, for example set PumpName = “STBDP2”

Diagnostics
In order to be able to inspect the internal state of the Fail Recovery system, some diagnostic output is available, when
the MPF11 is connected to a PC with a terminal program.

This output is activated with the command watch all.

On the screen is shown an overview of the status of the system (example):

Order = 45.012913
Actual = 44.840069
Diff. = 0.170952
Rate = -0.002501
Fail now = ___D____________
Latched = ___D____________
State = Fail to Safe
This = Alive Fail NFU
Other = Dead

Order is the Azipod Order Angle [Deg.]

Actual is the Azipod Actual Angle [Deg.]
Diff. is Order – Actual [Deg.]
Rate is the Azipod moving rate [Deg./s]

Fail now is a list of detected fail conditions (C to J, see table with Fault Groups)
Latched is a list of reported fail conditions (C to J, see table with Fault Groups),

State Is the name of the actual recovery state.

This Is the state attributes of this station, transmitted to the other station.
Other Is the state attributes received from the other station.

Possible attributes are:

DEAD Nothing is received, station is off.

ALIVE Heartbeat received, station is on.
LOCAL Switched to local control.
FAIL Reporting a fail (Alarm active).
NFU NFU forced (Fail to Safe).
NOT_OK Invalid transmission.

Terminate the ”Watch” – screen by writing watch <enter>

N:\ASU\ASU363\MPFRCSW3.DOC 2007-03-22
$PEMRRCB Definition 1

This EMRI-proprietary NMEA-sentence is transmitted once pr second

at the RS422 port of an ASU362 / ASU363
Sentence $PEMRRCB is transmitted 1 times pr sec from MPF11on RS422 line channel B
Valid for ASU362/3 with MPF-Failure Detector
Sentence $PEMRRCB ,X ,XXXX ,x.x ,A ,x.x ,A *CS<CR><LF>
Field # 1 2 3 4 5 6 7 8

Field # 1 Address, Proprietary EMRI Rudder Servo Information Sentence B

Field # 2 Pump number. 6 Characters max. (PORTP1, PORTP2, STBDP1, STBDP2)
Field # 3 16 digital states represented as 4 hex characters. See definition below.
Field # 4 Azipod order data in degrees. Signed real, 1 decimal, Neg/STBD, rounded to 0.2
Field # 5 A=Azipod Order data valid. V=Order data invalid. (Invalid if vector<9V or signals>11Volt)
Field # 6 Azipod actual angle in degrees. Signed real, 1 decimal, Neg/STBD
Field # 7 A=Azipod Actual data valid. V=Actual data invalid. (Invalid if vector<9V or signals >11Volt)
Field # 8 Check sum.
Note: Field 4 & 6 are blanked if sin & cos signals both < 1Volt.

Field # 3. Bit mapping. '1' means that the description below is true. (Typical: 01F8)
Bit 1 (LSB) Port Order. NFU DI(0)
Bit 2 Stbd Order. NFU DI(1)
Bit 3 Always 0
Bit 4 NOT HYD.LOCK DI(3)
Bit 5 Servo in REMOTE DI(4)
Bit 6 Servo Power Supplies OK DI(5)
Bit 7 Feedback and Order OK. (Corecheck) DI(6)
Bit 8 Follow-Up Mode selected DI(7)
Bit 9 Select Follow-Up Mode fm. Bridge DI(8)
Bit 10 NFU response failure
Bit 11 Steering Gear Drift in NFU Mode
Bit 12 Servo Order out of Range
Bit 13 Servo-Actual differs from Order
Bit 14 Servo Actual out of Range
Bit 15 Servo Failure Reported to Bridge. DO.1 OFF
Bit 16 (MSB) Failing to NFU Mode. DO.0 OFF

PIN JUMPER SET UP

JUMPER SETTING JUMPER SETTING
W1 NOT FIT W8 2-3
W2 NOT FIT W9 2-3
W3 NOT FIT W10 2-3
W4 NOT FIT W11 2-3
W5 1-2 W13 1-2
W6 1-2 W14 1-2
W7 NOT FIT W15 2-3

RCB_ASU1.XLS ISSUE B
2005-04-29 MPF11-RCB / ASU36x 4-7007-2