370 •
••
• Steering with EMRI Trackpilot
Alarm "2491 Disabled: Needs diff Pos", which tells that the Filter did not have high precision position sensor for
"Goto track" steering mode. Selected sensors must include at least one high precision sensors.
Alarm "2468 Disabled: Out of course", which tells that the current heading of the own ship and the required set
course to start the route steering has more difference than set by the user in the Route start limit angle of Route
Parameters.
Alarm "2464 Route: No selected route", which tells that the there is no route selected for Route Monitoring.
Alarm "2465 Route: Illegal WP", which tells that the there is a route selected for Route Monitoring, but the
selection of the next or final waypoint is missing or illegal.
Arrival to a Waypoint
There are different rules how the system handles arriving to a waypoint. The rule is selectable through installation
parameters.
A single waypoint approach alarm
This rule is used by BSH and Lloyds Register.
Automatic route steering navigation tries to keep the ship always inside the channel limits and going to next
waypoint. At the moment the next waypoint is about to be reached, there will be an alarm "2451 Route: WP
approach alarm".
Note that this alarm is programmable (the time before turn) and it is relative to the starting point of the manoeuvre.
See Figure below:
forwarding
distance = f
Wheel Over Point
WOP
radius
next course
Approach
Point
end of turn
Waypoint
WP
WP approach
alarm time
TURN IS ENABLED ONLY WITH OPERATOR´S ACKNOWLEDGEMENT. This is: the own ship will continue
without any turn following the last set course used before arrival to wheel over point and the system generates alarm
"2452 Route: Turning disabled".
As soon as the waypoint approach alarm appears, verify that the manoeuvre is safe and there are no dangerous
targets. If the manoeuvre can be performed press ACKN. WARNING pushbutton.
If the turn is enabled by pressing ACKN WARNING button in
Track Pilot Control Panel, the text "Route: turn enabled"
appears in Route Monitor window of ECDIS display.
As soon as the ship arrives to the wheel over point ECDIS sends a new course command to the trackpilot and the
manoeuvre is started. During a manoeuvre the radar display and ECDIS display shows the CURVED EBL
indicating the planned radius for manoeuvre.
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