29. Steering With YOKOGAWA Autopilot PT-500A
29-8
Alarm "2469 Autopilot: off course" appears when the autopilot needs more than a set limit (the limit is available in
Installation parameters for Track mode). This alarm is repeated every 5 minutes, if the condition continues.
Alarm "2471 AP mode Conflict - Use AUTO" informs you that neither ECDIS nor the YOKOGAWA autopilot
can do activate the track steering mode. First change the mode from "NAVI" to "AUTO" then check that
preconditions for route steering are fulfilled.
Alarm "2475 Route: Needs filter on" appears when 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" appears when 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" appears when 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"
Alarm "2497 Route: Stop - Sensor Fail" appears when no gyro data is received or if the conditions of alarm 2475
or 2476 have been valid for last minute.
Alarm "2506 Route:Use AUTO control" is instruction for the operator to change the steering mode to AUTO. This
alarm is generated if there are not sufficient conditions to continue the Track mode (i.e. alarm 2475 or 2476 has been
valid 10-15 seconds).
Alarm "2511 Route:Auto resume disable" appears when alarm 2471 has been generated and later the condition for
alarm 2471 disappears without changing the steering mode from "NAVI" to "AUTO" or "HAND". First change the
steering mode to "AUTO" or "HAND" then check that the preconditions for route steering are fulfilled.
Alarm "2512 Use NFU rudder control" appears when the rudder servo unit cannot be controlled by the
YOKOGAWA steering control unit. This alarm is generated to request a change to the Non Follow Up control of the
rudder(s). First change using System Selector Switch from "FU" to "NFU" then use the Non-Follow Up steering
lever to control rudder(s).
Alarm "2514 Route:Complete turn" is generated if there are not sufficient conditions to continue the Track mode
during a turn (i.e. alarm 2475 or 2476 has been valid 10-15 seconds). Your ship will complete the turn with the
planned conditions.
Alarm "2515 Conflict - NAVI Compl. turn" informs you that neither the ECDIS nor the YOKOGAWA autopilot
can perform the track steering mode after a turn. The autopilot uses the planned radius to complete the turn. After
the turn is completed, first change the mode from "NAVI" to "AUTO" then check that preconditions for route
steering are fulfilled, to start the track steering mode again.
Alarm "2516 Autopilot: Drift limit" appears when the autopilot needs more than the set limit to compensate drift.
(The limit is available in the Installation parameters for the Track mode (max drift compensation)). This alarm is
repeated every 5 minutes, if the condition continues.
29.4.7 Collision avoidance maneuver during automatic route
steering
Often the route steering is interrupted by a collision avoidance maneuver, but there are also several other reasons to
interrupt the route steering.
There are several possibilities to set the collision avoidance or any other maneuver:
• Use the Non Follow Up steering lever to control directly rudder pumps
• Use the Follow Up rudder control (Change mode from "NAVI" to "HAND").
• Use the local Autopilot Heading control (Change mode from "NAVI" to "AUTO").
Now the route steering is disabled until the "NAVI" mode is again selected at the YOKOGAWA Autopilot. Note
that for going back to route steering, the ship heading must point to the next waypoint and vessel must be located
inside the channel limits, otherwise an alarm is given.
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