SIMRAD TI51 THRUSTER INTERFACE - Echomaster · PDF filethe TI51 Thruster Interface and how the TI51 is used to interface a thruster system to a Simrad AP50 autopilot ... TI51 works

MANUAL

SIMRAD TI51 Thruster Interface

20222089AB Sw. 1.1 English

Instruction Manual

20222089/Rev. AB 1

Instruction Manual This manual is intended as a reference guide for installing the TI51 Thruster Interface and how the TI51 is used to interface a thruster system to a Simrad AP50 autopilot system. The manual is intended to be used in conjunction with the AP50 autopilot manual for software setup.

Please take time to read the manuals to get a thorough understanding of how to interface a thruster system to an autopilot system.

Simrad TI51 Thruster Interface

2 20222089/Rev. AB

About this document

Rev Date Written by Checked by Approved by

Rev. AB 01.12.05 NG TJ/GK TR

© 2005 Simrad AS. All rights reserved. No part of this work covered by the copyright hereon may be reproduced or otherwise copied without prior permission from Simrad AS. The information contained in this document is subject to change without prior notice. Simrad AS shall not be liable for errors contained herein, or for incidental or consequential damages in connection with the furnishing, performance, or use of this document.

Instruction Manual

20222089/Rev. AB 3

Table of contents

1 INTRODUCTION ....................................................................................... 5

2 TECHNICAL SPECIFICATIONS ............................................................ 6

3 INSTALLATION......................................................................................... 8 3.1 Mechanical Mounting ........................................................................... 8 3.2 Electrical connection............................................................................. 8

Connection to Autopilot........................................................................ 8 Connection to Thruster System............................................................. 9 Ground connection.............................................................................. 10 On/Off Solenoid (closing contact), electrical connection................... 10 Analog signal, electrical connection ................................................... 12

Galvanic Isolated ±10 V control ................................................ 12 Voltage control with external reference ..................................... 13 4 – 20 mA control....................................................................... 14 Proportional directional control ................................................. 15 Sauer Danfoss PVEM valve....................................................... 16 Steering function selector or push button................................... 16

Thruster enable.................................................................................... 18 Take command pulse .......................................................................... 19 Software Setup, Analog and Proportional Directional Thrusters ....... 19

Thruster Zero.............................................................................. 20 Direction and Maximum Thrust................................................. 20

4 MAINTENANCE....................................................................................... 21

5 TROUBLE SHOOTING ........................................................................... 23

6 SPARE PARTS LIST ................................................................................ 25


4 20222089/Rev. AB

This page is intentionally left blank.

Introduction

20222089/Rev. AB 5

1 INTRODUCTION

The TI51 Thruster Interface is designed to provide control signal for operating one thruster in an AP50 system by either on/off solenoid, continuous control (voltage or current), proportional directional control or Sauer Danfoss PVEM valve. The thruster output signal is calculated in the TI51, based on operational mode and heading information received over the Robnet network from other system units. Set-up from the control unit and errors in the thruster interface is communicated via the Robnet. All thruster settings in the AP50 Control Unit are stored in the interface unit.


6 20222089/Rev. AB

2 TECHNICAL SPECIFICATIONS

Dimensions: ...................................................................................... See Figure 2-1 Weight: .............................................................................................0,8 kg (1.8 lbs) Material:............................................................................Epoxy coated aluminium Environmental Protection: ............................................................................... IP44 Supply and interface: ..............................................................Robnet, 2 connectors Cable inlets: .......................................Rubber glands for cable diameter 10-14 mm Mounting: ...................................................................................... Bulkhead mount Compass safe distance: .......................................................................0.2 m (0.7 ft) Temperature range:

Operation:.......................................................... –25 to +55°C (–13 to +130°F) Storage: ............................................................. –30 to +70°C (–22 to +158°F)

Thruster drive interface: On/Off solenoids:...............Port/stbd on/off, open collector, galvanic isolated,

external common plus or minus, 3A max. Sauer Danfoss PVEM:Nominal UDC=12/24V, I=0.25/0.5mA, neutral 0.5*Un,

control range 0.25*UDC to 0.75*UDC, valve saturated for<0.25*UDC or >0.75*UDC.

Analog voltage control, internal supply:.......Control range ±10V, max. 5 mA, galvanic isolated

Analog voltage control, external supply:UDC 5-24VDC, control range 0- UDC or ±UDC/2, max. 5 mA

PWM open collector for proportional directional control, external supply: Control range off to full on: ............................... 12-24VDC, max. 1,5A Dither: ........................................ Off or 70 -400 Hz, 0-10% amplitude.

Analog current control: .....................................................................4 – 20 mA Thruster enable output/Take command pulse: Open collector, external or internal +,

max 500 mA. The internal +12V output is limited to 100mA

and may be used for an external relay operated by Hi/Lo output to switch thruster control signal between autopilot

and external manual control.

Technical Specifications

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Figure 2-1 TI51 Dimensions


8 20222089/Rev. AB

3 INSTALLATION

3.1 Installation guidelines The TI51 Thruster Interface is designed to give thruster control in an AP50 system. The overall installation should be so that thruster mode, force and direction can be monitored from the same location as the AP50 system is operated.

3.2 Mechanical Mounting The TI51 should be installed inside a console or locker in convenient distance to a Robnet unit. A Robnet cable of proper type and length should be ordered with the unit (ref. spare parts list, section 6). The unit has some strappings that must be set correctly during installation (ref. Figure 4-1). It should be installed with the cable inlet and the Robnet connectors facing down for best internal heat dissipation. The TI51 is designed to operate in a location that provides ambient temperatures below +55°C (+130°F). It is fastened to the panel/bulkhead by the external mounting brackets.

Note ! TI51 is not weatherproof, and must be installed in a dry location!

3.3 Electrical connection

Connection to Autopilot TI51 can be connected to the AP50 system as shown in Figure 3-1 either hard wired to TB15 of J50 or by a two connector cable to another Robnet unit, Figure 3-2. The autopilot automatically detects when a TI51 is connected to the system. Each control unit will then show a thruster icon on the display. The thruster setup is carried out from the AP50 Control Unit.

Installation

20222089/Rev. AB 9

On-O

ff

Vsys+

J50 JUNCTION UNITMAIN PCB

ROBNET

Bus+

Vsys

WhBn

Bus

Pnk Gry Yel

TB15

TI51THRUSTER INTERFACE

Alarm

Gn

Figure 3-1 TI51 Connected to J50

TI51THRUSTER INTERFACE ROBNET UNIT

Figure 3-2 TI51 connected to another Robnet unit

Connection to Thruster System The TI51 can be connected in several ways to a thruster system. The connections are as follows:

• On-Off control (electrical relay system or solenoid valves)

• Analog ±10V Continuous or 4 – 20mA • Analog with external ref. voltage (Sauer Danfoss

PVEM) • Proportional directional control • Thruster enable • Steering function selector


10 20222089/Rev. AB

Ground connection To make a good ground connection, strip about 1 cm (0.4”) off the cable’s insulation and pull the screen backwards to cover the insulation. Position the straps as shown in Figure 3-3. Tighten well to make sure the screen makes good contact.

Figure 3-3 Grounding

On/Off Solenoid (closing contact), electrical connection TI51 works as a closing contact. The solenoids can be connected for common positive or common negative voltage by a 3-conductor cable as shown in Figure 3-4 and Figure 3-5. Normally the solenoids can be operated directly from the boats manual system and the autopilot. If not, refer to page 18 for switch arrangement.

Note ! Make sure the connections are made with correct polarity.

Maximum current: 3 Amps.

To prevent thruster breakdown, some thruster manufacturers have a built in delay if sudden change in direction command should occur. TI51 also has a fixed delay of 1 second. Make sure the electrical connection is made without bypassing the manufacturers delay by more than 1 second. For software setup, refer to the AP50 manual. Thruster type is selected under the AP50 Dockside menu and Thruster direction is set under in the AP50 Seatrial menu.

Installation

20222089/Rev. AB 11

Figure 3-4 Connection to On/Off solenoids,

common positive supply

Figure 3-5 Connection to On/Off solenoids,

common negative supply


12 20222089/Rev. AB

Analog signal, electrical connection TI51 has several possibilities for analog thruster control signal. Whenever a thruster is selected for autopilot control, the analog signals will give commanded thrust in NFU, FU and AUTO WORK mode. In STBY mode and when the autopilot is set for rudder control only, the analog control line will be open (relay contact inside TI51). Should the thruster be of a kind that does not give zero thrust for an open control line as long as it is switched to autopilot control, the S3 (ref. Figure 4-1) can be used to keep the control line closed with stop command (zero thrust). Alternatively the Thruster enable signal can be used (ref. page 18). The following analog thruster control signals are available:

Galvanic Isolated ±10 V control

A nominal 0±10 V control signal at TB5 no. 2-3 shown in Figure 3-6. This voltage is 0±10V regardless of the operating voltage for the autopilot (12-24 VDC).

Note ! Straps S1 and S2 must be set to ”INT”, ref. Figure 4-1.

Figure 3-6 Independent ±10V output

Installation

20222089/Rev. AB 13

Voltage control with external reference

A control signal at TB5 that is dependent upon the externally supplied thruster voltage at TB4 (5-24 VDC) shown in Figure 3-7. If the supplied voltage return is used as reference, the default output will be 2.5V(5V/2) ± 2.5V, 6V(12V/2) ± 6V or 12V(24V/2) ± 12V.

Note ! Straps S1 and S2 must be set to ”EXT”, ref. Figure 4-1.

Figure 3-7 Positive variable output signal

The cable with analog control signal is connected between the steering gear and TB5 or TB6 of the TI51. The thruster direction, amplitude, and offset adjustments are made via the software menu in the autopilot (refer to “Software Setup, Analog and Proportional Directional Thruster” on page 19.


14 20222089/Rev. AB

4 – 20 mA control

A 4-20 mA control signal at TB6 no. 1-2 as shown in Figure 3-8 when Continuous thruster is selected in AP50 Dockside setup.

Note ! Straps S1 and S2 must be set to ”INT”, ref. Figure 4-1.

Figure 3-8 4-20 mA Current Control

Installation

20222089/Rev. AB 15

Proportional directional control

This configuration combines both directional and proportional steering in the way that starboard or port direction is controlled by the directional valves and the oil flow (speed) determined by the proportional valve. When selecting “Continuous” thruster in the AP50 Dockside menu, TI51 outputs an open collector analog signal for thruster speed combined with an on/off directional signal. Proportional directional control is used for some models from American Bow Thruster. For electrical connection refer to Figure 3-9 for proportional signal and Figure 3-4 or Figure 3-5 for directional signal.

Figure 3-9 Proportional directional output

If the thruster speed valve has a stick/slip, this can be avoided by superimposing a dither signal. The dither frequency and amplitude can be adjusted by two potentiometers, ref. Figure 4-1. Factory default is no dither (max. CW for both potentiometers).


16 20222089/Rev. AB

Sauer Danfoss PVEM valve

Sauer Danfoss has several models of proportional control valves (PVEM, PVEH, PVES). For thruster control, PVEM is most commonly used. The connections are made as shown on Figure 3-10. The UDC+ and UDC– are used to power part of the TI51 PCB to obtain galvanic isolation between autopilot and thruster supply.

Note ! The straps S1, S2 must be set correctly.

Caution Do not connect other external power to TB4 than UDC+ and UDC– supplied from the Sauer Danfoss PVEM valve.

Figure 3-10 Connections to Sauer Danfoss PVEM valve

Steering function Instead of using the AP50 setup menu to select whether the boat shall be controlled by the thruster only, the rudder or both, one external selector can be connected as shown in Figure 3-11. A steering function panel with selector is available from Simrad (P/N 22089213). Alternatively to a selector, an external momentary push button (normally open) can be used for turning thruster control on or off. This is shown in Figure 3-12. Several push buttons can be wired in parallel if thruster has to be selected at several steering locations.

Note ! Both a selector and push buttons can not be installed together.

Installation

20222089/Rev. AB 17

Figure 3-11 Steering Function Selector

Figure 3-12 Thruster Push Button


18 20222089/Rev. AB

Thruster enable If the thruster shall be operated both by the boats manual control handle and by the autopilot, the thruster system may require an external closing contact to enable the autopilot control signal. A manual mode selector for this is suggested in Figure 3-6 through Figure 3-9. TI51 also outputs a galvanic isolated Thruster enable signal that can be used to automatically switch between the manual thruster control and the autopilot. This is shown in Figure 3-13 and Figure 3-14 The transistor is switched on whenever the autopilot is using thruster in NFU, FU, and WORK.

Note ! FU-mode for On/Off thrusters is only possible from FU50.

In Figure 3-13, a 12V relay is used with supply voltage from TI51. The strap S4 on the TI51 PCB must be set to position INT (ref. Figure 4-1). Maximum relay coil current is 100 mA.

Figure 3-13 Thruster Enable, Alternative 1

Installation

20222089/Rev. AB 19

In Figure 3-14, a 12-24-32V externally powered relay is used. The strap S4 on the TI51 PCB must be set to position EXT. Maximum relay coil current is 200mA.

Figure 3-14 Thruster Enable, Alternative 2

Note ! Make sure the strap S4 is set correctly, otherwise TI51 may be damaged.

Take command pulse TI51 gives out a take command pulse of 0.5 sec. when thruster control is ordered from the AP50. The pulse can be used as a “take command” signal to the thruster manufacture electronics as an alternative to Thruster Enable (see page 18). The pulse is given on TB9. The connections are as for Thruster Enable described on page 18 with TB9 and S5 used instead of TB3 and S4.

Software Setup, Analog and Proportional Directional Thrusters Thruster type is selected under the AP50 Dockside menu. Thruster zero, Thruster direction and Maximum and Minimum thrust are set under the AP50 Seatrial menu. This setting determines the operating voltage range of the thruster control signal as described below. For software setup procedure, refer to the AP50 manual.


20 20222089/Rev. AB

Thruster Zero

The Thruster Zero setting determines the level of the signal for zero thruster power. Default is half the available signal range and it can be software offset within ±50% of the available range. Example: Available range of ±10V gives ±5V as possible zero adjustment; available range of ±12V gives ±6V as possible zero adjustment.

Note ! For full range “Continuous” must be selected as thruster type in the AP50 Dockside menu. If selecting “Danfoss” only 75% of full range is available.

Direction and Maximum Thrust

The Maximum Thrust setting determines the level of the signal for maximum thruster power, and is set individually for each direction.

Note ! Thruster Zero = 0 can give full range and equal amplitude of the signal to each side, but will be limited by the Maximum Thrust setting. If Thruster Zero is set different from 0, part of the available signal range is used for permanent offset and the remaining range available for control will therefore be less in one direction.

Example: Available range of ±10V and Thruster Zero = +3V gives +7V and –13 as remaining operational range. The +7V and –13V may if necessary be further reduced by Maximum Thrust setting. +10V

-10V

0

+3V

7V

13V

Maintenance

20222089/Rev. AB 21

4 MAINTENANCE AND SETTINGS

No special maintenance is required. However, it is advisable to make a yearly check of all connections and visually inspect the inside of the unit. Software upgrade is possible by connecting a PC to J1 via a Special programming kit (Simrad P/N 22088595).

TB6TB3TB1

SW1

J1

TB9

S3

S4

TB8

J3 J2

TB2 S1

KEEP STOP COMMAND

(NOT USED)

SOLENOIDA-2

SOLENOIDB-1

SOLENOIDB-2

POSITION

S1, S2

STRAP

INT. REF. VOLTAGE OR 4-20mA CONTROL

EXT. REF. VOLTAGE

FUNCTION

SOLENOIDS A SOLENOIDS B

SP

ARE

LO 2

HI

2

LO 1

HI

1

ENABLEOUT

SP

ARE

LO 2

HI

2

LO 1

HI

1

LOHI

+12V

VOLTREF

U D

C -

U D

C +

SIG

NA

L

CTRLVOLT

PW

M

RE

F

CTRLCUR.

RE

T

SIG

NA

L

SP

ARE

THR

ST.

RU

DD

.

+12V

FUNCTIONSTEERING

SPARE SPARE SPAREHANDSHAKE

IN H

I

OU

T LO

IN L

O

OU

T H

I

+12V

S5

PROGRAMMINGCONNECTOR

(CCW=INC.)

S4, S5

STRAP POSITION

EXT VOLTAGE

FUNCTION

INT. 12V

GNDPOWER

CONNECTORSROBNET

ENABLE

SOLENOIDA-1

CPURUNNING

DITHERAMPL.

FREQ.DITHER

TAKE COMMANDPULSE

S3OPEN LINE

S2

TB11TB10

TB7TB4 TB5

EXT

INT

EXT

INT

TIAD

INTEXT

INTEXT

Figure 4-1 TI51 PCB, Component Layout (Drw. no. 208945)

Installation setting summary: S1, S2: For analog control (ref. Figure 3-6 to Figure 3-10) S3: For analog control (ref. page 12) S4: For Thruster enable (ref. page 18) S5: For Take command pulse (ref. page 19) Dither: For proportional directional control ( ref. page 15) LED indicators: CPU RUNNING: Alternating green when TI51 is operative

(ref. page 23)


22 20222089/Rev. AB

ENABLE: Green when thruster enable from autopilot (ref. page 23)

TAKE COMMAND PULSE: Green for 0,5 sec. when thruster is started (ref. page 19)

SOLENOID A1, A2: Yellow when port or starboard thruster command.

SOLENOID B1, B2: Spare

Trouble Shooting

20222089/Rev. AB 23

5 TROUBLE SHOOTING Audible and visual alarm is provided for every fault being detected. In the event of an autopilot failure, the AP50’s numerous test features will assist you in isolating a probable fault. Refer to the AP50 Instruction Manual. When operating a thruster, no feedback signal is available to the autopilot. Missing response can therefore not be detected. If the “No thruster response” error is given, follow the table. Should the thruster not respond as expected, first make sure the thruster has been selected as Steering function (ref. to User Set-up in the AP50 Instruction Manual). In the unlikely event of a failure in the TI51, observe the operation of the different LED’s. Check green LED “ENABLE” for Thruster Enable (On in FU, AUTO and NFU). Also measure the analog signal (TB5 2-3 voltage control; TB6 for 4-20mA current control; TB1 and TB5-1 for proportional directional control) and check the yellow LEDs SOLENOIDS A1, A2 for port/stbd direction.

Display readout

Probable fault Recommended action

No thruster response

1. Speed to high for thruster operation.

2. TI51 has stopped due to power transient, software lockup or defective electronics.

3. J50 has lost connection with the TI51 Thruster Interface.

4. Thruster not selected.

5. Thruster too warm

Check actual speed versus Thruster inhibit value (default 10 kts) in AP50 installation settings. Check the green LED “CPU RUNNING”. If it alternates with 1 Hz the unit is OK. If the LED is permanently on, switch off and on. If the LED “CPU RUNNING” is off, check power to the PCB (26-40VDC). Check the Robnet cabling. Check position of Steering function selector (if installed). Time too cool the thruster takes up to 60 minutes.


24 20222089/Rev. AB

Display readout

Probable fault Recommended action

No thruster valve voltage

1. External reference voltage missing for analog thruster control.

2. Internal voltage missing for ±10V or 4-20mA thruster control.

Check voltage on TB4. Wrong setting of S1, S2. Check internal ±12V (+12V between S1-left and TB5-3) (–12V between S2-left and TB5-3).

Spare Parts List

20222089/Rev. AB 25

6 SPARE PARTS LIST 22089189 TI51 Thruster Interface 20212080 Installation Accessories 22086623 Box 20193264 Cover 44138816 Cover Nutknobs 22089155 TI51 PCB Ass’y 44139400 Cover for Plug 20213443 Robnet cable 1 m (3’) with male

connectors 20191607 Robnet cable 7 m (23’) with male

connectors 20191615 Robnet cable 15 m (46’) with male

connectors 22081145 Robnet cable 15 m (46’) with single male

connector 20192266 Robnet extension cable 10 m (33’) with

male and female connector.


26 20222089/Rev. AB

Documents

SIMRAD TI51 THRUSTER INTERFACE - Echomaster · PDF filethe TI51 Thruster Interface and how the TI51 is used to interface a thruster system to a Simrad AP50 autopilot ... TI51 works