MF Horizon

HORIZON MF
(Hemispherical Resonator
Gyro Compass)
Type 2617693764100 and 2617693764200
Description
Installation
Configuration
Raytheon Anschuetz GmbH

Postfach 11 66
D-24100 Kiel
Germany
Tel +49-4 31-30 19-0
Fax +49-4 31-30 19 464
Email service@raykiel.com Edition: December 2015
www.raytheon-anschuetz.com 4302.DOC010002
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HORIZON MF
(Hemispherical Resonator Gyro Compass)
CHANGE HISTORY
Date Change
November 2014 New Edition
December 2015 Description for type 2617693764200 added
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HORIZON MF
Intentionally left blank
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HORIZON MF
TABLE OF CONTENTS
0 General .........................................................................................................................VII
0.1 Safety Regulations .................................................................................................VII
0.2 List of Abbreviation .................................................................................................IX
1 Product Description...................................................................................................... 1-1
1.1 General Description .............................................................................................. 1-1
1.2 Technical Data ...................................................................................................... 1-2
1.2.1 Mechanical Data ............................................................................................ 1-2
1.2.2 Accuracy ........................................................................................................ 1-2
1.2.3 Electrical Data ............................................................................................... 1-2
1.2.4 Permissible Ambient Temperature ................................................................. 1-2
2 Operation ..................................................................................................................... 2-1
2.1 Switching On and Off ............................................................................................ 2-1
2.2 Operation in an Application with Operator Unit and Distribution Unit ..................... 2-1
3 Maintenance/Troubleshooting ...................................................................................... 3-1
4 Installation ................................................................................................................... 4-1
4.1 Safety Hints and Notes ......................................................................................... 4-1
4.2 Installation Material ............................................................................................... 4-3
4.2.1 Required Parts for Installation ........................................................................ 4-3
4.2.2 Installation for a System Application .............................................................. 4-3
4.3 Installation Procedure ........................................................................................... 4-3
5 Data and Power Supply Connection ............................................................................ 5-1
5.1 Safety Instructions and Hints ................................................................................ 5-1
5.2 Interface Overview ................................................................................................ 5-2
5.3 Connecting Digital I/O Connector J1 ..................................................................... 5-3
5.3.1 Connection of Serial In- and Outputs ............................................................. 5-4
5.3.2 Connection to an Alert Panel ......................................................................... 5-4
5.4 Connecting the Supply Voltage at Plug J2 ............................................................ 5-5
6 Preparation for Configuration ....................................................................................... 6-1
6.1 Remote Control Software Installation .................................................................... 6-2
6.1.1 Start up .......................................................................................................... 6-2
6.1.2 Set MMI Language ........................................................................................ 6-4
6.1.3 Set MMI Connection with Horizon MF ............................................................ 6-5
6.1.4 Adjustment of Serial Inputs ............................................................................ 6-6
6.1.5 Latitude input ................................................................................................. 6-8
6.1.6 Speed input ................................................................................................... 6-9
6.1.7 Verification of Validity of Speed and Position Input ........................................ 6-9
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HORIZON MF
6.1.8 Adjustment of the Settling Mode .................................................................. 6-10

6.1.9 Adjustment and check of Serial Outputs ...................................................... 6-10
6.1.10 Adjustment Harmonization Angles ............................................................... 6-12
6.1.11 Back to Default Configuration ...................................................................... 6-15
6.2 Alert Management............................................................................................... 6-16
6.2.1 Dedicated alerts in the Alert Field of the MMI software ................................ 6-16
6.2.2 Method 1 – use of ALR and ACK telegrams ................................................. 6-17
6.2.3 Method 2 - use of ALC, ALF, ARC, HBT and ACN telegrams ...................... 6-18
7 Disposal ....................................................................................................................... 7-1
8 Spare Parts .................................................................................................................. 8-1
9 Integration of Horizon MF with Gyro/Distribution System ............................................. 9-1
10 NMEA Telegram Structures ....................................................................................... 10-1
10.1 Alarm Message HE ALR ..................................................................................... 10-1
10.2 Alarm Message: HEALF...................................................................................... 10-1
10.3 Alarm Message: HEALC ..................................................................................... 10-1
10.4 Alarm Message: HEARC..................................................................................... 10-2
10.5 Alarm Message: HEHBT ..................................................................................... 10-2
10.6 Heading Message HE HDT ................................................................................. 10-2
10.7 True Heading Message HE THS ......................................................................... 10-2
10.8 Rate of Turn Message HE ROT .......................................................................... 10-3
10.9 Roll and Pitch Message HE TRO ........................................................................ 10-3
10.10 Acknowledge Alarm: ACK Message .................................................................... 10-3
10.11 Heading and Attitude message: PFEC ................................................................ 10-3
10.12 Heading and Attitude message: PANZHRP ........................................................ 10-3
10.13 Global Positioning System GGA ......................................................................... 10-4
10.14 Geographic Position Latitude/Longitude GLL ...................................................... 10-5
10.15 Dual ground/water speed VBW ........................................................................... 10-5
10.16 Water speed and heading VHW .......................................................................... 10-5
10.17 Course over Ground and Ground Speed VTG .................................................... 10-6
TABLE OF FIGURES
Figure 1-1 HORIZON MF, General Constitution ............................................................ 1-1

Figure 4-1 Handles at the HORIZON MF ....................................................................... 4-3
Figure 4-2 Mounting Position of HORIZON MF ............................................................. 4-4
Figure 4-3 Location of Grounding Position of the HORIZON MF ................................... 4-5
Figure 4-4 Ground Connection to HORIZON MF (Tightening torque: 7.5 Nm) ............... 4-5
Figure 5-1 Terminal Designation for I/O Connector J1 ................................................... 5-3
Figure 5-2 Terminal Designation for Power Connector J2 ............................................. 5-5
Figure 5-3 Power Supply Connector J2 ......................................................................... 5-6
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HORIZON MF
TABLE OF TABLES
Table 5-1 Interface Overview ....................................................................................... 5-2

Table 6-1 HORIZON MF harmonization angles range ................................................ 6-13
Drawings
NB99-HP0150 Dimensional Drawing, HORIZON MF Sensor
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HORIZON MF
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HORIZON MF
0 General
This manual covers Horizon MF types 2617693764100 and 2617693764200.

Type 2617693764200 is compliant to the 2014 edition of test standards ISO 8728 “Ships
and marine technology - Marine gyro-compasses” and ISO 16328 “Ships and marine
technology - Gyro-compasses for high-speed craft”. The main difference is that Horizon
MF type 2617693764200 is compliant to “Bridge Alert Management” based on IMO
Resolution MSC.302(87) “Performance standards for bridge alert management”.
0.1 Safety Regulations
CAUTION!
Never open the housing of the HORIZON MF.
CAUTION!
Well-trained and authorized RAYTHEON service personnel must

perform installation and configuration.
CAUTION!
Alarm outputs must be connected to a central Alarm Panel/Signal
Unit.
Alarm Panel or Signal Unit must have an acoustic and
optical alarm indication.
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HORIZON MF
CAUTION!
While connecting cables to the equipment, do not bend
cables to an acute angle, pinch, twist, or impart excessive
force. Cracks or damage to the cable coating can cause fire or
electric shock.
CAUTION! When establishing cable connections ensure that, the cables are
disconnected from any power supply.
It is essential to ensure that all cables are disconnected from the
power supply, if necessary, measure the voltage
beforehand and/or disconnect the relevant distributor.
CAUTION!
The application of the remote control software for configuration is

allowed for RAYTHEON trained service personnel only.
It is obligatory to switch on the speed log and the position receiver

before switching on Horizon MF.
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HORIZON MF
0.2 List of Abbreviation
Term Description
ABS Absolute
ANO anomaly
Bd Baud
CD Compact Disc
CDI Configuration Data for Inertial navigation system
CD-ROM Compact Disc Read Only Memory
DC Direct Current
DDU Data Distribution Unit
EC European Commission
FWD Forward
GND Ground
GPS Global Positioning System
HE ACK NMEA telegram “ACKNOWLEDGE”
HE ALR NMEA telegram “ALERT”
HE HDT NMEA telegram “HEADING TRUE”
HE ROT NMEA telegram “RATE OF TURN”
HE THS NMEA telegram “True Heading Status”
HE TRO NMEA telegram “ROLL and PITCH”
HRG Hemispherical Resonator Gyro Compass
IEC International Electrotechnical Commission
HP HilfsPapier (Auxiliary paper)
Ident. Identification
INS Inertial Navigation System
I/O Input/Output
kt Knots
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HORIZON MF
Term Description
MF Maintenance Free
MIL Military
m/s Acceleration meter per second
MMI Man Machine Interface
NG NormGerät (Standard device)
Nm Newton meter (Torque moment)
NMEA National Marine Electronics Association
RC Remote Control
RS HORIZON MF serial interface
RX Receive
TX Transmit
UTC Coordinated Universal Time
WEEE Waste Electrical and Electronic Equipment
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HORIZON MF
1 Product Description
HORIZON MF is a strap down gyro compass, that is based on maintenance free

Hemispherical Resonant Gyros (HRG).
It is supplied with 24 V DC power. Horizon MF provides 4 serial RS-422 inputs for speed,
position and alert acknowledgement and 7 serial RS-422 outputs for heading, roll, pitch,
rate-of-turn and alerts. A dry contact is available for system and power failure.
1.1 General Description

HORIZON MF includes inertial sensors and a central processor.
On HORIZON MF front face are located the product labels and the following connectors:
The Digital Input/Output connector (J1)
Provides the following connections:
 RSRC: connection of Horizon MF with a computer for configuration purposes

 RS1 – RS4: 4 serial inputs
 RS5 – RS11: 7 serial outputs
 Bite: dry contact for system and power failure
The Power Supply connector (J2)

Provides the connections for 24 V DC power supply.
Power characteristics are detailed in section 1.2.3.
The RJ 45 connector (J3) for future use.
Figure 1-1 HORIZON MF, General Constitution
Pos. Designation
1 J1 – Digital Input / Output
2 J2 – Power Supply
3 J3 – Ethernet (future purpose only)
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HORIZON MF
1.2 Technical Data
1.2.1 Mechanical Data

For dimension, weight, type of enclosure and distance from a magnetic compass, see
appended dimensional drawing NB99-HP0150.
1.2.2 Accuracy
Heading 0.4° secLat RMS
Roll & Pitch 0.2° secLat RMS
1.2.3 Electrical Data
Supply voltage* 24 V DC 18 V DC - 32 V DC
Power consumption 28 W
*Supply voltage has to be compliant with IEC 60945.
In- and Outputs 4 serial inputs

7 serial outputs
1 dry contact
1.2.4 Permissible Ambient Temperature
Horizon MF
Operation -20 °C to +60 °C
Storage -40 °C to +70 °C
Settling time 1h
Permissible roll and pitch angle ±60°
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HORIZON MF
2 Operation
No specific procedure or operation is required during normal use.
2.1 Switching On and Off
It is obligatory to switch on the speed log and the position receiver

before switching on Horizon MF.
HORIZON MF can be powered ON and/or OFF anytime by switching ON/OFF power

supply and will automatically start in settling mode after powering ON.
2.2 Operation in an Application with Operator Unit and Distribution Unit

For an application with an Operator Unit and a Distribution Unit, see the respective
manuals for these devices.

HORIZON MF

HORIZON MF
3 Maintenance/Troubleshooting
The HORIZON MF is maintenance free (MF = Maintenance Free).
If the HORIZON MF has a malfunction, check all connections, check for correct power
supply (including earth fault) and then switch OFF and ON HORIZON MF again.
If the malfunction is not eliminated, contact RAYTHEON Anschütz service.

HORIZON MF

HORIZON MF
4 Installation
4.1 Safety Hints and Notes
CAUTION!
Well-trained and authorized RAYTHEON service personnel must

perform installation and configuration.
CAUTION!
Safety notes and installation instructions must be followed to ensure

a fault-free operation of HORIZON MF.
CAUTION! When establishing cable connections ensure that the cables are
disconnected from any power supply.
It is essential to ensure that all cables are disconnected from the
power supply, if necessary, measure the voltage
beforehand and/or disconnect the relevant distributor.
CAUTION! While connecting cables to the equipment, do not bend

electric shock.
Check dimensional drawing NB99-HP0150 for details.

HORIZON MF
CAUTION!
Observe precautions for handling electrostatic sensitive devices.
For easy integration, clearances zone around the HORIZON MF of

100 mm each side and 80 mm from backside must be provided in
order to perform the mounting with torque driver.
Observe the space for the connectors; see appended Dimensional
Drawing NB99-HP0150
The Horizon MF should be mounted with the front side (no plugs at
the front side) to bow.
Preferable +/- 5° to the centreline of the vessel.
Tolerance for mounting surface evenness: 0.5 mm.

Tolerance for horizontal plane: +/- 2.0 mm.
No wall or ceiling mounting.

HORIZON MF
4.2 Installation Material
4.2.1 Required Parts for Installation

Installation material (Ident. No. 2012175) contains:
 1 Grounding connector
 2 M6-16 attachment screws
 2 Filling caps
 1 M6-25 grounding screw
 1 Z6 washer
 1 Grounding cable
1 Power supply cable Ident. No. 2012174

1 Data I/O cable Ident. No. 2012173
For double Power supplies application (not scope of supply)

Two diodes, type Schottky diode SOT 227B Ident. No. 1780569
4.2.2 Installation for a System Application

For additional devices (application with Distribution Unit and Operator Unit), see
respective device manual.
4.3 Installation Procedure

HORIZON MF must be fastened to the ship. Mounting of HORIZON MF can be done
directly on ship structure. Observe the tolerance for mounting: surface evenness at
0.5 mm and for horizontal plane at +/- 2.0 mm.
Using the integrated handle, bring the HORIZON MF above the mechanical interface (ship
structure).
Place grounding connector over one of the front mounting holes.
Figure 4-1 Handles at the HORIZON MF

HORIZON MF
Bottom view
3 mounting holes Ship ahead
Figure 4-2 Mounting Position of HORIZON MF

HORIZON MF
Figure 4-3 Location of Grounding Position of the HORIZON MF
Bolt HORIZON MF with the M6 attachment screws, tightening torque is 7.5 Nm
Attach one end of the grounding cable to the grounding connector using a M6-16 screw
and a washer and the other end to specific ship grounding connector (see Figure 4-4).
Figure 4-4 Ground Connection to HORIZON MF (Tightening torque: 7.5 Nm)

HORIZON MF

HORIZON MF
5 Data and Power Supply Connection
5.1 Safety Instructions and Hints
CAUTION! By connecting the supply (24 V DC), the HORIZON MF is set into
operation.
There is no separate power switch.
Therefore, all voltages at cables must be switched off, before
connecting any cables.
CAUTION!
When establishing cable connections, it is essential to ensure that all
cables are disconnected from the power supply, if necessary,
measure the voltage beforehand and/or disconnect the relevant
distributor.
CAUTION!
While connecting cables to the equipment, do not bend
electric shock.
CAUTION!
Not used cables must be isolated.

HORIZON MF
5.2 Interface Overview

The following table provides an overview of the connectors, the supplied cables and
factory configuration.
Table 5-1 Interface Overview

HORIZON MF
For serial interfaces different designations are used. Please refer to

the following table:
Rx + Is equivalent to Rx b
Rx - Is equivalent to Rx a
Tx+ Is equivalent to Tx b
Tx- Is equivalent to Tx a
5.3 Connecting Digital I/O Connector J1

Establish the input and output connections according to the following sections.
Do not use separate cables for I/O connections.

Cable connections have to be performed via the
Data I/O cable, Ident No. 2012173.
Figure 5-1 Terminal Designation for I/O Connector J1
The parity configuration of RS3 has to be the same as RS8 and RS4
the same as RS7.

HORIZON MF
5.3.1 Connection of Serial In- and Outputs

Please connect the serial in-and outputs. Refer to Table 5-1 for the wire designation of the
cable. Pay attention to the factory configuration. It is possible to modify the configuration.
However, it simplifies the commissioning if you use the standard configuration as far as
possible.
5.3.2 Connection to an Alert Panel

The alerts of Horizon MF must be connected to an alert panel. Either by use of serial data
communication or by uses of the Bite contact.
RS4 and RS5 (of the factory configuration) are prepared for serial data communication
with ACK and ALR sentences.
The “Bite contact” is a dry contact that is activated in case of a system failure.
Refer to Table 5-1 for the wire designation of the cable.

HORIZON MF
5.4 Connecting the Supply Voltage at Plug J2
All connections have to be made at a terminal board (yard supply).
For redundant-power supply:

Do not forget to install the diodes according to Figure 5-3.
Observe the correct polarity.
The HORIZON MF is designed for an application with a redundant power supply.
Do not use separate cables for power supply connection.

Cable connections have to be performed via the
Power supply cable, Ident. No. 2012174
Figure 5-2 Terminal Designation for Power Connector J2
Horizon MF can be connected to a single or a redundant power supply. Please refer to the
next pages for further details.
Refer to Table 5-1 for the wire designation of the cable.

HORIZON MF
Connection with
2 power supplies
Connection with
1 power supply
Figure 5-3 Power Supply Connector J2

HORIZON MF
6 Preparation for Configuration
CAUTION!
Configuration must be performed by well-trained and authorized

RAYTHEON service personnel.
The configuration of HORIZON MF must be performed with a Laptop

and the respective software “Operating System WINDOWS™ 7”.
The MMI software can be requested at RAYTHEON Anschütz
service.
Horizon MF type 2617693764100 requires MMI software version 2.1.
Horizon MF type 2617693764200 requires MMI software version 2.2.
For configuration, a Laptop with a RS422 interface or an adapter

USB- RS422 is necessary.
Recommended type of adapter: USB-RS422-WE-1800-BT
Manufacturer: FTDI
The Laptop must be connected according to Table 5-1.

HORIZON MF
6.1 Remote Control Software Installation

Select and launch “setup_MMI-HorizonMF_xxxx.exe”
Follow the instructions in order to install the software.
6.1.1 Start up
Verify that Power supply cable and Digital Input / Output cable are correctly connected.
Verify that the computer is connected to Horizon MF via the USB-serial converter
Switch on the position receiver in order to supply Horizon MF with position data
Switch on the log in order to supply Horizon MF with speed data
Switch ON the power supply to start Horizon MF.
Launch the application by double-click on the icon / right mouse button “Run as
administrator”:
This service manual describes all functions required for

commissioning. Other functions, such as repeater functions, are not
described.
Please note that the service manual shows screen shots from both
MMI software versions 2.1 and 2.2.
Make sure that you use the correct version depending on the type of
Horizon MF.

HORIZON MF
For each action requested by the operator via the MMI, the
connection with Horizon MF takes about ten seconds.
Designation Description
Date GPS Date (UTC) or PC Date.

Format: Day, Month, Year or Month, Day, Year
Time GPS Time (UTC) or PC Time or Time since the launch of the MMI software
Format: HH:MM:SS
Status Status messages:
 "---" on white background: during initialization or lack of a connection.
 Green background no alert,
 Orange background for warning,
 Red background for alarm.
Alarm Alarm messages:
 White background if “no alarm” message.
 Orange background for warning,
 Red background for alarm.

HORIZON MF
Mode /  Quay Navigation,

Situation  Quay Alignment,
 Sea Navigation,
 Sea Alignment,
 Off.
Data validity  “Valid” on green or orange background.
 “Not Valid” on orange or red background.
To access to the detail of validity data.
6.1.2 Set MMI Language
Used to select the language. Click validate in order to accept the selection.

HORIZON MF
6.1.3 Set MMI Connection with Horizon MF
For configuration, a Laptop with a RS422 interface or an adapter

USB- RS422 is necessary.
Recommended type of adapter: USB-RS422-WE-1800-BT
Manufacturer: FTDI
The communication between the computer (running this MMI software) and Horizon MF is
done with the RSRC remote connection. Refer to Table 5-1.
The connection with the above mentioned FTDI adapter and Horizon MF is shown in the
following table:
Data I/O cable

FTDI cable
of Horizon MF
red 3 TxD- 44 Rx a (-)
orange 4 TxD+ 43 Rx b (+)
white 8 RxD- 48 Tx a (-)
yellow 5 RxD+ 47 Tx b (+)
In MMI Config. / Connection with Horizon MF, select the serial connection mode between
MMI and Horizon MF.
Remote link interface is a bidirectional asynchronous RS422 link with the following
characteristics:
 1 start bit - 1 stop bit

 8 data bits
 No parity
 Baud Rate can be configured (default is 19200 Bauds)
Select the com port and its configuration, and then click on Apply button to validate the
choices.
Please note that Ethernet connection is not implemented.

HORIZON MF
6.1.4 Adjustment of Serial Inputs

The serial inputs are used to connect external sensors for speed and position to Horizon
MF and for alert acknowledgement. It’s necessary to set parameters of each input. Please
refer to Table 5-1 for the default configuration.
There are no further adjustments required, if you stay with the default configuration.
The serial inputs have to be adjusted for NMEA telegrams according to IEC 61162-1:
 Asynchronous
 1 start bit
 8 data bits
 1 stop bit
 Parity none
 Baud Rate: 4800 bd.
 NMEA 0183 Standard format (ASCII Format).

HORIZON MF
Please note that the inputs of Horizon MF are pre-configured. Refer to Table 5-1. Please
refer to the following table if any modifications are required.
“Current” Display of the current Mode / Baud Rate / Parity / ACK Mode data of the selected
RS input
“Read” Button for reading the current Mode / Baud Rate / Parity data of the selected RS
input
“Mode” Field for filling in the Mode data of the selected RS line.
“Update Baud Rate” Field for filling in the Baud Rate data of the selected RS line.
“Update Parity” Fields for filling in the Parity data of the selected RS line.
“Update ACK Field to fulfil indicating the sending (or not) of an acknowledgment
Mode” (only for RS4)
“Write” Button for writing the Mode / Baud Rate / Parity data of the selected RS line.
“Reset” Button for erasing the Mode / Baud Rate / Parity data of the selected RS line.
“Load Config.” Button for loading a *.dci text file containing the “Internal Parameters” and their
associated values.
“Save Config.” Button for saving to a *.dci text file containing the “Internal Parameters” and their
associated values.
“Read All” Button for reading the current RS1 to RS4 parameters.
“Validate” Button for taking into account the values by Horizon MF

HORIZON MF
6.1.5 Latitude input
As for all strap down compass systems it is very important that

Horizon MF is supplied with the correct latitude.
It is strongly recommended that a position receiver is connected to

Horizon MF before it is powered on.
Input of wrong latitude information results in wrong heading data!
Accuracy of the latitude should be better than 500m / 0.005°.
The manual input of latitude should only be used if no position receiver is connected.
Priority should be given to the connection of a position receiver.
Please perform the following steps for manual latitude input:
Select the Latitude window: Config Horizon MFand Latitude.

Click on Read button to read the current latitude stored in Horizon MF.
Enter the new latitude value (in ° / ’ / ”) in ‘Update Latitude” field and hemisphere (N/S)
and then press Write button. If you are done please press the validate button and make a
restart by switching the power off and on again.

HORIZON MF
6.1.6 Speed input
As for all strap down compass systems it is very important that

Horizon MF is supplied with the correct speed.
It is strongly recommended that a speed log is connected to

Horizon MF before it is powered on.
Input of wrong speed information results in wrong heading data!!
Accuracy of the speed should be better than 0.5 knots.
6.1.7 Verification of Validity of Speed and Position Input
+
Validity of sensor data can be checked after activating the " " button in the field “Status”.
The following area appears:
Make sure that external speed and external position is indicated as “valid” = green. The
other fields are not applicable.
If external speed and external position are indicated orange or red please check the
connected sensors.

HORIZON MF
6.1.8 Adjustment of the Settling Mode

The menu is used to select the operating mode of Horizon MF
The following modes are selectable:
 “Sea” Mode, to be used when the vessel is at sea. Settling time: 60 minutes
 “Quay” Mode, can be used when the vessel is at quay or is dry-docked. Settling
time: 30 minutes. This mode can be used during service in order to save time.
 “Manual” Mode, speed and position of the vessel are manually defined by the user
 “Realignment” Mode, to launch again the alignment of the Horizon MF.
Please note that the system has to be adjusted for sea mode before closing the
application.
After power on, data are available within a few seconds. During
alignment (30/60 minutes), precision of heading, roll and pitch is
progressively improving. Full accuracy is reached at the end of
alignment mode.
Please note that 30 seconds after power on, HORIZON MF starts to
send heading, roll and pitch values but as ‘Not Valid’ until alignment
is completed.
6.1.9 Adjustment and check of Serial Outputs

It is necessary to set parameters of each output. Please refer to Table 5-1 for the default
configuration.

HORIZON MF
There are no further adjustments required, if you stay with the default configuration.
However, the serial outputs can be adjusted. Standard NMEA adjustments according to
IEC 61162-1/2 are:
 Asynchronous
 Parity none
 Baud Rate: 4800 bd or 38.400 bd
 Output frequency (1, 10 Hz and 50 Hz)
 The telegram to be output can be selected from the “Frame” pull down menu
Please note that that some applications may require other adjustments that are not
according to IEC 61162-1/2.
“Current” Display of the current Mode / Baud Rate / Frequency / Parity / Frame data of the selected RS output.
“Read” Button for reading the current Mode / Baud Rate / Frequency / Parity / Frame data of the selected
RS output.
“Update Mode” Adjustment of the Mode synchronous / asynchronous of the selected RS output (only for RS5 and
RS10 adjustable). All other RS outputs are asynchronous.
“Update Baud Rate” Adjustment of the Baud Rate of the selected RS output.
“Update Frequency” Adjustment of the telegram repetition rate of the selected RS output
“Update Parity” Adjustment of the Parity of the selected RS output
“Update Frame” Adjustment of the “NMEA” telegrams of the RS output
“Write” Button for writing the Mode / Baud Rate / Frequency / Parity / Frame data of the selected RS output.

HORIZON MF
“Reset” Button for resetting the Mode / Baud Rate / Frequency / Parity / Frame data of the selected RS
output.
“Load Config.” (1) Button for loading a *.dci text file containing the “Internal Parameters” and their associated values.
“Save Config.” (1) Button for saving to a *.dci text file containing the “Internal Parameters” and their associated
values.
“Read All” (1) Button for reading the current RS5 to RS11 output parameters.
“Default Conf.” (1) Button to configure all RS outputs to default configuration
“Validate” Button for taking into account the values by Horizon MF
6.1.10 Adjustment Harmonization Angles
The settling phase of Horizon MF must have been completed before

adjusting harmonization angles.
Horizon MF must be restarted after the adjustment of the

harmonization angles. Please wait 5 seconds between switching
Horizon MF off and on again.
Please note that the settling phase starts again.
Harmonization angles are required in order to compensate the alignment error.
For heading the harmonization angle describes the difference of the vessels heading (a
reference, such as the heading of a quay, is required) and the indicated heading of the
mounted Horizon MF after the settling phase has been completed.

HORIZON MF
The following illustration shows how the harmonization angle for heading is calculated:
Heading, roll and pitch can be corrected up to the angles shown in the following table:
Table 6-1 HORIZON MF harmonization angles range
Designation Unit Range
Heading ° [0.0° to 359.9°]

Roll ° [-180.0° to 180.0°]
Pitch ° [-45.0° to 45.0°]

HORIZON MF
“Heading Current” Displays the Heading of Horizon MF

“Read” Button for reading the current Heading
“Heading Update” Field to enter the new Heading value
“Write” Button for writing the new Heading value
“Reset” Button for resetting the Heading (reset of the value of the input field)
“Roll Current” Display of the current Roll angle
“Read” Button for reading the current Roll angle
“Roll Update” Field to enter the new Roll angle
“Write” Button for writing the new Roll angle
“Reset” Button for resetting the updated Roll angle (reset of the value of the input field)
“Pitch Current” Display of the current Pitch angle
“Read” Button for reading the current Pitch angle
“Pitch Update” Field to enter the Pitch angle
“Write” Button for writing the new Pitch angle
“Reset” Button for resetting the updated pitch angle (reset of the value of the input field)
“Load Config.” Button for loading a *.dci text file containing the “Internal Parameters” and their
associated values.
“Save Config.” Button for saving to a *.dci text file containing the “Internal Parameters” and their
associated values.
“Read All” Button for reading the current Heading, Roll and Pitch values of Horizon MF.
“Validate” Button for taking into account the values by Horizon MF.

HORIZON MF
6.1.11 Back to Default Configuration
Important note:This command is used to reset the MMI software to default configuration.

HORIZON MF
6.2 Alert Management

The following chapters describe the alert management of Horizon MF. Horizon MF
provides two different methods for serial alert communication.
Method 1 makes use of the ALR and ACK telegram.
Method 2 makes use of ALC, ALF, ARC, HBT and ACN telegrams and is known as the
Bridge Alert Management based on IMO Resolution MSC.302(87) “Performance
standards for bridge alert management”. Telegrams are defined in IEC 61924-2 maritime
navigation and radiocommunication equipment and systems – Integrated Navigation
Systems (…).
The factory configuration for Alert Management is method 1.

ALR (on RS5 serial output) and ACK (on RS4 serial input).
Please note that the alert output telegrams can be configured on all
serial RS output interfaces (RS5-RS11) but the alert input telegram
has to be configured on RS4.
6.2.1 Dedicated alerts in the Alert Field of the MMI software

The following alarms can be indicated in the alert field of the MMI software:
NO RESPONSE FROM INS / Waiting for INU data

This alarm occurs when HORIZON MF is Off or if there is no message received from
HORIZON MF to the MMI software. Make sure that Horizon MF is switched on and that
the connection (wiring and PC configuration is correct).
Alerts because of problems with remote control software configuration

INS STATUS INCONSISTENCY FAILURE
This alert occurs if HORIZON MF message configuration has changed and is not
consistent with MMI configuration.

HORIZON MF
6.2.2 Method 1 – use of ALR and ACK telegrams

Alert communication output
The following alerts are transmitted via RS5 (factory configuration) as a NMEA HE ALR
telegram. Refer to chapter 10 for the telegram structure.
Alert Alert
Identifier Description Remark Corrective measure / result
150 POSITION Position failure These alerts occur if no

ANO position/speed sensor is
available or if sensor sends
151 SPEED ANO Speed failure incorrect telegrams (NMEA
telegrams). Check connected
sensors.
153 TEMP ANO Temperature failure This alert occurs if

temperature range is not
consistent with HORIZON MF
specification
160 LINK RC ANO Interface failure

between Horizon MF
and computer
161 LINK 1 ANO Interface failure of

RS1

RS2 These alerts occur if the
serial interface is not properly
configured e.g. number of
RS3
telegrams cannot be
164 LINK 4 ANO Interface failure of transmitted with selected
RS4 baud rate. In this case,
please reduce the number of
telegrams or increase the
RS5
baud rate.
RS6

RS7

RS8

HORIZON MF
Alert Alert
Identifier Description Remark Corrective measure / result

RS9

RS10

RS11
200 IN HBT
TIMEOUT
201 IN HBT MISS
451 SYSTEM FAIL System failure
Alert communication input

An alert is acknowledged via an ALR telegram. Refer to chapter 10 for the telegram
structure.
6.2.3 Method 2 - use of ALC, ALF, ARC, HBT and ACN telegrams
This method is available with Horizon MF type 2617693764200.
Alert communication output

The following alerts can be transmitted via the RS output interfaces RS5 – RS11:
ALF, ALC, ARC, HBT.
Refer to chapter 10 for the telegram structures.
The following alerts are sent with the ALF, ALC, ARC telegrams:

HORIZON MF
Manufacturer Alert Alert Alert Corrective measure

Alert Text Remark
mnemonic Identifier Priority Category / result
These alerts occur if

POSITION Position
ANZ 10150 Warning B no position/speed
ANO failure
sensor is available
or if sensor sends
incorrect telegrams
(NMEA telegrams).
SPEED
ANZ 10151 Speed failure Warning B Check the
ANO
connected sensors.
Interface
failure
LINK RC
ANZ 10160 between Warning B
ANO
Horizon MF
and computer
Interface
ANZ 10161 LINK 1 ANO Warning B
failure of RS1
These alerts occur if
Interface
ANZ 10162 LINK 2 ANO Warning B the serial interface is
failure of RS2
not properly
Interface configured e.g.
failure of RS3 number of telegrams
cannot be
Interface transmitted with
failure of RS4 selected baud rate.
Interface In this case, please
ANZ 10165 LINK 5 ANO Warning B reduce the number
failure of RS5
of telegrams or
Interface increase the baud
failure of RS6 rate.
Interface
failure of RS7
Interface
failure of RS8
Interface
failure of RS9

HORIZON MF
Manufacturer Alert Alert Alert Corrective measure

Alert Text Remark
mnemonic Identifier Priority Category / result
Interface
LINK 10
ANZ 10170 failure of Warning B
ANO
RS10
Interface
LINK 11
ANZ 10171 failure of Warning B
ANO
RS11
IN HBT
ANZ 10200 Warning B
TIMEOUT
IN HBT
ANZ 10201 Warning B
MISS
SYSTEM System
ANZ 240 Warning B
FAIL failure
Alert communication input

An alert is acknowledged / silenced via an ACN telegram (ACN mode has to be
configured for RS4). Refer to chapter 10 for the telegram structure.

HORIZON MF
7 Disposal
The HORIZON MF or components of it of it can be disposed according to the respective

national regulations for electronic waste without harmful material (according to 2002/96EC
WEEE - disposal for Waste Electrical and Electronic Equipment).

HORIZON MF

HORIZON MF
8 Spare Parts
There are no spare parts for the HORIZON MF.

In case of a fault, please contact RAYTHEON Anschütz service.

HORIZON MF

HORIZON MF
9 Integration of Horizon MF with Gyro/Distribution System
See respective manual for the Distribution Unit.

The Horizon MF can be connected to the Raytheon Distribution Unit 138-118.NG003 and
the Raytheon Operator Unit 130-613.NG004 or 130-626.NG001/NG002.
Data cable connection

Data cable at plugs B15 und B16.
For adjustments of the Distribution Unit, type 138-118 NG003, see respective manual.
Indication at the Operator Unit, type 130-613 or 130-626.NG001/NG002.

HORIZON MF is displayed at the Operator Unit as (“Gyro 1, 2 or 3”).
Please note that compasses, that are input via NMEA, are not listed as CAN devices in
the service menue.
Furthermore only Heading and ROT are displayed (ROT if connected via one of the
interface RS6 to RS11 of the HORIZON MF).
In case of an error or a malfunction of the HORIZON MF a “Sensor fail” is displayed at the
Operator Unit.
The HEALR telegram (RS5) is not evaluated at the Operator Unit, it has to be connected
to an alarm panel.
For more information about operation, see respective manual for the Operator Unit.

HORIZON MF

HORIZON MF
10 NMEA Telegram Structures
10.1 Alarm Message HE ALR

$HEALR,hhmmss.ss,xxx,A,A,c—c*hh<CR><LF>
With: hhmmss.ss Time of alarm condition change, UTC
xxx Unique alarm number (identifier) at alarm source
A alarm condition
A threshold exceeded
V not exceeded
A alarm’s acknowledge state condition
A acknowledge
V unacknowledged
c—c alarm description state
hh checksum
10.2 Alarm Message: HEALF

$HEALF,1,1,x,hhmmss.ss,B,W,a,bbb,c,1,d,0,e---e*hh<CR><LF>
With: x message sequence number (0-9)
hhmmss.ss Time of alarm condition change, UTC
a failure condition
V “Active / unacknowledged”
S “Active / noiseless”
A “Active / acknowledge”
O “Active / transferred responsibility”
U “Revised / unacknowledged”
N “Regular”
bbb manufacturer mnemonic
c failure identifier
d revision counter (1-99)
e---e failure description state
10.3 Alarm Message: HEALC

$HEALC,aa,bb,cc,d,eee,f,1,g{,e---e,f,1,g{,e---e,f,1,g}}*hh<CR><LF>
With: aa $HEALC number of message in the sequence (01-99)
bb sequence number (01-99)
cc $HEALC message number in the sequence (00-99)
d number of alarm specified in the message
eee manufacturer mnemonic
f failure identifier
g failure description state

HORIZON MF
10.4 Alarm Message: HEARC

$HEARC,hhmmss.ss,bbb,c,d,a*hh<CR><LF>
With: hhmmss.ss UTC time of sending the message
bbb manufacturer mnemonic
c failure identifier
d revision counter (1-99)
a command
A acquittal
Q request
O transfer of responsibility
S silence
10.5 Alarm Message: HEHBT

$HEHBT,a.aa,b,c*hh<CR><LF>
With: a.aa the message repetition period (in seconds)
b Horizon MF state
A no alarm up
V at least one alarm up
c cyclic counter (0-9)
10.6 Heading Message HE HDT

$HEHDT,x.x,T*hh<CR><LF>
With: x.x True heading in degree (unsigned)
T True
hh checksum
10.7 True Heading Message HE THS

$HETHS,x.x,a*hh<CR><LF>
With: x.x True heading in degree
a mode indicator
A = autonomous
E = estimated
M = manual input
S = simulator
V = data not valid (including standby)
T True
hh checksum

HORIZON MF
10.8 Rate of Turn Message HE ROT

$HEROT,x.x,A*hh<CR><LF>
With: x.x rate of turn in degree/minute (signed, negative when bow turns
to port)
A status, A = data valid, V = data invalid
hh checksum
10.9 Roll and Pitch Message HE TRO

$HETRO,x.xx, a,y.yy,b*hh<CR><LF>
With: x.xx pitch in degree (unsigned)
a M = if bow up, P = if bow down
y.yy roll in degree (unsigned)
b B = if port down, T = if port up
hh checksum
10.10 Acknowledge Alarm: ACK Message

$--ACK,xxx*hh<CR><LF>
With: xxx Unique alarm number (identifier) at alarm source
hh Checksum
10.11 Heading and Attitude message: PFEC

$PFEC,GPatt,x.xx,y.yy,z.zz*hh<CR><LF>
With: x.x Heading in degree (unsigned)
y.y Pitch in degree (signed, positive when bow rises (ISO))
z.z Roll in degree (signed, positive when portside rises (ISO))
hh checksum
10.12 Heading and Attitude message: PANZHRP

$PANZHRP,c,d.ddd,e.eee,f.fff,g.gg,h.hh,i.ii,k,l*hh<CR><LF>
With c source (=0)
d.d Heading in degree (unsigned)
e.e Roll in degree (signed, positive when portside rises (ISO))
f.f Pitch in degree (signed, positive when bow rises (ISO))
g.g Heading rate in degree/second (signed)
h.h Roll rate in degree/second (signed, positive when portside rises (ISO))
i.i Pitch rate in degree/second (signed, positive when bow rises (ISO))
k A Data valid
k V Data Not valid (in alignment or with Horizon MF failure)
l selection (empty)
hh checksum

HORIZON MF
10.13 Global Positioning System GGA

$--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF>
With hhmmss.ss UTC of position
llll.ll Latitude N/S
yyyyy.yy Longitude E/W
x GPS quality indicator
xx Number of satellites in use, 00-12, may be different from the number
in view
x.x Horizontal dilution of precision
x.x Antenna altitude above/below mean sea level (geoid)
M Unit of antenna altitude, m
x.x Geoidal separation
M Units of geoidal separation, m
x.x Age of differential GPS data
xxxx Differential reference station ID, 0000-1023
*1 All GPS quality indicators in headings 1 through 8 are considered “valid”. The heading
“0” is the only “invalid” indicator. The GPS quality indicator field should not be a null
field.
0 = fix not available or invalid
1 = GPS SPS mode
2 = differential GPS, SPS mode
3 = GPS PPS mode
4 = Real Time Kinematic. Satellite system used in RTK mode with fixed integers
5 = Float RTK. Satellite system used in RTK mode with floating solution
6 = Estimated (dead reckoning) mode
7 = Manual input mode
8 = Simulator mode
2
* Time in seconds since last SC104 type 1 or 9 update, null field when DGPS is not
used.
*3 Geoidal separation: the difference between the WGS-84 earth ellipsoid surface and
mean sea level (geoid) surface, “ – “ = mean sea level surface below the WGS-84
ellipsoid surface.

HORIZON MF
10.14 Geographic Position Latitude/Longitude GLL

$--GLL,llll.ii,a,yyyyy.yy,a,hhmmss.ss,A,a*hh<CR><LF>
With llll.ll Latitude, N/S
yyyyy.yy Longitude, E/W
hhmmss.ss UTC of position
A Status*1: A = data valid, V = data invalid
a Mode indicator*1
A = Autonomous
D = Differential
E = Estimated (dead reckoning)
M = Manual input
S = Simulator
N = Data not valid
1
* All GPS quality indicators in headings 1 through 8 are considered “valid”. The heading
“0” is the only “invalid” indicator. The GPS quality indicator field should not be a null
field.
10.15 Dual ground/water speed VBW

$--VBW,x.x,x.x,A,x.x,x.x,A,x.x,A,x.x,A*hh<CR><LF>
With x.x Longitudinal water speed*1, knots
x.x Transverse water speed*1, knots
A Status*2: water speed, A = data valid, V = data invalid
x.x Longitudinal ground speed*1, knots
x.x Transverse ground speed*1, knots
A Status*2: ground speed, A = data valid, V = data invalid
x.x Stern transverse water speed*1, knots
A Status*2: stern water, A = data valid, V = data invalid
x.x Stern transverse ground speed*1, knots
a Status*2: stern ground speed, A = data valid, V = data invalid
*1 Transverse speed: “-“ = port
Longitudinal speed: “-“ = astern
*2 The status field should not be a null field
10.16 Water speed and heading VHW

$--VHW,x.x,T,x.x,M,x.x,N,x.x,K*hh<CR><LF>
With x.x,N Total cumulative water distance, nautical miles
x.x,N Water distance since reset, nautical miles
x.x,N Total cumulative ground distance, nautical miles
x.x,N Ground distance since reset, nautical miles

HORIZON MF
10.17 Course over Ground and Ground Speed VTG

$--VTG,x.x,T,x.x,M,x.x,N,x.x,K,a*hh<CR><LF>
With x.x,T Course over ground, degrees true
x.x,M Course over ground, degrees magnetic
x.x, N Speed over ground, knots
x.x,K Speed over ground, km/h
a Mode indicator
A = Autonomous mode
D = Differential mode
E = Estimated (dead reckoning) mode
M = Manual input mode
P = Precise. Satellite system used in precision mode. Precision mode is
defined as: no deliberate degradation (such as selective availability) and
higher resolution code (P-code) is used to compute position fix. P is also
used for satellite system used in multi-frequency, SBAS or Precise Point
Positioning (PPP) mode
S = Simulator mode
N = Data not valid

MF Horizon

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HORIZON MF

Type 2617693764100 and 2617693764200

Raytheon Anschuetz GmbH

November 2014 New Edition

December 2015 Description for type 2617693764200 added

Edition: December 2015 I 4302.DOC010002

Intentionally left blank

4302.DOC010002 II Edition: December 2015

Edition: December 2015 III 4302.DOC010002

6.1.8 Adjustment of the Settling Mode .................................................................. 6-10

Figure 1-1 HORIZON MF, General Constitution ............................................................ 1-1

4302.DOC010002 IV Edition: December 2015

Table 5-1 Interface Overview ....................................................................................... 5-2

NB99-HP0150 Dimensional Drawing, HORIZON MF Sensor

Edition: December 2015 V 4302.DOC010002

Intentionally left blank

4302.DOC010002 VI Edition: December 2015

This manual covers Horizon MF types 2617693764100 and 2617693764200.

0.1 Safety Regulations

Never open the housing of the HORIZON MF.

Well-trained and authorized RAYTHEON service personnel must

Edition: December 2015 VII 4302.DOC010002

The application of the remote control software for configuration is

It is obligatory to switch on the speed log and the position receiver

4302.DOC010002 VIII Edition: December 2015

0.2 List of Abbreviation

CDI Configuration Data for Inertial navigation system

CD-ROM Compact Disc Read Only Memory

DDU Data Distribution Unit

GPS Global Positioning System

HE ACK NMEA telegram “ACKNOWLEDGE”

HE ALR NMEA telegram “ALERT”

HE HDT NMEA telegram “HEADING TRUE”

HE ROT NMEA telegram “RATE OF TURN”

HE THS NMEA telegram “True Heading Status”

HE TRO NMEA telegram “ROLL and PITCH”

HRG Hemispherical Resonator Gyro Compass

IEC International Electrotechnical Commission

HP HilfsPapier (Auxiliary paper)

INS Inertial Navigation System

Edition: December 2015 IX 4302.DOC010002

m/s Acceleration meter per second

MMI Man Machine Interface

NG NormGerät (Standard device)

Nm Newton meter (Torque moment)

NMEA National Marine Electronics Association

RS HORIZON MF serial interface

UTC Coordinated Universal Time

WEEE Waste Electrical and Electronic Equipment

4302.DOC010002 X Edition: December 2015

HORIZON MF is a strap down gyro compass, that is based on maintenance free

1.1 General Description

The Digital Input/Output connector (J1)

Provides the following connections:

 RSRC: connection of Horizon MF with a computer for configuration purposes

The Power Supply connector (J2)

The RJ 45 connector (J3) for future use.

Figure 1-1 HORIZON MF, General Constitution

1 J1 – Digital Input / Output

3 J3 – Ethernet (future purpose only)

Edition: December 2015 1-1 4302.DOC010002

1.2 Technical Data

1.2.1 Mechanical Data

Heading 0.4° secLat RMS