Ship-borne Steering Control System

OPERATION MANUAL

MODEL HLD-SC 200

Beijing Highlander Digital Technology Stock Co., Ltd.

BEIJING, CHINA
 VERSION

DOCUMENT CODE: HLD0500SS2

Date Version Issued by Description

2010-09-09 V1.0 SC Team Create

 FOREWORD

Thank you for choosing HIGHLANDER HLD-SC 200 Ship-borne Steering Control System.
Our objective is to provide high-quality, efficiency and effective service while making
outstanding contributions to the safety and efficiency of navigation.

The HLD-SC 200 Ship-borne Steering Control System is designed and manufactured to
meet the demands of maritime environment. The system which comprises of manual
and automatic steering provides precision demands in steering control for large and
medium-sized ships, including simple steering control for small vessels. The automatic
steering control also provides tracking control.

In order to ensure the best performance of the system, please read and follow
carefully the recommended procedures for installation, operation and maintenance in
the manual.

The manuals comprise of:

 Operation Manual
 Installation Manual
 Service Manual

We welcome your feedback on our products and services.

Our contact:
Address: A605-606, SPTower Tsinghua Science Park Building, Beijing, 100084,
P.R.China
E-mail: [email protected] / [email protected]
Website: http://www.highlander.com.cn
Tel: +86-010-82678888
Fax: +86-010-82150083

Thank you for considering and purchasing HIGHLANDER products!

 SAFETY INSTRUCTIONS

“WARNING”, “CAUTION” and “NOTICE” notices appear throughout this manual. It is

the responsibility of the user to read, understand and follow these notices. If you have

any questions regarding these safety instructions, please contact HIGHLANDER!

This notice indicates a potentially

hazardous situation which, if not
avoided, will result in death or serious
injury.

This notice indicates a potentially

hazardous situation which, if not
avoided, could result in minor or
moderate injury, or property damage.

This notice indicates an unsafe

operation which, if not avoided, could
result in property damage or equipment
malfunction.
 High Voltages are located Maintenance and repairs must only be
over many areas in the carried out by trained and qualified personal
systems! with knowledge for electrical devices.

Caution during Operations: Observe handling regulations!

Removal or insertion of a subgroup or
NEVER touch or have any body contact with printed wiring board with live voltage can
live electrical circuits! lead to severe damage.

All relevant safety regulations and safety Never insert fuses with other values than
standards must be closely observed. those stipulated!
SYSTEM INTRODUCTION
1. Overview
2. Configuration
3. How to use this manual
 Beijing Highlander Digital Technology Stock Co., Ltd.

1 Overview
The HLD-SC200 Ship-borne Steering Control System consists of two major control
modes, namely the manual heading control mode and the automatic heading control
mode. In automatic heading control mode, HLD-SC200 can steer a vessel and maintain
its heading in an intended direction. Operators can really appreciate the advantages of
the product – It steers the vessel for you so that you are free to carry out navigational
checks, trim adjustments, etc. or to simply relax and enjoy the ride.

The HLD-SC200 Ship-borne Steering Control System utilizes a proportional rate system
to steer the vessel. This system is similar to the highly accurate and reliable systems
used on aircraft, missiles and space vehicles. The proportional rate autopilot provides
the necessary course correction to the steering system relative to the speed and
amount that the vessel moves off course.

Some fuzzy control technical has been used in this product, so HLD-SC 200 uses less
power and lowers wear and tear on the steering system. When navigating in open
waters, setting the ship to the automatic heading control mode will reduce the
workload of the crew while improving the precision of heading control and increase
fuel efficiency.

HLD-SC 200 Ship-borne Steering Control System is divided into five parts:

 Follow-Up Control System

 Non-Follow-Up Control System
 Automatic Heading Control System
 Alarm System
 Optional Components

Doc. Code: HLD0500SS2 1 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System SYSTEM INTRODUCTION

2 Configuration
The structure of HLD-SC 200 Ship-borne Steering Control System is shown in figure 1:

Operation Unit
Alarm Display Unit
Follow-up Unit Override Unit HIGHLANDER Operation Unit

Alarm Display Unit

OFF AMP.1 AMP.2

COURSE FU CTRL FU CTRL
Override
HIGHLANDER Hand wheel AUTO
PILOT

5 0 5 10 ACK.
10 Override
15 15
ST
RT

TEST
BD
PO

20 20 0501005A0
25 25
ACK. 1°
30 30 ALARM 0.1°

35 35 TEST
0501007A0
SET EXIT
MENU CANCEL

0501001A0

Automatic Control Unit Alarm Control Unit

Data for VDR

Steering
Interface Unit
Gyro NMEA0183
Magnetic Compass NMEA0183
Speed log NMEA0183
200pulse/nm
Relay
Steering Mode Switch
Steering Mode Switch

Non-Follow-Up Unit
Override Output
NFU FU
STBD Active

Rudder Output
WING

PORT
AUTO

Mode Status WING

PORT STDB

Non-Follow-up 0501010A0

0501002A0

To Steering Gear System

Rudder Feedback Unit

AC 220V/380V/440V

Power Supply Unit

Figure 1: HLD-SC 200 System

The HLD-SC 200 Steering Control System uses a modular design technique. It comprises
of the modules which are constructed with modular dimensions of 96mm×96mm and
its multiples. The standard modular dimension provides easy and convenient
installation on the bridge console and system arrangement. Different module is
connected by CAN-Bus, and different function areas use different bus. Total 4 CAN-Bus
is used in the HLD-SC 200 system, which is optically and electrically isolated from each
other, which ensures the reliability and redundancy of the system.

Doc. Code: HLD0500SS2 2 Version: V 1.0 Date: 2010-09-09

 Beijing Highlander Digital Technology Stock Co., Ltd.

2.1 Manual Steering Control System

The manual steering control system is divided into 2 parts:
 Follow-Up (FU) Steering via Handwheel
 Non-Follow-Up (NFU) Steering via Tiller

The components of manual steering control system comprise of (see figure 2): FU
Handwheel (Follow-up Unit), NFU Tiller (Non-follow-up Unit), Steering Mode Switch,
Power Supply Unit, Rudder Feedback Unit, Lever Drive System (for the feedback unit),
Steering Interface Unit, Alarm Display Unit and Alarm Control Unit.

Follow-Up Unit
Alarm Display Unit
HIGHLANDER Hand wheel

Alarm Display Unit

OFF AMP.1 AMP.2

COURSE FU CTRL FU CTRL

5 0 5 10
10 AUTO
15 15 PILOT
RT

ST
BD
PO

20 20
25 25
30 30
ACK.
35 35
TEST 0501005A0

Power Supply Unit

Data for VDR

18~36V

Alarm Control Unit

Steering
Interface Unit
24 VDC AC 220V/380V/440V

Steering Mode Switch

Steering Mode Switch

NFU FU
STBD

Rudder Output
WING

To Steering Gear System

PORT
AUTO

Mode Status WING

0501002A0

Active

PORT STDB

Non-Follow-up 0501010A0

Rudder Feedback Unit Non-Follow-Up Unit

Figure 2: Manual Steering Control System

The Steering Mode Switch offers selection of FU Handwheel and NFU Tiller to provide
two separate control modes, which meets the requirements of mechanical and
electrical isolation.

Doc. Code: HLD0500SS2 3 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System SYSTEM INTRODUCTION

Follow-Up steering is achieved via the FU Handwheel (Follow-Up Unit) with the
Steering Mode Switch at the handwheel position. The rudder corresponds to the
command of the handwheel. The handwheel is spring loaded and will hold its position
when released.

Non-Follow-Up steering is achieved via the NFU Tiller (Non-follow-up Unit) with the
Steering Mode Switch at the NFU position. The NFU Tiller provides the command signal
to the desired rudder angle by switching it to the port or starboard side. The rudder
will remain at that position until a new command is given.

2.2 Automatic Steering Control System

Based on the Manual Steering Control System, the Automatic Steering Control System
mainly comprises of (see figure 3) Operation Unit, Automatic Control Unit, Override
Unit and Relays. Meanwhile, it also requires the Rudder Feedback Unit, Steering Mode
Switch, Steering Interface Unit, Alarm Display Unit and Alarm Control Unit.

Operation Unit

Override Unit HIGHLANDER Operation Unit

Alarm Display Unit
Override Alarm Display Unit

OFF AMP.1 AMP.2

COURSE FU CTRL FU CTRL

AUTO
PILOT

Override

ACK.

0501007A0 TEST 0501005A0

ACK. 1°
ALARM 0.1°
TEST

SET EXIT
MENU CANCEL

0501001A0

Steering Automatic Alarm

Interface Unit Control Unit Control Unit
Data for VDR
18~36V

Gyro NMEA0183
Magnetic Compass NMEA0183
Speed log NMEA0183
200pulse/nm
Relay

Steering Mode Switch

Override Output
NFU FU
STBD

Rudder Output
WING

To Steering Gear System

PORT
AUTO

Mode Status WING

0501002A0

Steering Mode Switch

Rudder Feedback Unit

Figure 3: Automatic Steering Control System

Doc. Code: HLD0500SS2 4 Version: V 1.0 Date: 2010-09-09

 Beijing Highlander Digital Technology Stock Co., Ltd.

Signals from heading sensor, speed sensor are required to provide optimum operation.
Setting the heading is via the Operation Unit. The Operation Unit also provides setting
of parameters affected by the characteristics of the vessel and weather conditions. The
automatic steering control system takes the speed of the vessel into consideration
while optimizing the performance with these parameters.

2.3 Optional Components

Optional components (see figure 4) include Compass Repeater, Extended Alarm Display
Panel, Wing Steering Unit (which provides two separate control circuits), Local/Bridge
Steering Switch, and Rudder Pump System Switch.

HIGHLANDER Compass Repeater

larm Display
000
0 03
33 0
STEERING GEAR PUMP 1 2 3 4
Active
0 1
06
0
30

9
0

PHASE OVER POWER LOW

8

FAIL. LOAD FAIL. OIL

2
270

090
7

PORT STDB

4 PWOER
5 6 CLOGGED HIGH HYDR
12
0

FAIL.
24

FILTER TEMP LOCK

CONTROL
15
21
0 0 Non-Follow-up 0501010A0
180

0501008A0

Compass Repeater Extended Alarm Display Panel Wing Steering Unit

Local Local P S
Steering Gear Pump System Switch
Local PORT STBD
Bridge
OFF

1 2

ALL ALL

0501004A0

Local/Bridge Steering Switch Rudder Pump System Switch

Figure 4: Optional Components

Compass Repeater redisplays the heading information for the crew who is steering.

Extended Alarm Display Panel can display the alarm from the Rudder Pump system.

Wing Steering Units can be installed at bridge wing consoles and other locations where
steering control may be required. The mechanism of steering tillers on both wings of
the ship is the same as the Non-follow-up Unit, where steering is controlled via
contacts.

Local/Bridge Steering Switch can change the steering position between gear room and
bridge room.

Rudder Pump System Switch provides pump switch function and the information about
which pump is working for system.

Doc. Code: HLD0500SS2 5 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System SYSTEM INTRODUCTION

3 How to use this manual

The Operation Guide, Installation Guide and Service Guide of HLD-SC 200 are three
independent parts in Operation Manual, Installation Manual and Service Manual.
Please find what you need in the related parts of the three manuals.

At the end of this manual, you will find a glossary, which will help you when studying
the manual.

Doc. Code: HLD0500SS2 6 Version: V 1.0 Date: 2010-09-09

STEERING MODE SWITCH HLD-SW 200

1. Overview
2. General Operation Procedures
 Beijing Highlander Digital Technology Stock Co., Ltd.

1 Overview
The Steering Mode Switch (see figure 1) selects the mode of steering control.

The indicator of mode which is selected will change to orange red color, others are in
green color.

Illumination of the switch can be adjusted to desired levels via two dimmer keys.

Steering Mode Switch

STBD NFU FU
WING

PORT
AUTO
WING

0501002A0

Figure 1: Steering Mode Switch HLD-SW 200

Doc. Code: HLD500SS2 1 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Steering Mode Switch HLD-SW 200

2 General Operation Procedures

Electromechanical devices, which are subject to

wear and tear depending on operation cycles and
environment conditions, are included in the
equipment, such as relays, switches or
potentiometers.

1) Turn the Steering Mode Switch Spindle to the required mode, when the mode
indicator light turn to orange red color, the mode is active.

2) If necessary, press the key to increase the light’s brightness, press the

key to decrease the light’s brightness.

Doc. Code: HLD500SS2 2 Version: V 1.0 Date: 2010-09-09

Follow Up Control (Handwheel)
1. Overview
2. General Operation Procedures
3. Alarms
 Beijing Highlander Digital Technology Stock Co., Ltd.

1 Overview
The HLD-SC200 provides manual Follow-Up (FU) Steering Control function, when the
Steering Mode Switch is in the handwheel position (FU), the handwheel is in command.
The rudder responses corresponding to the commands of the Handwheel.

The Follow-Up (FU) Steering Control System (see figure 1) is comprised of Follow-Up
Unit (handwheel), Steering Interface Unit, Rudder Feedback Unit, Steering Mode
Switch, Alarm Control Unit and Alarm Display Unit. Both the Handwheel and the
Rudder Feedback Unit have two potentiometers, which means that each pump has an
independent control loop. If there is any trouble in one pump’s follow-up steering
control, the operator can switch to the other pump to continue the follow-up steering
control.

Follow-Up Unit
Type: HLD-FU 200 Alarm Display Unit
Type: HLD-AD 200
HIGHLANDER Hand wheel

Alarm Display Unit

5 0 5 10 OFF AMP.1 AMP.2

10 COURSE FU CTRL FU CTRL
15 15
RT

ST
BD
PO

20 20
AUTO
25 25 PILOT
30 30
35 35

ACK.

TEST 0501005A0
050100

DC 24V

Steering Interface Unit

Type: HLD-SI 200 GEAR ALARM SIGNAL
EXTERN ACK SIGNAL
DATA FOR VDR
ACK SIGNAL OUTPUT

Alarm Control Unit

Rudder Feedback Unit Type: HLD-AL 200
Type: HLD-RF 200
Steering Mode Switch

NFU FU
STBD
WING

TO PUPMP 1 PORT
WING
AUTO TO PUPMP 2

0501002A0

Steering Mode Switch

Type: HLD-SW 200

Figure 1: Follow-Up Control System

Doc. Code: HLD0500SS2 1 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Handwheel HLD-FU 200

The Handwheel (see figure 2) is clearly marked with green and red markings for the
starboard and port side of the vessel. Each reading corresponds to the rudder angle.
The illumination of the Handwheel can be adjusted to desired level via two keys. The
handwheel automatically locks at the selected position, and in the mechanical zero
position the handwheel is slightly engaged.

HIGHLANDER Hand wheel

5 0 5 10
10
15 15
RT

ST
BD
PO

20 20
25 25
30 30
35 35

050100

Figure 2: Handwheel HLD-FU200

Doc. Code: HLD0500SS2 2 Version: V 1.0 Date: 2010-09-09

 Beijing Highlander Digital Technology Stock Co., Ltd.

2 General Operation Procedures

Electromechanical devices, which are subject

to wear and tear depending on operation
cycles and environment conditions, are
included in the equipment, such as relays,
switches or potentiometers.

Steering Mode Switch

STBD
WING
NFU FU

PORT
AUTO
WING

1) Turn the Steering Mode Switch Spindle to 0501002A0

position.
HIGHLANDER Hand Wheel

5 0 5 10
10
15 15
RT

ST
BD
PO

20 20
25 25
30 30
35 35

2) Turn the handwheel to the desired rudder angle command.

3) Rudder will response corresponding to the angle command of the handwheel.

4) To change the intensity of the illumination, press or .

Doc. Code: HLD0500SS2 3 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Handwheel HLD-FU 200

3 Alarms
The Alarm Display Unit (see figure 3) provides alarm indication and acknowledgement
functions for Follow-Up Control.

If the Operation Unit is also equipped, the details of alarms or warnings will be
displayed in the Operation Unit Display Screen.

Alarm Display Unit

AMP. AMP.
OFF
1 2
COURSE
FU CTRL FU CTRL

AUTO
PILOT

ACK.

TEST 0501005A0

Figure 3: Alarm Display Unit

In Follow-Up Steering Control Mode, only two alarms can be triggered:

Alarm Display Unit

AMP. AMP.
OFF
1 2
COURSE
FU CTRL FU CTRL
 indicator means the failure of pump 1’s Follow-up control loop;
Alarm Display Unit
AUTO
PILOT
AMP. AMP.
OFF
1 2
COURSE
FU CTRL FU CTRL
 indicator means the failure of pump 2’s Follow-up control loop.
AUTO
PILOT
When one of the above alarms occurs, the corresponding indicator will twinkle
ACK.

AMP. AMP.
1 2
TEST
FU CTRL
0501005A0
FU CTRL

( or ) with alarm sound emitted .

ACK.

TEST 0501005A0

Doc. Code: HLD0500SS2 4 Version: V 1.0 Date: 2010-09-09

 Beijing Highlander Digital Technology Stock Co., Ltd.

ACK.

Press key in the Alarm Display Unit to acknowledge the alarm, the sound will

be muted ; meanwhile, the indicator will be turned into steady light

AMP. AMP.
1 2
FU CTRL FU CTRL

( or ).

If only one control loop has alarm, you can use the other control loop to control.

If both control loops have alarms, you need to change over to NFU steering control
mode immediately. (For details, please refer to NFU steering control part in Operation
Manual)

In the follow-up steering control mode, if any sensor is abnormal, the situation will only
be displayed in the Operation Unit without a sound emitted, because this doesn’t have
any influence on follow-up steering control.

Doc. Code: HLD0500SS2 5 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Handwheel HLD-FU 200

Table1: Follow-Up Control Alarms

Note：

1) means displaying the alarm with sound.

2) “[Module Name]” is a parameter only for service staff; it’s no need for operators to understand its meaning.
Its values may be: FU1, FU2, RFU1, RFU2, SCU1, SCU2, and SJB.

Indication
No. Meaning Possible Cause Effects Operator Note
On ADU On OPU

Without Operation Unit

AMP. 1 FU CTRL In “FU” steering Chang over to another

1 mode, failure occurs System internal error or 1# follow up control system is not pump system, if error still
Note 1 on 1# follow up power down. available. exists, please switch to NFU
control system. steering mode to control.
In “FU” steering Chang over to another
AMP. 2 FU CTRL
2 mode, failure occurs System internal error or 2# follow up control system is not pump system, if error still
on 2 # follow up power down. available. exists, please switch to NFU
control system. steering mode to control.

Doc. Code: HLD0500SS2 6 Version: V 1.0 Date: 2010-09-09

 Beijing Highlander Digital Technology Stock Co., Ltd.

Indication
No. Meaning Possible Cause Effects Operator Note
On ADU On OPU

With Operation Unit

In “FU” steering Chang over to another

AMP. 1 FU CTRL System Error! mode, failure occurs System internal error or 1# follow up control system is not pump system, if error still
1
[Module Name] Note 2 on 1# follow up power down. available. exists, please switch to NFU
control system. steering mode to control.
In “FU” steering Chang over to another
AMP. 2 FU CTRL System Error! mode, failure occurs System internal error or 2# follow up control system is not pump system, if error still
2
[Module Name] on 2 # follow up power down. available. exists, please switch to NFU
control system. steering mode to control.
Have no effect on the current
3 Cannot receive valid Log sensor failure or If needed, change over to
Missing Log Data! control, but cannot see the speed
speed data from log. external disturbance. manual speed.
information in the operation unit.
Cannot receive valid Have no effect on current control,
4 Missing Heading Data! Gyro compass failure or If needed, change over to
heading data from but cannot see the heading
[Gyro] external disturbance. magnetic compass.
gyro compass. information in the operation unit.
Cannot receive valid Magnetic compass Have no effect on current control,
5 Missing Heading data! If needed, change over to
heading data from system failure or but cannot see the heading
[Magnetic] gyro compass.
magnetic compass. external disturbance. information in the operation unit.
Operation Unit Have no effect on current control,
Value Check Error! During the system’s If needed, adjust the
6 cannot load correct but all parameter values of
starting phase, memory parameters of the operation
working parameter operation unit are automatically
test is not passed. unit after startup.
from memory. replaced by default values.

Doc. Code: HLD0500SS2 7 Version: V 1.0 Date: 2010-09-09

Non-Follow-Up Control (NFU Tiller)
1. Overview
2. General Operation Procedures
 Beijing Highlander Digital Technology Stock Co., Ltd.

1 Overview
Non-Follow-Up Control is a high reliability steering mode of HLD-SC200. It is realized by
only contacts without any complex circuit. When meeting any emergency case, the
system should be changed over to Non-Follow-Up steering mode.

HLD-SC200 provides Non-Follow-Up steering function, when Steering Mode Switch is in

NFU or AUTO position, the NFU Tiller which is installed in the bridge console is active.
And when Steering Mode Switch is in PORT WING or STBD WING position, the
corresponding NFU Tiller which is installed in each wing of the vessel is active.

When the tiller is active, turning the tiller to port side, the rudder will turn to port side
continuously; turning the tiller to starboard side, the rudder will turn to starboard side
continuously; release the tiller, the rudder will stop at current position. So steering is
achieved by turning the tiller to the desired direction of vessel’s movement.

The Non-Follow-Up Control System (see figure 1) is comprised of Non-Follow-Up Tiller

and Steering Mode Switch. If the wing steering control function is required, only need
to add two NFU tillers to realize this function.

Steering Stand

Port Wing Non-Follow-Up Tiller Starboard Wing

(Optional) Type: HLD-NFUV 200 (Optional)

Non-Follow-Up Tiller Non-Follow-Up Tiller

Type: HLD-NFUV 200 Active
Type: HLD-NFUV 200

Active PORT STDB Active

Non-Follow-up 0501010A0
PORT STDB PORT STDB

Non-Follow-up 0501010A0 Non-Follow-up 0501010A0

Steering Mode Switch

STBD NFU FU
WING

PORT
AUTO
WING

TO PUMP 1 TO PUMP 2
0501002A0

Steering Mode Switch

Type: HLD-SW 200

Figure 1: Non-Follow-Up Control System

Doc. Code: HLD0500SS2 1 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
NFU Tiller HLD-NFUV 200

The NFU tiller (see figure 2) is normally set into bridge console or steering stands, then
it will serve as Non-Follow-Up steering elements on bridges or wing.

By setting the tiller to PORT or STBD up to the mechanical stop position, two sets of
each contact are activated, and the control loop for each pump is independent.

HLD-SC200 also supports override function. In AUTO steering control mode, the tiller is
activated, if turning the tiller, the autopilot is deactivated and the steering control is
taken over directly with the tiller. When the Non-Follow-Up Tiller is activated, the field
“Active” lights up as status indication. The brightness of the light is regulated
automatically.

Active

PORT STDB

Non-Follow-up 0501010A0

Figure 2: Non-Follow-Up Tiller HLD-NFUV 200

Doc. Code: HLD0500SS2 2 Version: V 1.0 Date: 2010-09-09

 Beijing Highlander Digital Technology Stock Co., Ltd.

2 General Operation Procedures

Electromechanical devices, which are subject

to wear and tear depending on operation
cycles and environment conditions, are
included in the equipment, such as relays,
switches or potentiometers.

The operation procedures of NFU control at bridge or wing are as follows:

1) Turn the Steering Mode Switch Spindle to a suitable position:

Steering Mode Switch

STBD
WING
NFU FU

PORT
AUTO
WING

If want to control at bridge console, switch the Steering Mode Switch to 0501002A0

position;
Steering Mode Switch

STBD
WING
NFU FU

PORT
AUTO
WING

If want to control at port, switch the Steering Mode Switch to 0501002A0

position;
Steering Mode Switch

STBD
WING
NFU FU

PORT
AUTO
WING

If want to control at starboard, switch the Steering Mode Switch to 0501002A0

position;

The corresponding tiller will be active and its “Active” field lights up.

In Command

PORT STBD

2) Activate the tiller to PORT or STBD side.

Non-Follow-up Unit 0501010A0

3) Rudder will response to the corresponding side of the command.

Doc. Code: HLD0500SS2 3 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
NFU Tiller HLD-NFUV 200

The override operation is described in the automatic heading control part of

Operation Manual.

Doc. Code: HLD0500SS2 4 Version: V 1.0 Date: 2010-09-09

AUTOMATIC HEADING CONTROL
1. Description
2. Basic Operation
3. Menu Operation
4. Alarms
 SAFETY INSTRUCTIONS

In the process of automatic heading control,

The desired rate of turn depends on the
the pre-adjusted rudder-limitation is always
initial turning behavior of the ship and the
active for some safety reasons. If the
adjusted parameters. When the ship starts
pre-adjusted rudder-limitation is too small,
turning, the rate of turn may be increased
the pre-adjusted speed value will not be
up to approximately 50%!
reached.

Turning behavior with preset rudder The set heading input value can be set
limitation: If the adjusted rate of turn is not bigger than 180º, which is accepted by
reached due to the rudder limitation, the HLD-SC200, and the ship will change its
rudder limitation can only be extended step heading follow the direction of the knob on
by step. (Each step should be less than 5º). the Operation Unit.
Otherwise, the rate of turn might be
exceeded considerably because of the
integral component of the controller. If the magnetic compass values and gyro
compass values are different, switching over
to the compass reference results in a preset
heading adaptation. Possible heading
differences between set heading and
current heading may remain in existence.
 Beijing Highlander Digital Technology Stock Co., Ltd.

1 Description

1.1 Overview
The automatic heading control system of HLD-SC200 is designed to meet the rigorous
demand of the marine environment. It can steer a vessel and maintain the vessel’s
heading in an intended direction. Ship operators can take advantage of the auto control,
therefore, they are free to implement navigational checks, trim adjustments and so on,
or just have a relax.

In the mean time, the automatic heading control system of HLD-SC200 adopts the most
advanced PID algorithm, which ensures accurate steering with fewest rudder actions in
the process of heading control. This characteristic reduces the wear and tear on the
steering gear and the fuel consumption, which is an important factor nowadays.

The automatic heading control system (see figure 1) of HLD-SC200 is comprised of

Operation Unit, Automatic Control Unit, Override Unit, Alarm Control Unit, Alarm
Display Unit, Steering Interface Unit, Rudder Feedback Unit, Relay and Steering Mode
Switch.

Doc. Code: HLD0500SS2 1 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

Operation Unit
Type: HLD-OP200
Override Unit Alarm Display Unit
Type: HLD-OV200 HIGHLANDER Operation Unit
Type: HLD-AD200
Override Alarm Display Unit

OFF AMP.1 AMP.2

COURSE FU CTRL FU CTRL

AUTO
PILOT

Override

ACK.

0501007A0 TEST 0501005A0

ACK. 1°
ALARM 0.1°
TEST

SET EXIT
MENU CANCEL

0501001A0

Steering Interface Unit Automatic Control Unit Alarm Control Unit

Type: HLD-SI200 Type: HLD-AC200 Type: HLD-AL200
Data for VDR
18~36V

Gyro NMEA0183
Magnetic Compass NMEA0183
Speed log NMEA0183
200pulse/nm
Relay

Steering Mode Switch

Override Output
NFU FU
STBD

Rudder Output
WING

PORT
AUTO
To Steering Gear System
Mode Status WING

0501002A0

Steering Mode Switch

Type: HLD-SW200

Rudder Feedback Unit

Type: HLD-RF200

Figure 1: Automatic Heading Control System of HLD-SC200

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 Beijing Highlander Digital Technology Stock Co., Ltd.

The Operation Unit HLD-OP200 (see figure 2) is the user interface for automatic
heading control, it displays the information of steering mode, heading, heading source,
speed, ROT, alarms, rudder orders and response information, in the mean time, the
operator can set control parameters through this unit.

HIGHLANDER AP Operation Unit

System Status

ACK. 1°
ALARM 0.1 °
TEST

SET EXIT
MENU CANCEL

0501001A0

Figure 2: Operation Unit HLD-OP 200

1.2 Presetting Heading more than 180º

It is acceptable for HLD-SC 200 if the preset heading value is more than 180º, for the
vessel follows the respective heading adjustment within a range of 0.0º to 359.9º.

For example (see figure 3), if the actual heading is 40º, and the new set heading is 30º,
the direction of rotation should be starboard. After a around circle of 350º with a
direction of rotation to starboard, the new heading will be 30º.

0°

30°
40°

270° 90°
350°

Figure 3: Presetting heading more than 180º

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

1.3 Turning Control

HLD-SC200 provides two turning modes:
 NO ROT LIMIT
 ROT

“NO ROT LIMIT” means there is not any limit for the turning rate of the vessel during
the turning process, the vessel is only limited by the rudder limit.

“ROT” means the turning rate of the vessel is limited during the turning process, the
controller would like to keep the preset ROT until the vessel approaches the preset
heading, the ROT would go down to keep the heading at the end of the turning
process.

In the ROT mode, the preset ROT maybe not reached because of the rudder limit is too
small or the turning capability of the vessel.

1.4 Control Parameters Adjustment

The control property of HLD-SC200 is mainly affected by four parameters: Load
Condition, Yawing, Rudder Gain and Counter Rudder. Operator needs to adjust these
parameters manually to meet different load condition or sea state. Firstly operator
needs to set the load condition, then adjust the Yawing to feed to weather and sea
state, if the control behavior seems not so well, operator can adjust the Rudder Gain
and Counter Rudder.

Load Condition
HLD-SC200 provides three type load condition for choose:
 Ballast
 Half
 Full

When leaving the port, operator needs to select suitable load condition, if not, the
controller may show a poor performance.

Yawing
The Yawing setting determines rudder activity and course accuracy for the automatic
heading control properties. When the sea is rough, the vessel’s heading fluctuates to
port and starboard. If the rudder is driven very often to maintain the set heading, the
helm mechanism may wear out. To prevent this, the Yawing adjustment makes the
HLD-SC200 insensitive to minimum heading deviations.

Operator may choose a degree from 1° to 10°. Until the course deviation exceeds the
selected setting, steer to correct the heading will not be initiated. The illustration (see
figure 4) below shows ship’s track lines with weather setting 3° and 7°. When 7° is set,
for example, the rudder will not be driven until the heading deviation exceeds 7°.

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Increasing the setting reduces the activation rate of the steering gear, however, the
vessel tends to zigzag. When the sea is calm, set a smaller value, when the sea is rough,
set a larger value, if not the steering gear will become over-stressed.

7°
3°

Weather=3° Weather=7°
Figure 4: Track and Yawing Setting Value

Rudder Gain
When the ship’s heading deviates from the set heading, the HLD-SC200 adjusts the
rudder to correct it. The rudder gain setting determines the ratio of rudder angle to
course error.

The optimum setting is obtained by means of observation.

If the Rudder Gain is too big:

-- Unstable behavior => Over-reacts to a course correction.
=> Overshoots when course is changed.

If the Rudder Gain is too small:

-- Course control too inaccurate => Cannot correct the course error.
=> Preconfigured rotation speed not reached during
course change manoeuvre.

Counter Rudder
Based on its bulk and load, each ship has a typical time constant for itself, known as
inertia. So before the new set course is reached the turning speed, it needs to be
reduced in good time. This effect is achieved by the Counter Rudder setting.

The optimum setting is obtained by means of observation.

If the Counter rudder is too high:

The ship is stopped before it reaches the new set course.

If the Counter rudder is too small:

The ship does not stop in good time and overshoots the preset course.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

2 Basic Operation

2.1 Displays and Operating Symbols

Please refer to table 1 and figure 5 (see next page) for operation information.

Table 1: Explanation of Symbols and Control Buttons

No. Name Illustration Function

1） Change over the steps between 0.1°

1°
1 STEP Key and 1° when setting heading.
0.1 °
2） Lock the menu (for service staff only).

1） LED is off indicates there is no alarm.

2） LED is flashing indicates new alarm
ACK.
2 ACK./ALARM Key ALARM occurs and need to be acknowledged.
3） LED is on indicates there is alarm that
has been acknowledged.

1） Call up Menu.
2） Press to accept input changes or values.
SET
3 SET/MENU Key MENU 3） LED is flashing indicates new setting of
the heading that needs to press this key
to confirm.

EXIT 1） Cancel current operation.

4 EXIT/CANCEL Key CANCEL 2） Exit and go back to last-level menu.

5 DIM+ Key Increase illumination level.

6 DIM- Key Reduce illumination level.

7 TEST Warm reset the Operation Unit.

1） Press and release to enter heading

setting menu.
8 Rotary Knob 2） Select menu.
3） Select configuration or adjust
parameters.

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 Set Heading Value Display Status Current Speed Sensor Type:
 Range: 0.0-359.9 or 0-359,  SET HDG in AUTO mode.  D: means Digital
depends on the set  RUD ORDER in other  P: means Plus
heading accuracy. mode.  M: means Manual

Current Steering Control

Mode: Current Speed Value
 AUTO/FU/NFU/OVRD
/PWG/SWG Current ROT:
 S: means the ROT value
is received from Sensor.
Actual Heading Value  C: means the ROT value
SET HDG D SPEED (Kn)
RUD D SPEED is calculated by system.
Current Compass Type: AUTO
AUTO 125
ORDER
----------------
9.0
(Kn)
----------------
 Range: 0-300 Deg./min.
 Gyro
ACT HDG (Deg.) ROT
 Magn ACT HDG (Deg.) ROT
Current Rudder:
 Range: depends on the
STEP Key
Gyro1
Gyro1 125.1
----------------
s
4.5
---------------- rudder limit.
RUDDER (Deg.)
 Switch the set heading
accuracy between 1° 35
PORT
RUDDER

35
(Deg.)
2.5
---------------- 35
35 STBD
Current Rudder Limit in
and 0.1°. LimitPORT STBDLimit current mode
 Lock menu. Limit Limit

(For service staff only) System OK

DIM+ Key
 Increase illumination
ACK./ALARM Key level.
 Flash when alarm  Warm reset OPU when
occurs. used together with
 Press to acknowledge Dim- key.
the alarm.

DIM- Key
SET/MENU Key
 Reduce illumination
 Press to set current
level.
value valid.
 Warm reset OPU
 Press to enter next-
when used together
level configuration
with Dim+ key.
menu.

EXIT/CANCEL Key Rotary Knob Status Bar

 Cancel current operation.  Press and release the knob to  Display current system status.
 Exit and go back to last-level enter set heading interface - System OK - System Failure [ Alarm ]
menu. directly when the system is in - Off Course Alarm - System Failure [ Power ½ down ]
AUTO mode and all operation is - Rudder Limit Reached - Heading Monitoring Alarm
normal. - Missing Log Data [Speedlog] - Missing Heading Data [Gyro, Magnetic]
Figure 5: Display and Operation Control on Operation Unit  Select configuration or adjust
parameters for system.
 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

2.2 Set Heading

When the vessel is underway and the speed becoming stable, operate the following
steps to set heading directly.
Steering Mode Switch

STBD
WING
NFU FU

PORT
AUTO
WING

1) Turn the Steering Mode Switch Spindle to 0501002A0

position.
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD
Limit Limit

ACK. LOCK
ALARM
TEST
MENU

2) Press the Rotary knob in Operation Unit for one time and
CANCEL
ENTER

0501001A0

release at once, the system will enter the set heading menu (see figure 6) directly.

HEADING

ACTUAL : 000.0 Deg.

SET : 000 Deg.

Current Resolution : 1.0 Deg.

Figure 6: Heading Setting Interface

3) Rotate the Rotary knob to set the desired heading. The default step is
1°
0.1 °
1°, if needed, press key to change the accuracy to 0.1º. At the same time,

SET SET
MENU MENU
key will flash . The new preset heading must be acknowledged
within approx. 15s. If not, system will exit the set heading menu automatically and
keep the previous setting.

SET
MENU
4) Press key in Operation Unit to confirm the new heading. The LCD will go

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 Beijing Highlander Digital Technology Stock Co., Ltd.

SET SET
MENU MENU
back to main interface (see figure 5), and key lights stably .

5) The ship starts changing heading automatically.

If the turn mode “NO ROT LIMIT” is selected, the rudder is only limited by rudder limit;
If the turn mode “ROT” is selected, the rudder is limited by both rudder limit and
preset manual ROT.

6) The heading changing process will be completed as soon as the current heading
corresponds to the preset heading, and the vessel will keep this heading.

2.3 Override Steering

When the current steering mode is

AUTO, activating the NFU Tiller
causes the system enter into the
OVERRIDE mode.

In emergency situation or when override is required during the heading control phase,
In Command

PORT STBD

operate the NFU Tiller directly to change the rudder, system enters into
Non-Follow-up Unit 0501010A0

OVERRIDE mode. There is no requirement to change the Steering Mode Switch to any
other position in this process.

1) When the system enters into OVERRIDE mode, the override indication will sound
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD
Limit Limit

ACK.
ALARM
LOCK
Override
TEST
MENU
CANCEL

on the Operation Unit and the button in the Override Unit

ENTER

0501001A0

Override

Override

Override Override

0501007A0

will light up and flash . Press the button to acknowledge the

Override

override indication, and the yellow light in the button will turn to steady light

Override

2) Use the NFU Tiller to steering.

Override

3) Exit the OVERRIDE mode by pressing the button in the Override Unit again,
system will return to heading control (AUTO) mode. The current heading will be
accepted as new set heading by system.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

2.4 Adjust the Brightness

1) Long press key or short press key step by step to increase the
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD
Limit Limit

ACK.
ALARM
LOCK
Override
TEST
MENU

brightness of the LCD, keys in Operation Unit and the button in

CANCEL
ENTER

0501001A0

Override

Override

Override Unit 0501007A0

2) Long press key or short press key step by step to decrease the
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD
Limit Limit

ACK.
ALARM
LOCK
Override
TEST
MENU

brightness of the LCD, keys in Operation Unit and the button in

CANCEL
ENTER

0501001A0

Override

Override

Override Unit 0501007A0

2.5 Test

When press key and key simultaneously, the Operation Unit will be

warmly reset, it will give forth a short sound , and each key will light up for one
time, the LCD will display the system information include hardware version and
software version, if not, the Operation Unit is abnormal.

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3 Menu Operation

MENU 1 HEADING

ACTUAL
SET

2 MANOEUVRE PARAMETER

1. YAWING
2. RUDDER GAIN
3. COUNTER RUDDER

4. MANUAL RUDDER OFFSET

3 INTERFACE

1. COMPASS MONITOR 1. SELECT HEADING SENSOR

2. MAX HEADING DEVIATION
3. HEADING MONITOR ALARM

2. SPEED INPUT 1. SELECT SPEED INPUT

2. SET MANUAL SPEED

4 CONTROL PARAMETER

1. TURN MODE
2. LOADING CONDITION
3. RUDDER LIMIT
4. OFF-COURSE LIMIT
5. SET MAX ROT

5 ADVANCED SETTING

Figure 7: Menu tree of Operation Unit

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

3.1 Set Heading

This operation is only available

when the steering mode is AUTO.

There are two ways to enter the set heading menu, one is to press and release the
knob to enter directly, which is described at section 2.2, the other is through the main
menu to enter, which is described as follows.

SET
MENU
1) Press key to enter into the main menu, rotate the rotary knob
SET
MENU
to make the cursor stop at “1.HEADING” (see figure 8), press key, system will
enter the set heading menu.

[MENU]
1.HEADING
2.MANOEUVRE PARAMETER
3.INTERFACES
4.CONTROL PARAMETER
5.ADVANCED SETTING

Figure 8: Main Menu

2) Rotate Rotary knob to set the desired heading. The default step is 1º, if
1° SET
0.1 ° MENU
needed, press key to change the accuracy to 0.1º. At the same time,

SET
MENU
key will flash . The new preset heading must be acknowledged within approx.
15s. If not, system will exit the set heading menu automatically, and keep the previous
setting.

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SET
MENU
3) Press key in Operation Unit to confirm the new heading. The LCD will go

SET SET
MENU MENU
back to main interface (see figure 5), and key lights stably .

4) The ship starts changing heading automatically.

If the turn mode “NO ROT LIMIT” is selected, the rudder is only limited by rudder limit;
If the turn mode “ROT” is selected, the rudder is limited by both rudder limit and
preset manual ROT.

5) The heading changing process will be completed as soon as the current heading
corresponds to the preset heading, and the vessel will keep this heading.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

3.2 Manoeuvre Parameters

The Manoeuvre Parameter menu (see figure 9) include Yawing, Rudder Gain, Counter
Rudder and Manual Rudder Offset. These parameters are mainly used for optimizing
the control performance.

MANOEUVRE PARAMETER

1.YAWING : 1 Deg.
2.RUDDER GAIN :2
3.COUNTER RUDDER :2
4.MANUAL RUDDER OFFSET : 0 Deg.

Figure 9: Manoeuvre Parameters Page

3.2.1 Yawing

Yawing is used to adjust the heading control accuracy and reduce the rudder
movement. The methods on how to adjust this parameter’s value is described in
section 1.4.

HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

CANCEL
TEST

1) Press key in Operation Unit to enter the main menu (refer to

ENTER

0501001A0

figure 8).

2) Rotate the rotary knob to make the cursor stop at "2.MANOEUVRE

PARAMETER".

SET
MENU
3) Press key to enter MANOEUVRE PARAMETER menu page, see figure 9.

4) Rotate the rotary knob to make the cursor stop at "1.YAWING”.

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SET
MENU
5) Press key to enter yawing setting status, the cursor will stop at the yawing
value.

6) Rotate the rotary knob until the desired yawing value is reached (Range:
1 Deg. -10 Deg.), how to get the suitable value is describe at section 1.4).

SET
MENU
7) Press key to confirm the set value.

EXIT
CANCEL
8) Press key repeatedly to return to the main interface.

3.2.2 Rudder gain

The Rudder Gain Parameter is the P part parameter for the PID controller. It is used for
optimizing the control performance. The method about how to adjust this parameter’s
value is described at section 1.4.

HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit to enter the main menu (refer to

CANCEL
ENTER

0501001A0

figure 8).

2) Rotate the rotary knob to make the cursor stop at "2.MANOEUVRE

PARAMETER".

SET
MENU
3) Press key to enter MANOEUVRE PARAMETER menu page (refer to figure
9).

4) Rotate the rotary knob to make the cursor stop at "2. RUDDER GAIN”.

SET
MENU
5) Press key to enter rudder gain setting status, the cursor will stop at the
rudder gain value.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

6) Rotate the rotary knob until the desired rudder gain value is reached
(Range: 1-10, how to get the suitable value is describe at section 1.4).

SET
MENU
7) Press key to confirm the set value.

EXIT
CANCEL
8) Press key repeatedly to return to the main interface.

3.2.3 Counter rudder

The Counter Rudder Parameter is the D part parameter for the PID controller, is used
for optimizing the control performance. The methods on how to adjust this
parameter’s value is described at section 1.4.

HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit

CANCEL

to enter the main menu (refer to

ENTER

0501001A0

figure 8).

2) Rotate the rotary knob to make the cursor stop at "2. MANOEUVRE
PARAMETER".

SET
MENU
3) Press key to enter MANOEUVRE PARAMETER menu page (refer to figure
9).

4) Rotate the rotary knob to make the cursor stop at "3. COUNTER
RUDDER”.

SET
MENU
5) Press key to enter counter rudder setting status, the cursor will stop at
the counter rudder value.

6) Rotate the rotary knob until the desired counter rudder value is reached
(Range: 1-10, how to get the suitable value is describe at section 1.4).

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SET
MENU
7) Press key to confirm the set value.

EXIT
CANCEL
8) Press key repeatedly to return to the main interface.

3.2.4 Manual rudder offset

A rudder offset angle is used for eliminating the constant disturbance, so that it can
keep the ship on the preset heading, normally it is automatically set by the integral
parts of the controller. Constant disturbances can be produced by wind, rough sea or
asymmetrical pressure, e.g. whilst towing.

Particularly for the disturbances wind and rough sea, the constant rudder can only be
correct in a particular heading range. For this reason, the integral proportion (constant
rudder) of the heading regulator is deleted when there is a change in preset heading of
>20º.

As well as an automatic rudder offset, a manual offset can also be set. This can be
achieved through a change in the value of the parameter Manual Rudder Offset.

For normal drive/manoeuvre, the Manual Rudder Offset parameter must be set at 0
Deg.

Manual Rudder Offset is set at 0 Deg. means:

The rudder offset will be automatically determined by the autopilot.

For special manoeuvre (e.g. towing), Manual Rudder Offset can be set (the automatic
rudder offset is switched off).

For example, Manual Rudder Offset is set at 5 Deg. means:

For example, during towing the approximate heading will be determined.
Through changing the value of the Manual Rudder Offset, a stable heading can be
achieved. The optimal parameter value is got by observing the heading direction.
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

CANCEL
TEST

1) Press key in Operation Unit to enter the main menu (refer to

ENTER

0501001A0

figure 8).

2) Rotate the Rotary knob to make the cursor stop at "2. MANOEUVRE
PARAMETER".

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

SET
MENU
3) Press key to enter MANOEUVRE PARAMETER menu page (refer to figure
9).

4) Rotate the Rotary knob to make the cursor stop at "4. MANUAL RUDDER
OFFSET”.

SET
MENU
5) Press key to enter manual rudder offset setting status, the cursor will stop
at the manual rudder offset value.

6) Rotate the Rotary knob until the desired manual rudder offset value is
reached (Range: -5 Deg. - 5 Deg.).

SET
MENU
7) Press key to confirm the set value.

EXIT
CANCEL
8) Press key repeatedly to return to the main interface.

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3.3 Interface
The sensor interface is to be configured by engineer based on the specific condition of
the vessel. There is no need for operator to do anything. The interface menu (see figure
10) provides compass monitoring and speed input monitoring function for operator.

INTERFACE

1.COMPASS MONITOR
2.SPEED INPUT

Figure 10: Interface Menu

3.3.1 Compass monitor

The menu is active only when

there are two independent
compass references connected to
the autopilot.

The Compass Monitor menu (see figure 11) provides two functions, one is to change
over the compass reference, and the other is to configure the heading monitor alarm.

COMPASS MONITOR
1.SELECT HEADING SENSOR : GYRO
2.MAX HEADING DEVIATION : 5 Deg.
3.HEADING MONITOR ALARM : ON

Figure 11: Compass Monitor Menu

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

(1) Selecting Heading Sensor

If the current compass reference doesn't work properly, the operator needs to change
over the compass reference.

If the magnetic compass values and gyro compass

values are different, switching over to the compass
reference results in a preset heading adaptation.
Possible heading differences between set heading
and current heading may remain in existence.

HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit to enter the main menu (refer to

CANCEL
ENTER

0501001A0

figure 8).

2) Rotate the Rotary knob to make the cursor stop at "3.INTERFACE".

SET
MENU
3) Press key to enter INTERFACE menu page (refer to figure 10).

4) Rotate the Rotary knob to make the cursor stop at "1.COMPASS

MONITOR”.

SET
MENU
5) Press key to enter COMPASS MONITOR menu page (refer to figure 11).

6) Rotate the Rotary knob to make the cursor stop at "1.SELECT HEADING
SENSOR”.

SET
MENU
7) Press key to enter heading sensor setting status, the cursor will stop at
the heading sensor type.

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 Beijing Highlander Digital Technology Stock Co., Ltd.

8) Rotate the Rotary knob to get the desired sensor type (GYRO or MAGN).

SET
MENU
9) Press key to confirm.

EXIT
CANCEL
10) Press key repeatedly to return to the main interface.

(2) Max Heading Deviation

The max heading deviation is the alarm threshold for Heading Monitor Alarm.
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit to enter the main menu (refer to

CANCEL
ENTER

0501001A0

figure 8).

2) Rotate the Rotary knob to make the cursor stop at "3.INTERFACE".

SET
MENU
3) Press key to enter INTERFACE Menu page (refer to figure 10).

4) Rotate the Rotary knob to make the cursor stop at "1.COMPASS

MONITOR”.

SET
MENU
5) Press key to enter COMPASS MONITOR Menu page (refer to figure 11).

6) Rotate the Rotary knob to make the cursor stop at "1.MAX HEADING
DEVIATION”.

SET
MENU
7) Press key to enter value setting status, the cursor will stop at the
deviation value.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
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8) Rotate the Rotary knob to get the desired value (Range: 5 Deg.-15 Deg.).

SET
MENU
9) Press key to confirm.

EXIT
CANCEL
10) Press key repeatedly to return to the main interface.

(3) Heading Monitor Alarm

This item provides the on/off function for Heading Monitor Alarm, when the operator
doesn’t need this alarm, he can select “OFF” to close this alarm, when “ON” is selected,
the alarm will be triggered when the heading information deviates from the second
source beyond the value of Max Heading Deviation.
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit

CANCEL

to enter the main menu (refer to

ENTER

0501001A0

figure 8).

2) Rotate the Rotary knob to make the cursor stop at"3.INTERFACE".

SET
MENU
3) Press key to enter INTERFACE Menu page (refer to figure 10).

4) Rotate the Rotary knob to make the cursor stop at "1.COMPASS

MONITOR”.

SET
MENU
5) Press key to enter COMPASS MONITOR Menu page (refer to figure 11).

6) Rotate the Rotary knob to make the cursor stop at "3.HEADING MONITOR
ALARM”.

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SET
MENU
7) Press key to enter heading monitor alarm setting status, the cursor will
stop at the setting: ”ON” or “OFF”.

8) Rotate the Rotary knob to get the desired setting (ON or OFF).

SET
MENU
9) Press key to confirm.

EXIT
CANCEL
10) Press key repeatedly to return to the main interface.

3.3.2 Speed input

The Speed Input menu (see figure 12) provides two functions, one is to change over
the speed input between speed log and manual, and the other is to set the manual
speed.

SPEED INPUT
1.SELECT SPEED INPUT : LOG
2.SET MANUAL SPEED : 9.0 Knot.

Figure 12: Speed Input Menu

If the speed log doesn’t work

properly, in order to ensure the
control performance, the
operator needs to change the
speed input to manual and set
the manual speed.

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(1) Select Speed Input

HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit to enter the main menu (refer to

CANCEL
ENTER

0501001A0

figure 8).

2) Rotate the Rotary knob to make the cursor stop at "3. INTERFACE".

SET
MENU
3) Press key to enter INTERFACE Menu page (refer to figure 10).

4) Rotate the Rotary knob to make the cursor stop at "2.SPEED INPUT”.

SET
MENU
5) Press key to enter SPEED INPUT menu page (refer to figure 12).

6) Rotate the Rotary knob to make the cursor stop at "1.SELECT SPEED
INPUT”.

SET
MENU
7) Press key to enter speed input setting status, the cursor will stop at the
setting “LOG” or “MANUAL”.

8) Rotate the Rotary knob to get the desired setting (LOG or MANUAL).

SET
MENU
9) Press key to confirm.

EXIT
CANCEL
10) Press key repeatedly to return to the main interface.

(2) Set Manual Speed

HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

CANCEL
TEST

1) Press key in Operation Unit to enter the main menu (refer to

ENTER

0501001A0

figure 8).

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2) Rotate the Rotary knob to make the cursor stop at "3. INTERFACE".

SET
MENU
3) Press key to enter INTERFACE menu page (refer to figure 10).

4) Rotate the Rotary knob to make the cursor stop at "2.SPEED INPUT”.

SET
MENU
5) Press key to enter SPEED INPUT menu page (refer to figure 12).

6) Rotate the Rotary knob to make the cursor stop at "2.SET MANUAL
SPEED”.

SET
MENU
7) Press key to enter manual speed setting status, the cursor will stop at the
value.

8) Rotate the Rotary knob to get the desired value (Range: 5.0 – 40.0 Knot).

SET
MENU
9) Press key to confirm.

EXIT
CANCEL
10) Press key repeatedly to return to the main interface.

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3.4 Control Parameters

The Control Parameter menu is mainly used to set the control mode or some control
limit values, this is very important for autopilot.

CONTROL PARAMETER
1.TURN MODE : NO ROT LIMIT
2.LOADING CONDITION : Full
3.RUDDER LIMIT : 1 Deg.
4.OFF-COURSE LIMIT : 15 Deg.
5.SET MANUAL ROT : 20 Deg./Min.

Figure 13: Control Parameter Menu

3.4.1 Turn mode

Turn control mode determines the turn control property of HLD-SC200, there are two
turning control modes, the meaning of which has been described at section 1.3.
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit to enter the main menu (refer to

CANCEL
ENTER

0501001A0

figure 8).

2) Rotate the Rotary knob to make the cursor stop at "4. CONTROL
PARAMETER".

SET
MENU
3) Press key to enter CONTROL PARAMETER Menu page (refer to figure 13).

4) Rotate the Rotary knob to make the cursor stop at "1.TURN MODE”.

SET
MENU
5) Press key to enter turn mode setting status, the cursor will stop at the
setting “NO ROT LIMIT” or “ROT”.

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6) Rotate the Rotary knob to get the desired setting (NO ROT LIMIT or
ROT).

SET
MENU
7) Press key to confirm.

EXIT
CANCEL
8) Press key repeatedly to return to the main interface.

3.4.2 Loading condition

Load condition is important for controller, it must be set before leaving the port, see
section 1.4.
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit

CANCEL

to enter the main menu (refer to

ENTER

0501001A0

figure 8).

2) Rotate the Rotary knob to make the cursor stop at "4. CONTROL
PARAMETER".

SET
MENU
3) Press key to enter CONTROL PARAMETER menu page (refer to figure 13).

4) Rotate the Rotary knob to make the cursor stop at "2.LOAD

CONDITION”.

SET
MENU
5) Press key to enter load condition setting status, the cursor will stop at the
setting.

6) Rotate the Rotary knob to get the desired setting (BALLAST, HALF or
FULL).

SET
MENU
7) Press key to confirm.

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EXIT
CANCEL
8) Press key repeatedly to return to the main interface.

3.4.3 Rudder limit

The rudder limit determines the maximum rudder that generated by the controller, it is
always active when the automatic steering is working. It can limit the turn rate of the
vessel and affect the speed. The rudder limit information is displayed on main interface
(refer to figure 5).
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit to enter the main menu (refer to

CANCEL
ENTER

0501001A0

figure 8).

2) Rotate the Rotary knob to make the cursor stop at "4.CONTROL

PARAMETER".

SET
MENU
3) Press key to enter CONTROL PARAMETER menu page (refer to figure 13).

4) Rotate the Rotary knob to make the cursor stop at "3.RUDDER LIMIT”.

SET
MENU
5) Press key to enter rudder limit setting status, the cursor will stop at the
value.

6) Rotate the Rotary knob to get the desired value (Range: 5 Deg. – Max
rudder angle).

SET
MENU
7) Press key to confirm.

EXIT
CANCEL
8) Press key repeatedly to return to the main interface.

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3.4.4 Off-course limit

The off course limit is the Off-Course Alarm threshold, when the actual heading
information deviates from the preset heading beyond this value, the alarm will be
triggered (details see section 4.2).
HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit to enter the main menu (refer to

CANCEL
ENTER

0501001A0

figure 8).

2) Rotate the Rotary knob to make the cursor stop at "4. CONTROL
PARAMETER".

SET
MENU
3) Press key to enter CONTROL PARAMETER menu page (refer to figure 13).

4) Rotate the Rotary knob to make the cursor stop at "4.OFF-COURSE

LIMIT”.

SET
MENU
5) Press key to enter off-course limit setting status, the cursor will stop at
the value.

6) Rotate the Rotary knob to get the desired value (Range: 5 Deg.-15 Deg.).

SET
MENU
7) Press key to confirm.

EXIT
CANCEL
8) Press key repeatedly to return to the main interface.

3.4.5 Set max ROT

The item is used to adjust the manual ROT, when the turn mode is ROT. The controller
will make the vessel keep this ROT during the turning phase (see section 1.3).

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

HIGHLANDER AP Operation Unit

SET HDG D SPEED (Kn)

AUTO 125 9.0

ACT HDG (Deg.) ROT

Gyro1 125.1 4.5

RUDDER (Deg.)
35
PORT
2.5 35
STBD

SET
Limit Limit

MENU ACK.
ALARM

MENU
LOCK

TEST

1) Press key in Operation Unit to enter the main menu (refer to

CANCEL
ENTER

0501001A0

figure 8).

2) Rotate the Rotary knob to make the cursor stop at "4. CONTROL
PARAMETER".

SET
MENU
3) Press key to enter CONTROL PARAMETER menu page (refer to figure 13).

4) Rotate the Rotary knob to make the cursor stop at "5. SET MAX ROT”.

SET
MENU
5) Press key to enter manual ROT setting status, the cursor will stop at the
value.

6) Rotate the Rotary knob to get the desired value.

(Range: 5 Deg./min. -300 Deg./min.)

SET
MENU
7) Press key to confirm.

EXIT
CANCEL
8) Press key repeatedly to return to the main interface.

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3.5 Advanced Setting

The advanced setting is only used by service staff for maintenance.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
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4 Alarms
In HLD-SC 200 system, two components provide alarm indication & acknowledge
functions for automatically steering: Alarm Display Unit (ADU), and Autopilot
Operation Unit (OPU).

The Alarm Display Unit (see figure 14) is standard supply, it displays Off-course,
Amplifier 1 & Follow-Up Control, Amplifier 2 & Follow-Up Control and Autopilot alarm.
The Operation Unit (refer to figure 5) displays the details of all alarms.

Alarm Display Unit

OFF AMP.1 AMP.2

COURSE FU CTRL FU CTRL

AUTO
PILOT

ACK.

TEST 0501005A0

Figure 14: Alarm Display Unit

ACK.
ALARM
When alarm occurs, the corresponding lamp in the ADU and the key in the
ACK. ACK.
ALARM
OPU will flash , press the key in the OPU or press the key in

the ADU to acknowledge the alarm, then the lamp and the key will light stably .
When the alarm disappears, the lamp and the key will turn off.

4.1 Off-Course Alarm

The heading monitoring function is active during Heading Control Operating mode.
The heading monitoring has two essential functions:
 Off Heading monitoring during course-keeping operation
 Track change phase monitor via a time window

Off heading monitoring during course-keeping operation

During course-keeping operation, when the actual heading information deviations from

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the preset heading of the ship beyond the alarm threshold (off-course limit) more than
15 second, off-course alarm will be triggered. The off-course limit is set via the
Operation Unit (see section 3.4.4) and allows settings in a range of 5 to 15 degrees.

Track change phase monitor via a time window.

During the track change phase, off-course alarm is monitored via a time window, if
during the track change manoeuvre the vessel, the vessel will enter the heading alarm
threshold within the time window, no alarm is triggered; or else alarm will be triggered.
The time window is calculated based on the difference in the preset heading and the
preset manual turning rate.

The desired value for the rate of turn (ROT. see section 3.4.5) depends on the vessel.
The ship must be able to perform the turning value. If the preset manual turning rate
cannot be reached because of the turning rate is too big (exceeding the turning
capability of the ship) or the rudder limit (see section 3.4.3) is too small, the off-course
alarm would be triggered prematurely.

If the preset manual turning rate is changed during the track change manoeuvre, the
time window will be immediately recalculated.

4.2 Amplifier Alarm

The rudder order given out by the controller needs the amplifier (steering) system to
convert to drive signal to perform, so if the amplifier system failure, may cause the
autopilot cannot work. The amplifier system may be caused by:
 Power failure
 System internal error

The indication on the ADU about the amplifier alarm is “AMP. 1 FU CONTROL” and
“AMP. 2 FU CONTROL”, other details can be seen in table 2.

4.3 Autopilot Alarm

The autopilot alarm means the heading control is not available. It may be caused by:
 Power failure
 System internal error
 Missing Heading Data

Other details can be seen in table 2.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

If both amplifier system 1 and amplifier

system 2 are working, once one of the
two systems failures, the autopilot alarm
would not be triggered, but the amplifier
alarm will be triggered.

4.4 Heading Monitor Alarm

When both gyro and magnetic compass are connected to HLD-SC200, and the setting
of the heading monitor alarm is “ON” (see section 3.3.1), the heading monitor function
is active. The alarm will be triggered when the heading information deviates from the
second source beyond the value of Max Heading Deviation.

4.5 Missing Log Data Alarm

Once HLD-SC200 cannot receive valid speed log information, the missing log data alarm
will be triggered. The system may use the last valid speed data, which may cause the
controller work abnormally, so in this situation, the operator needs to change over to
manual speed (see section 3.3.2). Other details can be seen in table 2.

4.6 Rudder Limit Reached Alarm

When ROT turn mode (see section 1.3) is working, if the rudder output reaches the
rudder limit (see section 3.4.3), a rudder limit reached alarm will be triggered. This
alarm may be caused by:
 The rudder limit is too small
 The preset manual ROT (see section 3.4.5) is too big

Other details can be seen in table 2.

4.7 Value Check Failure Alarm

During the system’s starting phase, if the memory test performed by OPU is not passed,
a value check failure alarm will be triggered. In this case, all parameter values of
Operation Unit are automatically replaced by default values, the operator needs to
adjust the parameter of the operation unit manually after startup. For other details see
table 2.

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Table 2: Autopilot Alarms

Indication
No. meaning Possible Cause Effects Operator Note
On ADU On OPU
System Failure! Autopilot may be not Chang over to another pump
AMP. 1 FU CTRL 1# pump is not
[Module Name]Note 1 System internal error or possible or show system, if still have error please
1 available because of
power down. different control switch to NFU steering mode to
amplifier system failure.
behavior. control.

System Failure! Autopilot may be not Chang over to another pump

AMP. 2 FU CTRL 2# pump is not
[Module Name] System internal error or possible or show system, if still have error please
2 available because of
power down. different control switch to NFU steering mode to
amplifier system failure.
behavior. control.

System Failure! Chang over to another pump

[Module Name] System internal error or
System error. system, if still have error please
power down.
change over to manual steering.
Missing Heading Data!
AUTO CONTROL Cannot receive valid Gyro compass failure or Heading control is not
3 [Gyro] Chang over to magnetic compass.
gyro data! external disturbance. possible.

Missing Heading Data! Magnetic compass

[Magnetic] Cannot receive valid
system failure or Chang over to gyro compass.
magnetic data!
external disturbance.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Automatic Heading Control

Indication
No. meaning Possible Cause Effects Operator Note
On ADU On OPU
Actual heading
Compass disturbance.
information deviates
Sudden drift effects. Eliminate compass disturbance.
OFF COURSE Off Course Alarm! from the preset heading Cannot keep heading.
Selected turning rate Check heading error alarm
4 beyond a preset limit in Ship cannot follow the
value is too high. threshold.
course-keeping phase turning rate.
Rudder limit is too Check rudder limit and manual ROT.
or off heading in track
small.
change phase.
Missing Log Data! The autopilot may show
Cannot receive valid Log Log sensor failure or
5 different control Change over to manual speed.
data! external disturbance.
behavior.
Eliminate compass disturbance.
Heading Monitor Alarm! Heading information in
Check heading sensor and use the
Note2 use deviates from May be cannot keep the
6 Compass disturbance. correct one for heading control.
second heading source heading.
Turn off the heading monitor alarm
beyond a preset limit.
if needed.
Low Speed!
The autopilot may show
Ship’s speed is too low. Log failure or
different control Change over to manual speed.
after 90s interruption.
behavior.
Rudder Limit reached! Manual ROT value is
The required ROT will Adjust manual ROT value or rudder
Rudder limit reached. too high, or rudder
not be reached. limit value.
after 90s limitation too low.
Operation Unit cannot All parameter values of
Value Check Failure! During the system’s
load correct working operation unit are Adjust the parameter of the
7 starting phase, memory
parameter from automatically replaced operation unit after startup.
test is not passed.
memory. by default values.
Note:
1. Module name is detailed information for service staff. There is no need to understand its meaning for operators. It may be: CU, EIU, RFU1, RFU2, SCU1,
SCU2, SJB; 2. Only with two independent heading source input and the alarm is on.

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 ALARM SYSTEM
1. Overview
2. General Operation Procedures
3. Alarm Information List
 Beijing Highlander Digital Technology Stock Co., Ltd.

1 Overview
The alarm system (see figure 1) of HLD-SC200 comprise of three parts: Alarm Control
Unit, Alarm Display Unit, and Extended Alarm Display Panel.

 Alarm Control Unit collects all alarm conditions and presents to Alarm Display Unit,
it also provides output to VDR and external alarm system;

 Alarm Display Unit provides the alarm indication and acknowledgement function;

 Extended Alarm Display Panel is an option unit for displaying the steering gear
alarms.

Extended Alarm Display Panel Alarm Display Unit Extended Alarm Display Panel
Type: HLD-EAD 200 Type: HLD-AD 200 Type: HLD-EAD 200
Alarm Display Alarm Display Unit Alarm Display

STEERING GEAR PUMP 1 2 3 4 OFF AMP.1 AMP.2 STEERING GEAR PUMP 1 2 3 4

COURSE FU CTRL FU CTRL

PHASE OVER POWER LOW PHASE OVER POWER LOW

FAIL. LOAD FAIL. OIL
AUTO FAIL. LOAD FAIL. OIL
PILOT

PWOER PWOER
CLOGGED HIGH HYDR CLOGGED HIGH HYDR
FAIL. FAIL.
FILTER TEMP LOCK FILTER TEMP LOCK
CONTROL CONTROL
ACK.

0501009A0 0501009A0
TEST 0501005A0

(Optional) (Optional)

GEAR ALARMS SIGNAL

DATA FOR VDR
SYSTEM BUS

EXTERN ACK SIGNAL ACK SIGNAL OUTPUT

Alarm Control Unit

Type: HLD-AL 200

Figure 1: Alarm System of HLD-SC200

Alarm Display Unit (see figure 2) displays “Off-course”, “Amplifier 1 & Follow-up
Control”, “Amplifier 2 & Follow-up Control” and “Autopilot” alarm. In an alarm

condition, an audible alarm sounds with the corresponding lamp flashing .

The audible alarm can be silenced via the acknowledge button but the alarm lamp

remain light until the alarm condition is resolved.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Alarm System

Alarm Display Unit

AMP. AMP.
OFF
1 2
COURSE
FU CTRL FU CTRL

AUTO
PILOT

ACK.

TEST 0501005A0

Figure 2: Alarm Display Unit HLD-AD 200

Illumination of the Alarm Display Unit can be adjusted to desired levels via two the key

and . If both of the two keys are pressed, a self-test program is

performed, all lamps will light up for 3 seconds and the buzzer will sound.

Extended Alarm Display Panel (see figure 3) is only a lamp panel for steering gear
alarms. It is controlled by Alarm Display Unit. If the panel is connected to Alarm Display
Unit, the system can monitor the steering gear pump condition and display its status.

Alarm Display

STEERING GEAR PUMP 1 2 3 4

PHASE OVER POWER LOW

FAIL. LOAD FAIL. OIL

CLOGGED HIGH HYDR POWER

FAIL.
FILTER TEMP. LOCK CONTROL

0501009A0

Figure 3: Extended Alarm Display Panel HLD-EAD 200

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 Beijing Highlander Digital Technology Stock Co., Ltd.

2 General Operation Procedures

Electromechanical devices, which are subject

to wear and tear depending on operation
cycles and environment conditions, are
included in the equipment, such as relays,
switches or potentiometers.

1) Press the key and synchronously to do self-test, check if the

alarm system is running well;

2) If a new alarm occurs, the corresponding lamp will flash , press the key
ACK.

to acknowledge the alarm;

3) If necessary, press the key to increase brightness, press the key

to decrease the brightness.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Alarm System

3 Alarm Information List

Table 1: Manual Steering System Alarms

No. Indication Meaning Possible Cause Effects Operator Notes

AMP. 1 FU CTRL In “FU” steering mode, failure

System internal error or 1# follow up control system is Chang over to another pump system, if error still
1 occurs on 1# follow up control
power down. not available. exists, please switch to NFU steering mode to control.
system.
AMP. 2 FU CTRL In “FU” steering mode, failure
System internal error or 2# follow up control system is Chang over to another pump system, if error still
2 occurs on 2# follow up control
power down. not available. exists, please switch to NFU steering mode to control.
system.

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Table 2: Autopilot Alarms

No. Indication Meaning Possible Cause Effects Operator Notes

AMP. 1 FU CTRL Chang over to another pump system, if error still

1# pump is not available because System internal error or Autopilot may be not possible or
1 exists, please switch to NFU steering mode to
of amplifier system failure. power down. show different control behaviour.
control.

AMP. 2 FU CTRL Chang over to another pump system, if error still

2# pump is not available because System internal error or Autopilot may be not possible or
2 exists, please switch to NFU steering mode to
of amplifier system failure. power down. show different control behaviour.
control.
System internal error or Check the detailed information on the Operation
AUTO CONTROL
power down. Unit, if the cause is system error, change over to
3 Heading control failure. Heading control is not possible.
Cannot receive valid manual steering immediately, if the cause is heading
heading data! data lost, and change over to another compass.
Actual heading information Compass disturbance.
OFF COURSE deviates from the preset heading Sudden drift effects. Eliminate compass disturbance.
Cannot keep the heading.
4 beyond a preset limit in keep Selected turning rate Check heading error alarm threshold;
Ship cannot follow turning rate.
course phase or off heading in value is too high. Check rudder limit and manual ROT.
track change phase. Rudder limit is too small.

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Alarm System

Table3: Steering Gear Alarms

No. Indication Meaning Operator Notes

1 PHASE FAIL Phase Failure Alarm Change over to another pump system.

2 OVERLOAD Overload Alarm Change over to another pump system.

3 POWER FAIL. Main Power Failure Alarm Change over to another pump system.

4 LOW OIL Low Oil Level Alarm Change over to another pump system.

5 CLOGGED FILTER Filter Failure Alarm Change over to another pump system.

6 HIGH TEMP Oil Overheating Alarm Change over to another pump system.

7 HYDG LOCK Hydraulic Blockage Alarm Change over to another pump system.

8 POWER FAIL.CONTROL Control Power Failure Alarm Change over to another pump system.

Doc. Code: HLD 0500 SS2 6 Version: V 1.0 Date: 2010-09-09

RUDDER PUMP SYSTEM SWITCH

HLD-RPS 200

1. Overview
2. General Operation Procedures
 Beijing Highlander Digital Technology Stock Co., Ltd.

1 Overview
Rudder Pump System Switch (see figure 1) is an optional unit for HLD-SC200. It
provides the switch of the rudder pump system for steering.

The illumination of this switch is controlled by Operation Unit.

If pump 1 is selected, the field “1” lights up;

If pump 2 is selected, the field “2” lights up;
If both pumps are selected, the field “ALL” lights up.

The brightness of the illumination can be adjusted to desired levels via two the keys

and in Operation Unit.

Steering Gear Pump System Switch

OFF

1 2

ALL ALL

0501004A0

Figure 1: Rudder Pump System Switch HLD-RPS 200

Doc. Code: HLD0500SS2 1 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Rudder Pump System Switch HLD-RPS 200

2 General Operation Procedures

1) If want to use steering gear pump1, turning the spindle to “1” position.

2) If want to use steering gear pump2, turning the spindle to “2” position.

3) If want to use steering gear pump1 & ump2, turning the spindle to “ALL” position.

Doc. Code: HLD0500SS2 2 Version: V 1.0 Date: 2010-09-09

COMPASS REPEATER HLD-RP 200

1. Overview
2. Construction
3. General Operation Procedures
 Beijing Highlander Digital Technology Stock Co., Ltd.

1 Overview
The Compass Repeater HLD-RP 200, shows the heading determined by the gyro
compass in relation to “GEOGRAPHICAL NORTH”. The course is indicated by a 360° and
a 10° card. It receives the heading signal in absolute and clear values from the gyro
compass via a serial interface (NMEA 0183).

HLD-RP 200 can be used with a magnetic compass or gyros compass which supports
NMEA 0183 format interface and no configuration is needed.

HIGHLANDER Compass Repeater

0 000 010
340 35 020
03
330 00
0 40
32
10

05
0 1
03

0
06
30

9
0 07
290

0 08
270 280

0
090 100
7

3
0
0 26

110
25

4
5 6
1
40

201
0
2

30
23

14
20 2 0
15
0 210 0 16
20 0 17
180 190 0

0501008A0

Figure 1: Compass Repeater HLD-RP 200

Doc. Code: HLD500SS2 1 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Compass Repeater HLD-RP200

2 Construction

2.1 Front Panel

An anti-reflective polyester screen covers the cards on the front panel of the Compass
Repeater. The lubber line is inside the plate. LEDs illuminate the lubber line and the
cards in an area of ±55°. In the lower area of the front plate on the left side (refer to
figure 2), there is a digital display for the indication of the heading and error messages.
On the left side, there are two multiple-function keys.

360°Card
10°Card

110
0 25

4
Digital display 5 6

1
40

2
Multi-function

01
0
2

Keys

30
23

14
20 0
102 15
0 16
200
2 0 17
180 190 0

0501008A0

Figure 2: Operating and indicating instruments on the front panel of Compass Repeater

2.2 Stepping Motor Assembly

The two cards are driven by a stepping motor respectively. The shaft of the stepping
motor for the 10°card is arranged centrically in the shaft of the stepping motor for
the 360°card. The cards are directly mounted on the shafts of the stepping motors.
The speed of the two stepping motors are in the ratio of 1:36. The 10° card is
equipped with a graduation of 1/10°and the 360°card with a graduation of 5°. Both
cards are translucent and lit up around the lubber line by LEDs.

Doc. Code: HLD500SS2 2 Version: V 1.0 Date: 2010-09-09

 Beijing Highlander Digital Technology Stock Co., Ltd.

3 General Operation Procedures

Confirm the communication baud rate before

using the Compass Repeater, and then
configure the Compass Repeater baud rate to
the same figure.

3.1 Principle of Operation

The Compass Repeater receives the heading information from the gyro compass or
magnetic compass by means of serial heading transmission with absolute and clear
values. The serial interface is NMEA 0183 format, RS422 or RS232 port. The Repeater
may recognize this type of interface and changes automatically over to gyro/magnetic
compass operation. The serial course information is converted into steps on the
steering repeater PCB for the stepping motor in the ration of 1 : 36 and is shown by the
360° and 10°card.

3.2 Functions
Various functions can be selected via two keys on the right side of the front panel,

and :

3.2.1 Dimming

This function is available in the normal operation mode.

Pressing the key or key, the brightness will be brighter or darker.

3.2.2 Test

This function is activated by operating the keys and simultaneously for

about 2s until the digital display shows “ ”. After releasing both keys, the test
function runs automatically. The dimming LEDs and all the digital display will light on.

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 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Compass Repeater HLD-RP200

The test lasts about 3s. After that, the display returns to the normal dimming function.

Furthermore, by operating the key , you can also enter a service mode, under
which you can get the current adjustments and configurations one by one. By

operating the key , you can break the test process and exit to the normal
dimming function.

3.2.3 Can bus address

This function is activated by operating the two keys and

simultaneously for about 5s until the display shows “ ”. Then, push the key

to increase the address and push the key to decrease it. The digital display will
indicate the current address.

If there is not any operation lasting for about 5s, the display will return to the normal
dimming function and record the set address which may be read out in test function.

3.2.4 Configuration

This function is activated by operating the two keys and

simultaneously for about 8s until the display shows “ ”. By Operating the key

, the configuration items may be browsed successively. If the display is flashing

, the item is activated; if the display lights on steadily , the item is

deactivated. If the current item status is required to be changed, operate the key

to alternate it between activating and deactivating.

Defined configurations can be read out in service mode (refer to 3.2.2 for service
mode).

Doc. Code: HLD500SS2 4 Version: V 1.0 Date: 2010-09-09

 Beijing Highlander Digital Technology Stock Co., Ltd.

3.2.5 Correction of the analog indications (Cards)

Correction of the analog indications is not

needed in normal operation.

The analog indications are adjusted by the

manufacture.

The correction is required only in the case of

desynchronization between the analog and
digital display.

This function is activated by operating the and key simultaneously for

about 12s until the display shows “ ”. By operating the key or the

key, the correction progress runs automatically. The 360°card corrects firstly. It
turns the zero graduation aligning with the lubber line. If the aligning result is not very

accurate, you may operate the keys and to regulate it. After about 5s
without any operation, the 10°card begins to correct and also can be done through
manual regulation.

After about 10s without any operation, the correction function ends and returns to the
normal dimming function. The current set heading value is assumed and stored.

Doc. Code: HLD500SS2 5 Version: V 1.0 Date: 2010-09-09

LOCAL/BRIDGE STEERING SWITCH

HLD-LRS 200

1. Overview
2. General Operation Procedures
 Beijing Highlander Digital Technology Stock Co., Ltd.

1 Overview
Local/Bridge Steering Switch Unit (see figure 1) is an optional unit of HLD-SC200. It
provides the switch of steering between bridge and steering gear room. In addition, it
also supports Non-Follow-Up steering.

If select steering at gear room, the lamp “Local” lights up, turning the NFU tiller to
“PORT”, the lamp “P” lights up, turning the NFU tiller to “STBD”, the lamp “S” lights up.

Local Local P S

Local PORT STBD

Bridge

Figure 1: Local/Bridge Steering Switch HLD-LRS 200

Doc. Code: HLD500SS2 1 Version: V 1.0 Date: 2010-09-09

 HLD-SC 200 Ship-borne Steering Control System OPERATION MANUAL
Local/Bridge Steering Switch HLD-LRS 200

2 General Operation Procedures

1) If want to steer at bridge, turn the local/bridge spindle to “Bridge” position, this is
very important.

2) If want to steer at gear room, turn the local/bridge spindle to “Local” position,
then control the rudder through turning the NFU tiller.

Doc. Code: HLD500SS2 2 Version: V 1.0 Date: 2010-09-09

TERMS AND DEFINITION
 Beijing Highlander Digital Technology Stock Co., Ltd.

TERMS DEFINITION

AC Alternating current

ADU Alarm Display Unit

AMP Amplifier

AUTO Automatic Steering Mode

CAN Control Area Network

CCS China Classification Society

CTRL Control

CU Control Unit

DC Direct current

ECDIS Electronic Chart Display and Information System

EIU External Signal Interface Unit

EMC Electromagnetic Compatibility

ESD Electrostatic Sensitive Device

FU Follow-Up

GPS Global Position System

GRP Glass Reinforced Plastic

GRT Gross registered tonnage

HCHDT IEC 61162-1 Sentence

HCS Heading Control System

HEHDG IEC 61162-1 Sentence

Doc. Code: HLD0500SS2 1 Version: V 1.0 Date: 2010-09-13

 HLD-SC 200 Ship-borne Steering Control System INSTALLATION MANUAL
Terms and Definition

TERMS DEFINITION

HEHDT IEC 61162-1 Sentence

IEC International Electrotechnical Commission

ISO International Standards Organization

LCD Liquid Crystal Display

LED Light-emitting diode

MSC Maritime Safety Committee

NFU Non-Follow-Up

NMEA National Marine Electronics Association

OPU Operation Unit

PCB Printed Circuit Board

PID Proportion Integration Differentiation

PORT Port

RFU Rudder Feedback Unit

ROT Rate of turn

SCU Servo Control Unit

SJB Signal Junction Board

SOLAS Safety of Life at Sea

STBD Starboard

TCS Track Control System

THS IEC 61162-1 Sentence

Doc. Code: HLD0500SS2 2 Version: V 1.0 Date: 2010-09-13

 Beijing Highlander Digital Technology Stock Co., Ltd.

TERMS DEFINITION

VBW IEC 61162-1 Sentence

VDR Voyage Data Recorder

VHW IEC 61162-1 Sentence

Doc. Code: HLD0500SS2 3 Version: V 1.0 Date: 2010-09-13