Steering with Yokogawa Autopilot •
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alarm "2457 Route: Outside chl limits", which appears if the own ship is outside the planned channel. This alarm
is repeated every minute, if the condition continues.
alarm "2455 Route: off course", which appears, if the system needs more than a set limit (the limit is available in
Installation parameters) to keep the track. This alarm is repeated every 5 minutes, if the condition continues.
alarm "2456 Route: WP approach error", which appears, if because of for example decreasing speed the own ship
is more than waypoint approach alarm time + 100 seconds away from the wheel over point after the user have
already acknowledged alarm "2451 Route: WP approach alarm" to enable the next automatic turn. After the alarm
2456 the next turn is not enabled and the system will generate a new alarm "2451 Route: Wp approach alarm" when
appropriate.
alarm "2460 Pilot: ROT will be exceed", which appears, if the set radius value together with the current speed of
the ship request rate of turn which is over the limit set in Route Parameter Max. rate of turn.
alarm "2461 Route: ROT will be exceed", which appears, if the planned radius for next waypoint together with the
current speed of the ship request rate of turn which is over the limit set in Route Parameter Max. rate of turn. This
alarm is activated if the own ship is within value WP approach alarm time set in Route Parameters from the wheel
over point,
alarm "2469 Autopilot: off course", which appears, if the autopilot needs more than a set limit (the limit is available
in Installation parameters for Go To Waypoint mode. This alarm is repeated every 5 minutes, if the condition
continues.
alarm "2471 Autopilot mode conflict", which appears, if the end of route has been reached and Yokogawa autopilot
remains is REMOTE mode. Leave REMOTE mode of the Yokogawa as soon as possible.
alarm "2475 Route: Needs filter on", which appears, if the position from the Kalman filter is not available. This
alarm is repeated every 15 seconds, if the condition continues.
alarm "2476 Route: Needs log sensor", which appears, if the position from the Kalman filter cannot be compared
against an independently operating log. This alarm is repeated every 15 seconds, if the condition continues.
alarm "2488 Integrated Steering lost", which appears, if the connection to the autopilot is lost during automatic
Route Steering and the used integrated steering mode cannot be continued. NOTE: Normally you get first alarm
"2480 Autopilot Receive error"
Collision avoidance manoeuvre during automatic route steering
Often the route steering is interrupted by a collision avoidance manoeuvre, but there are also several other reasons to
interrupt the route steering.
There are several possibilities to set the collision avoidance or any other manoeuvre:
• Use override tiller, direct rudder pump operation push-buttons or non follow up rudder control.
• Use follow up rudder control
• Leave Autopilot mode REMOTE and use the Autopilot
Now the route steering is disabled until the REMOTE pushbutton in the Yokogawa Autopilot panel is pressed again.
Note that for going back to route steering the ship heading must point to the next waypoint, otherwise an alarm is
given.
How to stop or modify already enabled route turn
There are two cases that the automatic route turn must be stopped or modified.
• because the turn cannot be performed up to the final value.
• because the turn which ship perform goes outside of the planned turn. ( Too fast or too slow).
You can use also during turns all methods described "Collision avoidance manoeuvre during automatic route
steering" on page 375.
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