Providing efficient solutions for maritime vessels throughout the world.

The PR-9000 model is the latest autopilot system from TOKYO KEIKI. The PR-9000 is designed using the latest technology from a wealth of engineering and manufacturing experience of navigational instruments.
It’s series utilizes color LCD displays which greatly enhance the viewability of all navigational data, and system monitoring information is provided to assist the operator with selection of a back up system of operation when an abnormality occurs.

Features

Enhanced Information Awareness
Color LCDs are incorporated into each system enhancing reliability of information and improving situational awareness.
Features include color-coded steering information and popup-windows for easy to understand information to the helmsman.
(Enhanced alarm presentation, avoidance operation information function, system condition display etc.)
Enhanced Safety/Reliability
Two independent systems are arranged and an independent monitoring system is installed monitoring each system.
Equipped with features that help to improve the independence of each system, enhances operation and monitoring from all of the ship’s systems and sensors, and improves overall safety and reliability.
Energy efficient and safe navigation
The newly-installed Adaptive Control(NCT)^*1 system automatically contributes to the most suitable steering. Unnecessary rudder movement due to external influences such as waves is significantly reduced contributing to a more energy efficient navigation.
Also, when the Route Control function(ACE)^*2 is installed, the course can be controlled using only the Autopilot.
Track Control System(TCS)^*3 steering is also possible when connected with ECDIS(Electronic Chart Display and Information System).
Maintaining the pre-planned / pre-checked route with ECDIS allows for a safe and more efficient navigation.
Flexible system configuration
Console mounting type has been added to the line up to respond to any type of bridge layout and design.
Remote Control and Override operation connectability has been increased so that up to 8 units can be connected.

Technical Specification

1.Electrical & Power Specifications

Parameter	Specification
Main Power Supply	AC 100V / 110V / 115V / 220V ±10%, 1-phase, 50/60 Hz
Backup Power Supply	DC 24V (+30%, -10%) (Automatic switchover on AC failure)
Power Consumption	Approx. 150 VA to 300 VA (varies by output valve type & system configuration)
Protection Degree	IP22 (Main Console / Stand), IP56 (Exposed / Bridge Wing units)

2.Inputs & Sensor Interfaces

Interface	Signal Type / Format
Heading Input 1 & 2	IEC 61162-1 / NMEA 0183 (`$HEHDT`, `$THS`), Tokyo Keiki Serial Step signal, or Synchro signal
Speed Input	IEC 61162-1 / NMEA 0183 (`$VBD`, `$VHW`, `$VTG`) or Pulse log (200 pulses/NM)
ECDIS / Route Control	IEC 61162-1 / NMEA 0183 (`$APA`, `$APB`, `$XTE`, `$BWC`) via RS-422
Position Input (GPS)	IEC 61162-1 / NMEA 0183 (`$GPGGA`, `$GPRMC`)
Rudder Angle Feedback	Heavy-duty Potentiometer / Synchronous Transmitter (dual feedback available)

3.Signal Outputs & Repeaters

Interface	Signal Type / Format
Heading Output	IEC 61162-1 Serial Data (RS-422) to Radar, ECDIS, VDR, AIS, and Repeaters
Alarm / Status Signals	Dry contact outputs (System Failure, Off-Course, Power Fail, Heading Monitor Fail)
BAM / CAM Interface	IEC 61162-2 / IEC 62923-1 & 2 (Bridge Alert Management integration)

4. Steering Gear Control Outputs

System Code	Control Method	Output Interface
PR-9000-E / ED	Solenoid Valve Control	Relay contact / Solid state switch (DC 24V / AC 110V-220V)
PR-9000-DT	Proportional Solenoid Control	$\pm 10\text{V DC}$ / $4\text{--}20\text{mA}$ current loop
PR-9000-DM / DW	Torque Motor Control	Direct drive interface (Mitsubishi / Kawasaki steering systems)
PR-9000-FP / FR	Analogue Rudder Order	$\pm 10\text{V DC}$ proportional order signal (Porsgrunn, Rolls-Royce, etc.)

5. Control Performance & Modes

Parameter	Performance & Operational Modes
Operational Modes	MANUAL (Hand Wheel), AUTO (Heading Control), TRACK (ECDIS Trackkeeping), NFU (Non-Follow Up tiller)
Control Algorithms	PID Control, NCT (Notable Control Technology – Adaptive), ACE (Advanced Control for Ecology)
Heading Control Accuracy	Within $\pm 0.5^\circ$ (in calm sea conditions)
Rudder Limit Range	Set limit between $5^\circ$ and $45^\circ$
Rate of Turn (ROT) Range	Adjustable rate control up to vessel’s maximum maneuverability limit

6. Environmental Conditions & Standards

Parameter	Operational Limits
Operating Temperature	$-15^\circ\text{C}$ to $+55^\circ\text{C}$
Storage Temperature	$-25^\circ\text{C}$ to $+70^\circ\text{C}$
Relative Humidity	Up to 95% at $+40^\circ\text{C}$ (non-condensing)
IMO Compliance Standards	Resolution A.342(IX), MSC.64(67) Annex 3, MSC.191(79), ISO 11674, IEC 62065 (TCS)
Type Approval / Certifications	MED (Wheelmark / BV), ClassNK, CCS, JG