Bedienungsanleitung Furuno RD50 (Seite 79 von 94) (Englisch)

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APPENDIX 4 DIGITAL INTERFACE

AP-9

HTC - Heading/Track control command, HTD - Heading/Track control data

$--HTC, A, x.x, a, a, a, x.x, x.x, x.x, x.x, x.x, x.x, x.x, a, a*hh<CR><LF>

Vessel heading, degrees

Off-track status

(see Note 5)

Off-heading status

Rudder status

Heading reference in use, T/M

Sentence status (see Note 7)

$--HTD, A, x.x, a, a, a, x.x, x.x, x.x, x.x, x.x, x.x, x.x, a, A, A, A, x.x, *hh<CR><LF>

A = within limits

V = limit reached

or exceeded

Commanded track (see Note 4 and 6) degrees

Commanded off-track limit (see Note 5), n.miles (unsigned)

Commanded heading-to-steer (see Note 6), degrees

Commanded rate of turn for heading changes, °/min

Commanded radius of turn for heading changes, n.miles

Commanded off-heading limit, degrees (unsigned)

Commanded rudder limit, degrees (unsigned)

Turn mode (see Note 3) R=radius controlled,

T=turn rate controlled,

N=turn is not controlled

Selected steering mode (see Note 2)

Commanded rudder direction, L/R=port/starboard

Commanded rudder angle, degrees

Override (see Note 1), A=in use, V=not in use

Note 1: Override provides direct control of the steering gear. In the context of this sentence override

means a temporary interruption of the selected steering mode. In this period steering is performed by

special devices. As long as field “override” is set to “A”, both fields “selected steering mode” and “turn

mode” should be ignored by the heading/track controller and its computing parts should operate as if

manual steering was selected.

Note 2: All steering modes represent steering as selected by a steering selector switch or by a

preceding HTC sentence. Priority levels of these inputs and usage/acceptance of related fields are to

be defined and documented by the manufacturer.

Selected steering modes may be:

M=Manual steering. The main steering system is in use.

S=Stand-alone (heading control). The system works as a stand-alone heading controller. Field

“commanded heading to steer” is not accepted as an input.

H=Heading control. Input of commanded heading to steer is from an external device and the system

works as a remotely controlled heading controller. Field “commanded heading to steer” is accepted

as an input.

T=Track control. The system works as a track controller by correcting a course received in the field

“commanded track”. Corrections are made based on additionally received track errors (e.g. from

sentence XTE, APB, ...).

R=Rudder control. Input of commanded rudder angle and direction from an external device. The

system accepts values given in fields “commanded rudder angle” and “commanded rudder direction”

and controls steering by the same electronic means as used in modes S, H or T.

Note 3: Turn mode defines how the ship changes heading when in steering modes S, H or T

according to the selected turn mode values given in fields “commanded radius of turn” or

“commanded rate of turn”. With turn mode set to “N”, turns are not controlled but depend upon the

ship’s manoeuverability and applied rudder angles only.

Note 4: Commanded track represents the course line (leg) between two waypoints. It may be altered

dynamically in a track-controlled turn along a pre-planned radius.

Note 5: Off-track status can be generated if the selected steering mode is “T”.

Note 6: Data in these fields should be related to the heading reference in use.

Note 7: This field is used to indicate a sentence that is a status report of current settings or a

configuration command changing settings. This field should not be null.

R=Sentence is a status report of current settings (use for a reply to a query).

C=Sentence is a configuration command to change settings. A sentence without “C” is not a command.

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