Document No.
CMRC-23-004
ECDIS / ECS
EC-9000 Series
ECS-9000 Series
TCS
Installation Manual
Rev.1.0
May 2023
Marine Systems Company
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EC-9000 Series TCS Installation Manual
Contents
1. Introduction ........................................................................................................................ 2
2. EC-9000 Service Menu ...................................................................................................... 3
2.1 Code of Internal Rate ................................................................................................. 6
2.2 β2 moving average and Curve mode delay time ........................................................ 8
3. TC Ready........................................................................................................................... 9
4. Menu “Parameters for Track Control” ............................................................................... 11
5. Rudder limit during TC ..................................................................................................... 13
6. Check to start TC in DR ................................................................................................... 14
7. PID TC (tracking pilot) without speed log ......................................................................... 16
8. Appendix .......................................................................................................................... 17
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EC-9000 Series TCS Installation Manual
1. Introduction
This document describes the settings for the track control system (hereinafter referred to as TCS)
connecting ECDIS EC-9000 series and Autopilot PR-9000/6000/3000 series and TIF-3/TIF-6
series.
First, set up your ECDIS and Autopilot according to their installation manuals. (ECDIS EC-9000
series: Document number CMRC-22-163) Refer to their operator’s manuals for basic operation.
Then, perform the settings described in this manual
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2. EC-9000 Service Menu
Select a model of Auto Pilot
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The available settings vary depending on the "Auto Pilot Model" selection.
For NCT
Item Default Configuration Item Default Configuration
Auto Pilot - NCT XTD moving - No configuration
Model average required for NCT
Internal Rate - No configuration required for Current scalar -
NCT moving average
Xtd Kp Keep - Current Angle -
multiplier moving average
Xtd Kp Turn - Beta2 moving -
multiplier average
Xtd Ki - Delta Psi moving -
multiplier average
Beta2 - Curve mode delay -
multiplier time
Current - Ratio rate order -
multiplier update
Maximum rate 600°/min Copy the value from the Course difference 10° This is the limit of
of turn Autopilot service menu. limit difference between
TCS cannot start if any of the Heading and Leg
WPTs of routes exceeds the courses.
limit TCS cannot start if
the difference
exceeds the limit.
Low Speed 40% Copy the value from the Debug Log OFF Detailed logs can be
threshold Autopilot service menu. output. Used when
TCS cannot start if STW is there is a problem
less than the limit with TCS.
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For PID
Item Default Configuration Item Default Configuration
Auto Pilot - PID XTD moving average 1 min Remain unchanged
Model
Internal Rate 3 Copy the value from the Current scalar moving 1 min Remain unchanged
Autopilot service menu. average
If you cannot copy from
Autopilot, refer to the table
of Internal Rate.
Xtd Kp Keep 1.0 Remain unchanged Current Angle moving 1 min Remain unchanged
multiplier average
Xtd Kp Turn 1.0 Remain unchanged Beta2 moving average 1 min Refer to the table of
multiplier Beta2 moving
average and Curve
mode delay time
Xtd Ki 12 Remain unchanged Delta Psi moving 1 min Remain unchanged
multiplier average
Beta2 1.0 Remain unchanged Curve mode delay time 3 min Refer to the table of
multiplier Beta2 moving
average and Curve
mode delay time
Current 1.0 Remain unchanged Ratio rate order update 1 min Remain unchanged
multiplier
Maximum rate 600°/min Copy the value from the Course difference limit 10° This is the limit of
of turn Autopilot service menu. difference between
TCS cannot start if any of Heading and Leg
the WPTs of routes courses.
exceeds the limit TCS cannot start if
the difference
exceeds the limit.
Low Speed 40% Copy the value from the Debug Log OFF Detailed logs can be
threshold Autopilot service menu. output. Used when
TCS cannot start if STW is there is a problem
less than the limit with TCS.
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2.1 Code of Internal Rate
Select a code from this table based on the ship type and gross tonnage.
If the code cannot be copied from Autopilot, refer to the table of Internal Rate.
Note: Codes are different between large vessels (PR-9000/PR-6000) and small vessels (PR-
3000/TIF-3/TIF/6.).
Table of Code of Internal Rate for PR-9000/PR-6000
Ship Type
Ship with high effectiveness
Bulk Carrier
Small Ship
Container/PCC
Tanker
L<100m L < 250m 250m≦L L < 180m 180m ≦L <240m 240m≦L
5000～ 1 1 1/2 1 0/1
9999
10,000～ 1/2 2 2 2 1/2
49,999
50,000～ 2 3 3 3 2 2 2
99,999
100,000～ 2 3 3 2/3 2
DWT
199,999
200,000～ 2/3 3/4 3 2/3
299,999
300,000～ 3 4/5 3
499,999
500,000～ 3/4 5 3/4
more
Table of codes and Internal Rate rage
Code Internal Rate range[sec]
0 2～15
1 10～30
2 20～50
3 40～80
4 50～100
5 70～140
6 90～180
7 120～240
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Table of Code of Internal Rate for PR-3000/TIF-6/TIF-3
Code Internal Rate range[sec]
0 0～2
1～299 1 1.2～3.6
300～499 2 2.6～7.4
500～999 3 5～11.4
DWT
1000～1999 4 8～16
2000～2999 5 12～24
3000～4999 6 18～34
5000～ 7 26～50
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2.2 β2 moving average and Curve mode delay time
For PID, set from the table below according to Ship type and Loa.
Ship type Loa β2 moving Curve mode
average delay time
LNG/LPG tanker, Container 180 ≦ LOA 5 min 5 min
carrier, Vehicle carrier 120 ≦ LOA ＜ 3 min 5 min
180
LOA ＜120 2 min 3 min
The draft varies between full 185 ≦ LOA 7 min 5 min
loaded and with ballast. LOA ＜ 185 5 min 5 min
Example:
Oil tanker, Chemical tanker,
Product tanker, Tanker
miscellaneous, Bulk carrier.
Not specified (No limitation) 5 min 5 min
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3. TC Ready
“TC Ready” will be displayed when all of the following conditions are satisfied.
If at least one of them is not met, a permanent indication will be shown.
Permanent Indication Condition
Invalid own ship parameter Position, Heading, COG
or speed (STW, SOG) is
abnormal.
Invalid auto pilot Communication with
autopilot is abnormal or
HDG of autopilot is
abnormal.
XTD exceeded Own ship’s position
exceeds the XTD limit
and a “cross-track” alert
occurs.
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Route not reached Own ship has not
reached WPT1.
CRS Diff exceeded The difference between
the own ship heading
and the leg course of
active route exceeds the
limit.
The limit is set the
“Course difference limit”
in the service menu.
ROT exceeded The ROT of a waypoint
exceeds the limit during
route monitoring.
Low speed The own ship STW <
“planned speed of
current leg” × set value
(“Low speed threshold”
in the service menu)
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4. Menu “Parameters for Track Control”
NCT PID
For PID, copy the values for “Rudder”, “Counter Rudder” and “Weather Setting” from
autopilot.
NCT PID
Rudder No configuration For PID, Copy “Rudder”, “Counter Rudder” and “Weather”
Counter Rudder required
Weather Setting
XTD Gain Refer to the next page to set up.
Rudder Limit No configuration Refer to chapter “Rudder Limit”.
(Straight) required
Rudder Limit
(Curve)
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Parameter Description
Rudder Determines how much rudder to take in relation to the difference
between the set heading and the actual ship heading.
The larger the “rudder” value, the more rudder the ship takes.
Counter Rudder In turning, overshoot occurs because of the inertial force applied
to the ship. The "counter rudder" determines how much to steer
in order to suppress the inertial force.
The larger the “counter rudder” setting, the greater force
suppresses the ship.
Weather Prevents from taking unnecessary rudders induced by a rough
weather or sea.
The rougher the weather, the higher the "weather" setting.
XTD Gain How strongly or rapidly your ship returns to the planned route
after it deviates from the route depends on the XTD gain. There
are 4 types of XTD gains: low, middle, normal and high. A ship
will return to it strongly with “high” and gently with “low”. For
example, when the own ship does not approach the route easily,
the XTD gain might be small. You should choose a stronger XTD
gain.
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5. Rudder limit during TC
TCS Rudder limit
PID For PID, you can set the Rudder Limit in the “Parameters for Track
Control” menu.
Not in TC During TC
NOTE:
- Cannot be changed during TC.
- 35°is recommended except as specified.
NCT Follow autopilot settings
NOTE:
- Cannot be entered for NCT.
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6. Check to start TC in DR
You can check if TC can be started even when the ship is docked.
A) Enter any position data in DR.
By entering values for both LAT and LON, you can use DR.
B) Set the position and speed sensors manually.
Set the primary sensor to DR or Manual. The speed should be a value such as 10kn,
not 0kn.
* Leave the heading primary sensor as “GYRO”.
C) Check the display at the top.
D) Create a route in the direction the own ship is going.
E) First, start route monitoring. Next, start TC.
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F) Confirm the following
The moment the ship passes the WOL, the set heading for the Autopilot changes. The
ship is steered depending on the set heading. * The ship goes straight without turning
even when you turn the steering wheel because the system works in ‘DR’ in the test
mode.
Confirm for changes in
rudder order and actual
rudder.
G) After checking, restore the primary sensor setting.
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7. PID TC (tracking pilot) without speed log
Small ships may not be equipped with speed logs、but track control can be started with
just position and heading sensors even without a speed log. In this case, the system
cannot calculate set & drift, but only controls track errors.
* Even when a ship is equipped with a speed log and the speed log is enabled in the
ECDIS service menu, track control cannot be started if STW is abnormal.
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8. Appendix
How to check the internal rate of PR-9000.
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Service menu "external equipment" for PR-9000
The following is an excerpt from Autopilot PR-9000 Service Menu Manual.
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PR-9000 settings when connected to EC-9000
PR-9000 NCT PR-9000 PID
Kind EC-8x00 RUDDER
CONTROL
Rudder ALL OFF No limit on all legs. All ON/Only
Limit “ALL OFF” is recommended Straight/All
Only Limit for straight OFF
Straight legs, no limit for
curved legs. For Rudder
ALL ON Limit for all legs. Control,
Rudder Limit
Limit adjustment is in follows the
this menu EC-9000
setting.
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How to check the internal rate of PR-6000
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How to check PR-6000PID settings
