Simrad AP45 User Manual
INSTRUCTION MANUAL
Robertson AP45
Autopilot
20220042/6/02
This page is intentionally left blank.
NOTE!
Simrad Egersund AS makes every effort to ensure that the information
contained within this document is correct. However, our equipment is
continuously being improved and updated, so we cannot assume liability for
any errors which may occur.
The information contained within this document remains the sole property of
Simrad Egersund AS. No part of this document may be copied or reproduced
in any form or by any means, and the information contained within is not to be
passed on to a third party, without the prior written consent of
Simrad Egersund AS.
Warning
The equipment to which this manual applies must only be used for the
purpose for which it was designed. Improper use or maintenance may
cause damage to the equipment or injury to personnel. The user must
be familiar with the contents of the appropriate manuals before
attempting to operate or work on the equipment.
Simrad Egersund AS disclaims any responsibility for damage or
injury caused by improper installation, use or maintenance of the
equipment.
Simrad Egersund AS Telephone: +47 51 46 20 00
Nyåskaien Telefax: +47 51 46 20 01
P.O. Box 55
N-4379 Egersund, Norway
Robertson AP45
Modification record
Rev. Written by Checked by Approved by
MODIFICATION RECORD
Robertson AP45 Autopilot
Document revisions
Date Sign. Date Sign. Date Sign.
January 1996 08.01.96
September 1997 08.09.97
October 1998 01.10.98
September 1999 15.09.99
N.G.
N.G.
N.G.
N.G.
08.01.96
08.09.97
01.10.98
15.09.99
I.K.
I.K.
I.K.
I.K.
08.01.96
08.09.97
01.10.98
15.09.99
Th.H.
Th.H.
Th.H.
Th.H.
June 2002 29.05.02 29.05.02 29.05.02
Document history
Rev. Action/Changes/References
September 1990 Covers the software versions V1R0, V1R1, V1R2 and V1R3. New rudder feedback
RF45 included.
January 1996 Updated to software version V1R4. Major extensions of section 3 and 5. RI40
substitutes RI45. G45 included.
September 1997 Modifications due to improved protection against electro magnetic interference,
page 5-1, 5-2, 5-17 and 8-1. J45A grounding page 5-21. Modification on fig. 5-29.
“Soft start” function included on page 3-6. Corrected number of bushings on page 526 and page 5-28. Missing length group 60-100 ft included on page 6-4. Corrected
text in fig. 6-2. Page 5-33: Switch position 8 and 9 changed to NMEA 0183.
October 1998 Minor corrections on following pages: 2-5, 2-6, 2-11, 2-12, 5-3, 5-8, 5-20, 5-21, 5-31,
5-33, 6-1, 7-1, 7-2, 7-4 and 8-3.
September 1999 RI40 substituted by RI9, RI101 by RI35. RF45 substituted by RF45X. S3
substituted by S35. Removed the NMEA0180, inverse polarity. RFC250 substituted
by RFC35NS. New distributor list.
June 2002 Note on page 5-31 included. New distributor list.
To assist us in making improvements to this manual, we would welcome comments and constructive
criticisms. Please send all such comments, in writing to:
Simrad Egersund AS
Documentation Department
P.O. Box 55,
N-4379 Egersund
Norway
Simrad Robertson AS
Egersund - Norway
Robertson AP45
A
Modification record
IMPORTANT!
n autopilot is a very useful navigational aid, but DOES NOT under any
circumstance replace a human navigator.
Do not use automatic steering when:
• In heavy traffic areas or in narrow waters
• In poor visibility or extreme sea conditions
• When in areas where use of autopilot is prohibited by law
When using an autopilot:
• Do not leave the helm unattended
• Do not place any magnetic mat erial or equipment near magnetic or
fluxgate compass used in the autopilot system
Verify at regular intervals course and position of vessel
• Always switch to Standby mode in due time to avoid hazardous situations
Simrad Robertson AS
Egersund - Norway
Robertson AP45
Modification record
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
Table of contents
1. GENERAL INFORMATION..................................................1-1
2. OPERATION OF THE AUTOPILOT...................................2-1
Page I
TABLE OF CONTENTS
Introduction...................................................................................................................1-1
System description.........................................................................................................1-1
AP45 Control Unit.........................................................................................................1-1
Heading Sensors............................................................................................................1-1
Rudder Feedback Units.................................................................................................1-2
Junction units.................................................................................................................1-3
Optional equipment.......................................................................................................1-3
Remote Controls............................................................................................................ 1-3
Rudder Angle Indicators................................................................................................1-4
General..........................................................................................................................2-1
Front Panel ....................................................................................................................2-1
Mode selection ..............................................................................................................2-1
Parameter setting...........................................................................................................2-3
Course selection.............................................................................................................2-4
Navigating with the AP45..............................................................................................2-5
Mixed mode, XTE & CTS.............................................................................................2-5
XTE mode.....................................................................................................................2-6
Steering by bearing to waypoint (CTS).........................................................................2-8
Remote Controls General............................................................................................2-10
F200-40 Remote Control.............................................................................................2-10
S9 Steering Lever........................................................................................................2-11
FU91 Follow up Steering Lever ..................................................................................2-14
Fault warnings.............................................................................................................2-16
3. DESIGN AND THEORY OF OPERATION.........................3-1
Automatic Steering ........................................................................................................3-1
AP45 Control Unit.........................................................................................................3-2
CD109 Course Detector ................................................................................................3-2
Rudder Feedback Units.................................................................................................3-3
RF45X Rudder Feedback Unit......................................................................................3-3
RF14XU Rudder Feedback Unit (optional)...................................................................3-3
Junction Units................................................................................................................3-4
J45S Junction Unit.........................................................................................................3-4
J45A Electronic Junction Unit.......................................................................................3-6
4. TECHNICAL SPECIFICATIONS........................................4-1
AP45 Control Unit.........................................................................................................4-1
CD109 Course Detector ................................................................................................4-2
RFC35NS Fluxgate compass.........................................................................................4-3
G40A Gyro Interface.....................................................................................................4-4
G45 Gyro Interface........................................................................................................4-4
FI100-40 Fluxgate Interface..........................................................................................4-5
RF45X Rudder Feedback Unit......................................................................................4-5
RF14XU Rudder Feedback Unit...................................................................................4-6
J45S Junction Unit.........................................................................................................4-7
J45A Junction Unit........................................................................................................4-7
S9 Steering Lever..........................................................................................................4-8
FU91 Steering Lever.....................................................................................................4-8
S35 Steering Lever........................................................................................................4-9
F1/2 Remote Control...................................................................................................4-10
F200-40 Remote Control.............................................................................................4-10
RI35 Rudder Angle Indicator ......................................................................................4-11
Simrad Robertson AS
Egersund - Norway
Page II Robertson AP45 Autopilot
Table of contents
RI9 Rudder Angle Indicator ........................................................................................4-12
5. INSTALLATION.....................................................................5-1
Unpacking and handling................................................................................................5-1
General..........................................................................................................................5-1
AP45 Control Unit.........................................................................................................5-1
Connector assemble.......................................................................................................5-2
Heading sensors.............................................................................................................5-4
General..........................................................................................................................5-4
Magnetic compass.........................................................................................................5-4
RFC35NS Fluxgate Compass........................................................................................5-6
Mounting.......................................................................................................................5-6
Connection.....................................................................................................................5-7
Calibration.....................................................................................................................5-7
Alignment......................................................................................................................5-8
FI100-40 Fluxgate Interface..........................................................................................5-8
G40A Gyro Interface Unit.............................................................................................5-9
G45 Gyro Interface Unit..............................................................................................5-11
RGC Signal Interface Unit...........................................................................................5-12
RF45X Rudder Feedback Unit....................................................................................5-13
RF14XU Rudder Feedback Unit.................................................................................5-14
J45S Junction Unit.......................................................................................................5-19
J45A Junction Unit......................................................................................................5-21
Optional equipment.....................................................................................................5-26
F200-40 Remote Control.............................................................................................5-26
S9 Steering Lever........................................................................................................5-26
FU91 Steering Lever...................................................................................................5-28
F1/2 Remote Control...................................................................................................5-30
S35 Steering Lever......................................................................................................5-30
RI9 Rudder Angle Indicator ........................................................................................5-31
RI35 Rudder Angle Indicator ......................................................................................5-33
Panel mounting............................................................................................................5-34
Bracket mounting........................................................................................................5-34
Illumination.................................................................................................................5-35
Zero adjust...................................................................................................................5-35
Reversed deflection.....................................................................................................5-35
Connection to Navigation Receiver.............................................................................5-36
Watch alarm ................................................................................................................5-37
6. START-UP PROCEDURE/ COMMISSIONING.................6-1
Power ON......................................................................................................................6-1
Rudder Feedback Adjustment........................................................................................6-1
Direction of Rudder Movement.....................................................................................6-1
Rudder speed.................................................................................................................6-2
Course Detector Alignment...........................................................................................6-2
Selection of parameter settings......................................................................................6-2
Select language..............................................................................................................6-3
Type of Heading Sensor................................................................................................ 6-4
Off Course limit.............................................................................................................6-4
Vessel's length............................................................................................................... 6 -4
Counter rudder...............................................................................................................6-5
Rudder limit...................................................................................................................6-5
Rudder deadband...........................................................................................................6-5
NMEA-format...............................................................................................................6-5
Disengage of autotrim-function in WORK-mode..........................................................6-5
Disengage of Off Course alarm in Work mode .............................................................6-6
Sea Trial ........................................................................................................................6-6
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
Table of contents
7. TROUBLE SHOOTING .........................................................7-1
8. SPARE PARTS AND DRAWINGS.......................................8-1
9. SALES AND SERVICE WORLDWIDE (990901)...................9-1
Page III
Fault warnings...............................................................................................................7-1
Debug/Adjust mode.......................................................................................................7-5
AP45 Control Unit.........................................................................................................8-1
CD109 Course Detector ................................................................................................8-4
G40A Gyro Interface.....................................................................................................8-5
G45 Gyro Interface........................................................................................................8-7
FI100-40 Fluxgate Interface..........................................................................................8-9
RF45X Rudder Feedback..............................................................................................8-9
RF14XU Rudder Feedback Unit...................................................................................8-9
J45S Junction Unit.......................................................................................................8-10
J45A Junction Unit......................................................................................................8-12
F200-40 Remote Control.............................................................................................8-14
S9 Steering Lever........................................................................................................8-16
S35 Steering Lever......................................................................................................8-16
FU91 Steering Lever...................................................................................................8-16
RI9 Rudder Angle Indicator ........................................................................................8-17
RI35 Rudder Angle Indicator ......................................................................................8-17
LIST OF DRAWINGS
FIG. 1-1 AP45 SYSTEM LAYOUT - BASIC SYSTEM WITH OPTIONS ................................1-1
F
IG. 2-1 AP45 CONTROL UNIT - FRONT PANEL...........................................................2-1
F
IG. 3-1 AUTOPILOT PRINCIPLE DIAGRAM...................................................................3-1
F
IG. 3-2 PROCESSOR CONTROLLED AUTOPILO T ...........................................................3-1
F
IG. 3-3 COURSE DETECTOR PRINCIPLE......................................................................3-2
F
IG. 3-4 RF45X PRINCIPLE .........................................................................................3-3
F
IG. 3-5 BASIC SYSTEM................................................................................................3-4
F
IG. 3-6 SOLENOIDS WITH POSITIVE COMMON ............................................................3-5
F
IG. 3-7 SOLENOIDS WITH NEGATIVE COMMON...........................................................3-5
F
IG. 3-8 J45A PRINCIPLE ............................................................................................3-6
F
IG. 4-1 AP45 CONTROL UNIT - DIMENSIONS.............................................................4-1
F
IG. 4-2 CD109 COURSE DETECTOR............................................................................4-2
F
IG. 4-3 RFC35NS - DIMENSIONS ..............................................................................4-3
F
IG. 4-4 G40A GYRO INTERFACE - DIMENSIONS.........................................................4-4
F
IG. 4-5 FI100-40 FLUXGATE INTERFACE - DIMENSIONS ...........................................4-5
F
IG. 4-6 RF45X RUDDER FEEDBACK - DIMENSIONS...................................................4-5
F
IG. 4-7 RF14XU RUDDER FEEDBACK UNIT - DIMENSIONS........................................4-6
F
IG. 4-8 J45S/J45A/G45 - DIMENSIONS .....................................................................4-7
F
IG. 4-9 S9 STEERING LEVER - DIMENSIONS ..............................................................4-8
F
IG. 4-10 FU91 STEERING LEVER - DIMENSIONS.......................................................4-8
F
IG. 4-11 S35 STEERING LEVER - DIMENSIONS ..........................................................4-9
F
IG. 4-12 F1/2 REMOTE CONTROL - DIMENSIONS.....................................................4-10
F
IG. 4-13 F200-40 REMOTE CONTROL DIMENSIONS.................................................4-10
F
IG. 4-14 RI35 RUDDER ANGLE INDICATOR - DIMENSIONS......................................4-11
F
IG. 4-15 RI9 RUDDER ANGLE INDICATOR - DIMENSIONS........................................4-12
F
IG. 5-1 AP45 CONTROL UNIT - PANEL MOUNT .........................................................5-1
F
IG. 5-2 AP45 CONTROL UNIT - BRACKET MOUNTING ...............................................5-1
F
IG. 5-3 CONTROL UNIT - CONNECTOR MOUNTING......................................................5-2
F
IG. 5-4 AP45 EXTERNAL CABLING DIAGRAM .............................................................5-3
F
IG. 5-5 CD109 COURSE DETECTOR - MOUNTING ......................................................5-5
F
IG. 5-6 AP45/RFC35NS - CONNECTION...................................................................5-7
F
IG. 5-7 RFC35NS - INTERNAL CONNECTION ...........................................................5-7
Simrad Robertson AS
Egersund - Norway
Page IV Robertson AP45 Autopilot
Table of contents
FIG. 5-8 AP45/FI100-40 FLUXGATE INTERFACE - WIRING.........................................5-8
F
IG. 5-9 G40A GYRO INTERFACE CONNECTIONS........................................................5-9
F
IG. 5-10 G40A PC-BOARD - SWITCH LOCATION.......................................................5-10
F
IG. 5-11 CONNECTION TO G45 EXCITATED SYNCHRO TRANSMITTER.......................5-11
F
IG. 5-12 CONNECTION TO GYRO EXCITATED SYNCH RO T RANSMITTERS ...................5-11
F
IG. 5-13 G45 INPUT/OUTPUT...................................................................................5-12
F
IG. 5-14 AP45/RGC SIGNAL INTERFACE UNIT - WIRING........................................5-12
F
IG. 5-16 RF45X RUDDER FEEDBACK UNIT - MOUNTING........................................5-13
F
IG. 5-17 RF14XU - MOUNTING...............................................................................5-14
F
IG. 5-18 RF45 TEMPLATE SCALE 1:1 ......................................................................5-15
F
IG. 5-19 SCREEN TERMINATION...............................................................................5-17
F
IG. 5-20 RF14XU INTERNAL WIRING......................................................................5-18
F
IG. 5-21 RF14XU/J45S - WIRING ...........................................................................5-19
F
IG. 5-22 J45A JUNCTION UNIT GROUNDING...........................................................5-21
F
IG. 5-23 AP45 WIRING DIAGRAM - BASIC SYSTEM (015936H).................................5-22
F
IG. 5-24 AP45 WIRING DIAGRAM - SOLENOIDS WITH POSITIVE COMMON (015936H)5-23
F
IG. 5-25 AP45 WIRING DIAGRAM - SOLENOIDS WITH NEGATIVE COMMON (015936H)5-24
F
IG. 5-26 AP45/J45 WIRING DIAGRAM......................................................................5-25
F
IG. 5-27 F200-40/AP45 - WIRING DIAGRAM............................................................5-26
F
IG. 5-28 S9 MOUNTING ...........................................................................................5-26
F
IG. 5-29 S9/AP45 - WIRING DIAGRAM .....................................................................5-27
F
IG. 5-30 S9 STEERING LEVER - INTERNAL WIRING..................................................5-27
F
IG. 5-31 FU91 MOUNTING ......................................................................................5-28
F
IG. 5-32 FU91 WITHOUT MODE SWITCHING ............................................................5-28
F
IG. 5-33 FU91 WITH MODE SWITCHING...................................................................5-29
F
IG. 5-34 FU91 MULTIPLE INSTALLATION................................................................5-29
F
IG. 5-35 S35, F1/2 - AP45 - WIRING DIAGRAM........................................................5-30
F
IG. 5-36 AP45 WIRING DIAGRAM - J3 W/MULTIPLE INPUT......................................5-30
F
IG. 5-37 RI9 WIRING DIAGRAM................................................................................5-31
F
IG. 5-38 RI9 INPUT SIGNAL SELECTION ..................................................................5-32
F
IG. 5-39 RI35-J45A WIRING DIAGRAM...................................................................5-33
F
IG. 5-40 RI35-J45S WIRING DIAGRAM ...................................................................5-33
F
IG. 5-41 PANEL MOUNTING......................................................................................5-34
F
IG. 5-42 RI35 BRACKET MOUNTING .......................................................................5-34
F
IG. 5-43 N40 NAV. INTERFACE MOUNTING (FOR MAIN PCBS WITH REVISION UP TO
AND INCLUDING REVISION
F
IG. 5-44 AP45/NAVIGATION RECEIVER - WIRING ....................................................5-37
F
IG. 5-45 WA9 CIRCUIT/WIRING DIAGRAM ...............................................................5-37
F
IG. 6-1 AP45 INSTALLATION LOOP............................................................................6-3
F
IG. 6-2 COUNTER RUDDER SETTINGS.........................................................................6-7
F
IG. 8-1 AP45 EXPLODED VIEW ..................................................................................8-2
F
IG. 8-2 AP45 SIGNAL REFERENCE.............................................................................8-3
F
IG. 8-3 CD109 - SPARE PARTS...................................................................................8-4
F
IG. 8-4 G40A COMPONENT REFEREN CE ....................................................................8-5
F
IG. 8-5 G40A CIRCUIT DIAGRAM ...............................................................................8-6
F
IG. 8-6 G45 COMPONENT REFEREN CE.......................................................................8-7
F
IG. 8-7 G45 CIRCUIT DIAGRAM..................................................................................8-8
F
IG. 8-8 RF14XU - SPARE PARTS................................................................................8-9
F
IG. 8-9 J45S COMPONENT REFERENCE...................................................................8-10
F
IG. 8-10 J45S CIRCUIT DIAGRAM.............................................................................8-11
F
IG. 8-11 J45A COMPONENT REFERENCE.................................................................8-12
F
IG. 8-12 J45A CIRCUIT DIAGRAM ............................................................................8-13
F
IG. 8-13 F200-40 COMPONENT REFEREN CE............................................................8-14
F
IG. 8-14 F200-40 CIRCUIT DIAGRAM .......................................................................8-15
F
IG. 8-15 RI40 EXPLODED VIEW ...............................................................................8-17
G).............................................................................5-36
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
General Information
Page 1-1
1. GENERAL INFORMATION
Introduction
System descriptio n
Today Simrad manuf acture a comple te range of au topilots for all types o f vessels,
from leisure bo ats up to advanced steer ing systems for merch ant marine vessels.
Our factory for these products – branded Robertson – is located in Egersund, on
the south/west coast of Norway. The comp any’s inv olve men t in autop ilots beg an in
1953 with equipment for the North Sea fishing fleet.
In 1982 the world's first microprocessor based autopilot, the Robertson AP100, was
introduced and shortly after the AP9 and AP40 systems followed.
The AP45 autopilot described in this document is based on the experience with the
AP40 and the AP9 models. A series of improvements based upon this experience
has been implemented in the new model and special attention has been paid to
simplified operation.
The standard AP45 system consists of the following units (refer to Fig. 1-1):
1. AP45 Control Unit with accessories
2. Heading sensor
3. Rudder Feedback Unit with transmission link
4. Junction Unit
AP45 Control Unit
Heading Sensors
Fig. 1-1
AP45 System layout - Basic system with options
All settings and operation of the autopilot take place on the control unit. In
addition to push bu ttons it has two LCD-displays and a cou rse selector knob on
the front panel. The control unit is made of seawater resistant aluminium and has
a polyester coating to protect it against the environment. The main electronics are
located in the control unit, and connection to other system components are by high
quality connectors to facilitate reliability and easy maintenance.
The AP45 autopilot can be used with one of three different types of heading
sensors:
Simrad Robertson AS
Egersund - Norway
Page 1-2 Robertson AP45 Autopilot
General Information
1. Magnetic compass with CD109 Course Detector
2. RFC35NS Fluxgate compass*
3. Gyrocompass (using optional G40A or G45 Interface Unit)
*) For other types of Fluxgate Compass the FI100-40 Fluxgate Interface must be
used.
CD109 Course Detector
CD109 is a magnetic sensor in moulde d plastic which is mounted on the vesse l's
magnetic compass to transfer the heading to the control unit.
RFC35NS Fluxgate Compass
This is an electronic sense unit with NMEA- and sine/cosine output. The compass
has a 0,3 m ”pigtail” cable. RFC35NS substitutes the RFC250 Fluxgate compass.
RFC250 cable (P/N 20183554) is necessary at new installations.
G40A/G45 Gyro Interface Unit
The gyro interface unit is connected between the AP45 and a gyro compass. It
utilises the repeater sign al outpu t from the gy ro co mpass to g enerate a sine/co sine
heading signal for the autopilot.
G40A to be used with stepper or geared synchro signal. G45 to be used with
synchro 1:1 signal.
Rudder Feedback Units
FI100-40 Fluxgate Interface
FI100-40 is an interface unit to be co nnected betw een the AP45 and an e lectronic
fluxgate compass with sine/cosine output, e.g. VDO, Marinex, Sowester, Brooks &
Gatehouse.
RF45X Rudder Feedback Unit
This unit transmits two electrical signals proportional to the rudder angle. One
signal operates as a feedback for the autopilot, the other as drive signal for rudder
angle indicators. The unit is mounted close to the rudder stock and is mechanically
connected to the rudder by the T45 Transmission link.
RF14XU Rudder Feedback Unit
This unit can replace the RF45 Rudder Feedback Unit in installations where a
more rugged construction of the feedback unit is preferred. Besides electronic
circuitry to generate feedback signals for the autopilot and rudder angle indicators
it has been provided with 2 sets of limit switches. RF14XU can not drive the RI101
Rudder Angle Indicator, but all other types of Robertson indicators.
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
General Information
Page 1-3
Junction units
Optional equipment
Remote Controls
Except for a bigger cabinet, the J45S and the J45A junction un its describe d in this
manual are identical to the previous versions, J200S-40 and J101A-40
respectively.
J45S Junction unit
The J45S Junction Unit will operate continuously running hydraulic power units
with directional valves as Robertson RPU3 or similar. The unit contains a printed
circuit board with terminal block, fuse, galvanic isolated solid state output to
switch the solenoids and start relay for the Power Unit. All mounted in an
aluminium cabinet with polyester coating.
J45A Electronic Junction Unit
The unit provides variable speed control of reversible hydraulic power units (e.g.
Robertson RPU80, RPU100 RPU160 or RPU200) and mechanical power units
(MRD100 or HLD2000). The unit consists of a prin ted circuit board with termin al
block, fuse and drive electronics, mounted in the same type of aluminium cabinet
as the J45S.
A series of options are available for the basic AP45 system.
S9 Non-follow-up (NFU) steering lever
S9 is a splash proof steering lever for bulkhead or console mounting. The unit is
constructed of a machined alum inium housing. The intern al mechanism of the S9
permits locking of the lever in the mid-position to avoid inadvertent operation.
When connected to the AP45, the S9 can also be used to switch the mode of the
autopilot when the lever is pulled out or pushed in.
FU91 Follow-Up (FU) steering lever
FU91 is a splash proof steering lever for bulkhead or console mounting. The unit
has a 45-0-45 degrees dial and a Push to take command bu tton. By positio ning th e
lever, a desired rudder angle can be set without using a rudder angle indicator.
Dimensions and design are the same as the S9, and it has a mid-position detent.
S35 Non Follow Up (NFU) Steering Lever
S35 is designed for indoor and outdoor bulkhead mounting. The lever is spring
loaded to midposition. It also has a “Mode” button that is not used when connected
to AP45.
F1/2 Remote Control (NFU)
F1/2 is a handheld control for push button steering, fitted w ith a rubber grip. It is
made of cast seawater resistant aluminium and fitted with a 10 meter (30 ft.)
cable.
F200-40 Remote Control
F200-40 is a multifunction hand he ld remote control with a 4-digit LCD display
and a course sele ctor knob to set course or rudder angle . It has push bu ttons for
power steering, course adjustment and mode selection between power steering,
dodging and auto steering. The unit consists of a PC board moun ted in a splash
proof aluminium cabinet fitted with a 7m (23 ft) cable connecting to the control
unit.
Simrad Robertson AS
Egersund - Norway
Page 1-4 Robertson AP45 Autopilot
General Information
Rudder Angle Indicators
RI9 Rudder Angle Indicator
RI9 is an analogue indicator showing the rudder position at angles up to 45
degrees on each side of midship position. The scaling is 2 degrees pr. division.
The scale illumination is adjustable by a knob on the front.
The housing is constructed of painted aluminium inte nded for e ither bulkhead o r
console mounting. The splash proof construction is suitable for exposed mounting
locations.
RI35 Rudder Angle Indicator
RI35 is an analogue indicator showing the rudder position at angles up to 45
degrees on each side of midship position. The scaling is five degrees pr. division.
A front panel key is used for rudder zero adjustment and illumination adjustment.
The splash proof construction allows panel, bulkhead or bracket mounting in
exposed locations, such as b rid ge wings as wel l a s wheel hous e and engi ne room.
RI35 is delivered with a 20 meter (65 feet) cable.
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
Operation
General
Page 2-1
2. OPERATION OF THE AUTOPILOT
Fig. 2-1
AP45 Control Unit - front panel
Front Panel
Mode selection
AP45 autopilot is operated by means of keypad push buttons on the front panel. To
facilitate operation, the buttons are marked with text and symbo ls. The buttons
are backlighted, activated mode buttons being brighter than the others.
Course selection is made by the rotary Cou rse Selecto r Knob . Course adjustme nts
in steps of one degree can be achieved by the port or starboard push b u ttons.
The front panel has two LCD d isplays, referred to as the information disp lay (left
side) and the course display (right side). An alarm buzzer and an alarm reset
button is also on the front panel.
A few simple operations like pressing a button and/or turning the Course Selector
Knob is required in ordin ary use of the autopilot. All other instructions and data
required for the operation is stored in the autopilot at delivery from Robertson.
The front panel can be divided into three sections: Mode selection, Parameter
setting and Course selection.
Together with th e OFF-button and the 4 m ode buttons, this section also contains
an alarm buzzer and ALARM RESET-button.
MANUAL
The MANUAL button serves two purposes. It switches on the autopilot and selects
manual steering mode. In this mode the Course Display gives a digital readout of
compass heading, while the vessel can be steered manually by helm or steering
lever(s).
AUTO
The AUTO-mode is used under normal conditions when the boat is steered
automatically on a preset course.
When the AUTO-button is pressed, the autopilot selects the current vessel
heading as "course to steer".
Simrad Robertson AS
Egersund - Norway
Page 2-2 Robertson AP45 Autopilot
Operation
Any difference betwe en co ur se to ste er and the v e ssel's actu al he ad ing w ill the n be
shown as a bargraph in the Information Display. One bar equals one degree.
Rudder commands are indicated by an arrow in the lower left or right corner of
the information display de pending upon which direction th e autopilot commands
the rudder to move.
WORK
The WORK-mode is an automatic mode to be used under operational conditions
different from those normally found when a vessel is under motor power on a
preset course. Examples are trawling, towing, sailing, slow speed etc.
In WORK-mode the PORT- and STBD-buttons can be used for immediate rudder
off-set (trim) if necessary. This manual off-set compensates for the built-in
autotrim which needs time to b uild up the appropriate off-set.
The Information Display shows the off-set value when the PORT- or STBD button
is pressed.
Boats under sail power and some trawlers may need a rudder off-set when steered
by hand. To avoid cancellation of the rudder off-set when changing to automatic
steering, the WORK-mode can be selected directly from MANUAL-mode. The
rudder off-set is then maintained as "on course" reference. This off-set is also
maintained when changing from WORK to NAV mode.
If the AUTO-mode is selected from MANUAL-mode, the rudder is first taken to
midposition before a sufficient off-set of the rudder is built-up automatically
(autotrim).
A different RUDDER value may be preferred in WORK-mode as compared to that
in AUTO-mode. The WORK-mode value will be stored in the AP45 memory for
later use.
Note!
Pair-trawling that requires manual trim only, will also require that the autotrim
be disabled. Refer to “Disengage of autotrim-function in WORK-mode”, page 6-5,
for specific details.
NAV
NAV-mode is used when a navigation receiver is connected to the autopilot for
automatic waypoint steering. To be able to use the NAV-mode with older AP45
(below s.n. 4000), the main PCB must be equipped with the N40 Navigation
Interface.
When the NAV-mode is selected, the AP45 automatically monitors the signals
from the navigation system. If the signals are absent or in a different format than
the data format selected in the AP45, an alarm w ill be given to ale rt the operato r.
See “Navigating with the AP45” page 2-5.
OFF
The autopilot is switched off by pressing the OFF-button for 2 seconds, during
which time the alarm will sound. Th e alarm cease s when th e AP45 is switch ed of f.
If the OFF-button is released before two seconds have elapsed, the auto pilot will
continue to operate as before and the alarm signal is automatically reset.
Rudder commands will stop as long as the OFF-button is pressed. All pre-set
parameters in the autopilot are stored while the unit is switched off.
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
Operation
ALARM
The acoustic alarm is reset by pressing the red alarm push button.
Alarm messages shown on the information display are described under “Fault
warnings”, page 2-16.
Page 2-3
Parameter setting
General
The middle section of the AP45 control unit contains 4 push buttons and an
Information Di splay. The display sho ws selected mod e, deviation f rom set co urse,
parameter settings and other user information. When RUDDER or WEATHER
buttons are pressed, the display shows which button has been activated and to
what level the value has bee n set by th e n um be r of bars as w ell as in pl ain f igu re s.
The display returns to normal read-out, showing the selected mode one minute
after the last press on one of the buttons.
The text in the Information Display can be in one of five selectable languages:
English, French, German, Spanish and Norwegian (see “Select language”, page 6-
3.
Turn on
Turn on the AP45 by pressing the MANUAL button. The information display will
show for approx. three seconds:
SOFTWARE V_R_
MANUAL
Then it switches to:
NON FOLLOW UP
MANUAL
If the autopilot is connected to and set up for a g yrocompass with g eared synchro
or stepper signal, the display will show at turn on:
GYROADJUST
PRESS +/-
Use the + or - butto n until the autopilot display shows th e same heading as the
gyrocompass.
Then press the MANUAL button and the display will again show:
NON FOLLOW UP
MANUAL
When clear of obstacles and in open waters, steer your vessel on course and press
the AUTO button.
The display will now show:
→←
AUTOMATIC
and the autopilot will automatically keep your vessel on course.
INCREASE and DECREASE
Simrad Robertson AS
Egersund - Norway
Page 2-4 Robertson AP45 Autopilot
A
Operation
These buttons are used to alter vario us settings. Each time one button is pr essed,
the value shown on the Informatio n Display, will increase (+) or decre ase (—) by
one unit. The value is also shown as a graphical bar. If a button is pressed for
more than two seconds, the value will auto matically increase or decrease u ntil the
button is released.
RUDDER
When the RUDDER button is pressed, the Information Display shows selected
RUDDER value. The RUDDER value sets the ratio between rudder angle and
heading error (p-factor).
Example: If RUDDER is set to 1.0 and there is a heading error of 2 degrees, the
rudder angle will be 2 degrees. (Heading error x RUDDER value = rudder angle).
The correct RUDDER setting is dependant upon the size and speed of the vessel.
The RUDDER value should increase with decreasing speed.
RUDDER should be set separately in WORK-mode, to optimise the autopilot
performance.
Examples of incorrect RUDDER settings:
A value which is too low gives
relatively large and slo w oscillations
(s-ing) around set course, and several
rudder commands are given in the
same direction before the vessel is
back on course.
Course selection
A value which is too high will give
quick and in worst case increasing
B
oscillations (s-ing) around set course.
The correct setting of RUDDER will be app ro ximate ly in th e mid dle o f th e se tting s
described in A and B above.
WEATHER
The WEATHER setting determines the amount of degrees the vessel may fall off
the set course before any response is given from the rudder. In calm weather it
should be set to OFF which means that theoretically the autopilot allows no
deviation from set course. The WEATHER value should be increased with
increasing sea state.
In conditions where active steering is requ ired, (e.g. following sea condition) , the
value should be reduced.
The course selection section on the au topilot consists of a course d isplay, a cou rse
selector knob and two course adjustment buttons, PORT and STBD.
The Course Display gives a readout of actual ships heading in MANUAL-mode
and set course in AUTO-, WORK- and NAV-mode. The selected mode is also
shown to the left on the display by the same letter as on the mode buttons.
The course selector knob is used for major course changes in AUTO- and WORKmode. To activate the knob it must be pressed down, released, and then turned.
Clockwise turns gives a starboard cou rse chan ge and vice v ersa. O ne re vo lu tion on
the course selector knob is equal to a 60 degree course change. If the knob is not
turned within 10 seconds, it has to be pressed again.
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
Operation
The PORT and STBD push buttons are for minor course adjustments, pressed
once gives a one degree course change in the appropriate direction. In WORK-
mode however, the buttons are used for manual rudder trim, and course
changes can therefore only be made by the course selector knob.
Page 2-5
Navigating with the AP45
The AP45 has the capability to use steering information from an external
navigator (GPS, LORAN, Plo tter) to dir ect the boat to a sp ecific w aypo int lo cation,
or through a route of waypoints. In the NAV mode, the AP45 uses the heading
sensor as it's primary source of heading for course keeping. The steering
information received from the external navigator alters the set course to direct the
AP45 to the destination waypoint.
Note!
Navigational steering must only be used in open waters. The process of having an
external navigation receiver direct an autopilot can be a slow acting process. By
selecting the NAV mode, the AP45 is set for automatic steering on the current set
course and then waits for the user to accept the course change to the destination
waypoint.
To obtain satisfactory navigation steering, the following points must be fulfilled
prior to entering the NAV mode:
• The AP45 autosteering must be tested and found satisfactory.
• The navigation receiver must be operating and the navigation system (GPS,
LORAN, Decca) must be in full operating mode with adequate signal
characteristics for valid position and steering data.
• The magnetic compass or Fluxgate must have a minimum of deviation.
• At least one waypoint must be entered and selected as the current waypoint in
the navigation receiver.
Mixed mode, XTE & CTS
The AP45 is from the factory set up to steer in mixed mode operation (CTS &
XTE). This combines the straight steering capability of cross track error (XTE)
steering in conjunction with the turning capability of bearing mode steering (CTS).
When operating the AP45 in NAV mode to automatically steer through a route of
waypoints, it will steer to th e first waypo int in the route af ter you accept the first
waypoint as the location to steer to. When you arrive at the waypoint, you will
need to verify that the upcoming course change is acceptable. Verification is
performed by pre ssing the Alarm rese t button af ter the ale rt sc re e n is disp lay ed . I f
no verification is received, the AP45 will continue on the current set course in
AUTO mode.
Simrad Robertson AS
Egersund - Norway
Page 2-6 Robertson AP45 Autopilot
Operation
GPS satellite
00° ON TRAC K
NAVIGATION
INF O D IS PLA Y
WAYPOINT 1
RESET
Heading =100°
ALARM
WAYPOINT 2
ACCEPT CHANGE?
Y: RESET N: AUTO
INFO DISPLAY
04° XTE =R0.01NM
NAV IGA TION
INFO DISPL AY
XTE
RESET
WAYPOINT 3
New head ing = 70°
10MIN CH G 30°
NAVIGATION
INFO DIS P LAY
COURSE DISPLAY
Note!
Steering through a route of waypoints with the AP45 allows you the total flexibility
for automatic waypoint sequencing, but combines the safety feature of requiring
operator acknowledge for course changes in excess of 10 degrees.
If the AP45 is connected to a Nav. receiver that does not transmit a message with
bearing to next waypoint, it will pick a XTE message and steer on Cross Track
Error only. In that case you have to revert to AUTO mode at each waypoint and
manually change set course to equal bearing to next waypoint and then select NAV
mode again.
XTE mode
When the AP45 steers using cross track error only, it corrects the set course in
order to keep the vessel on a straight track between two waypoints. Bearing
change at waypoints must be made manually by temporarily go to Auto mode change set course - and revert to Nav. mode.
Use the following procedure for XTE steering:
1. Enter the desired bearing line(s) to the Nav. receiver using the present position
and the first waypoint or destination. Distance between waypoints should be of
minimum 2-3 n.m. Otherwise there may not be sufficient time for the system to
calculate the XTE, and fo r the autop ilot to alte r the cour se and bring th e ve ssel
onto the bearing line again.
2. Read the calculated bearing to waypoint from the Nav.receiver.
3. Select AUTO-mode on the AP45 , and set the course to the waypoint showed on
the navigation receiver.
Before going to step 4, ensure that the XTE is within +/- 0.1 n.m. to avoid
hazardous course change when selecting NAV-mode.
4. Select NAV-mode on the AP45. The autopilot now automatically changes the
set course to reduce the Cross Track Error (XTE) to zero. The information
display shows the number of degrees the autopilot has changed the set course,
and the XTE in 1/100's of a nautical mile. Note that the display readout will be
delayed, depending upon the NAV. FILTER setting.
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
Operation
5. As the vessel gets within the arrival circle set on the navigational receiver, or
Page 2-7
Example:
05° XTE=R 0.02Nm
NAVIGATION
R indicates that the vessel is located to the right of the bearing line, and L
indicates to the left of the bearing line.
00° ON TRACK
NAVIGATION
05° is the number of degrees course correction relative to initial set course. As
the vessel approaches the bearing line, the correction value decreases and
when the vessel is on track, the information display shows:
Note!
The display may show X number of degrees course correction even if it says “ON
TRACK”.
as the vessel passes the perpendicular line to the waypoint, the receiver
transmits a "data not valid" signal to the autopilot. An alarm will then activ ate
and the course to steer will no longer be updated.
To proceed to the next waypoint, the procedure should be repeated from step 2
onwards.
Procedure:
• Reset the alarm on the autopilot and navigational receiver.
• Select “AUTOPILOT” mode on the autopilot
• Use Course Change knob/button s on the autopilot to set the new course given
by the Nav. receiver.
• Press “NAV”
NOTE!
Navigational steering is a slow acting process and the vessel normally follows the
bearing line with a deviation of ±0.02 - 0.03 n.m.(40-50 meters). Higher deviation
may temporarily occur due to rapid change of current, wind, speed or at start-up
from a position off the track line.
05° XTE = R0.02NM
L LEFT
NAVIGATION
INFO D IS P L A Y
05°
BEARING LINE
WAYPOINT 3
00° ON TRACK
NAVIGA T ION
INFO D IS P L AY
WAYPOINT 1
R RIGHT
XTE= R0.02NM
RESET
ALARM
POOR NAVDATA
CHANGE MODE
INFO D IS P LA Y
Simrad Robertson AS
Egersund - Norway
WAYPOINT 2
NAV.RECEIVER
ALARM
Page 2-8 Robertson AP45 Autopilot
Operation
Steering by bearing to waypoint (CTS)
For some navigational receivers, bearing to a waypoint or course to steer is used
as the steering information.
If a satellite navigator is used, it should have compass and log input to ensure
proper dead reckoning between each fix.
1. Set the navigation receiver to calculate bearing to a waypoint from present
position.
2. Select AUTO-mode on the AP45, and set the course selector knob to the bearing
showed on the navigation receiver.
3. Select NAV-mode. The output signals from the navigation receiver will correct
the course to steer to make the vessel steer towards the waypoint.
The Information display shows time since last update and the amount of course
change in degrees, while the course display shows the new course to steer.
08 MIN CHG:05°
NAVIGATION
1. If the corrections from the navigation receiver initiates a course change greater
than 10 degrees, the autopilot alarm is activated and the course change has to
be acknowledged using the ALARM RESET button.
A typical sailing situation is illustrated in figure below.
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
Operation
WAYPOINT 1
Update
HDG=70°
Drift
Tr a n s it s a te llite s
Update
Page 2-9
Update
WAYPOINT 2
Heading: 100°
WAYPOINT 3
NEW HDG 65°
RESET
08MIN C H G 00°
NAVIGATION
INFO D I SP LA Y
COURSE DISPLAY
ALARM
00MIN CHG 05°
NAVIGATION
INFO DISPLAY INFO DISPLAY
COURSE DISPLAY COURSE DISPLAY
ACCEPT CHANGE?
Y: RESET N: AUTO
INFO D IS P LA Y
RESET
15MIN C H G 00°
NAVIGATION
15MIN C H G 00°
NAVIGATION
Waypoint 2 has been reached. Continue as follows:
• If the heading to next waypoint, showed on the heading display, is accepted,
press RESET.
If not, press AUTOPILOT mode and continue without Nav. Steering
By pressing RESET, the ne w heading is automatically entered and the autopilot
will turn the vessel towards the new heading.
When reaching waypoint 3, repeat the same procedure.
Simrad Robertson AS
Egersund - Norway
Page 2-10 Robertson AP45 Autopilot
Operation
Remote Controls General
F200-40 Remote Control
The different types of Remote Controls that can be connected to AP45, have
different way of operation, depending on the system configuration.
The F200-40 hand held remo te control makes it possible
to remotely control the AP45 autopilot.
The following control functions are obtainable:
• Display that shows vessel heading or set course like
the course display on the control uni t.
• Course selection by a rotating knob
• Course adjustments by push buttons
• Mode selection
• Manual steering by course selector knob (Follow-Up)
• Manual steering by push buttons (Non-Follow-Up)
Option (selected during installation or sea trial):
• Dodging by means of course selector knob and
automatic return to previous set course.
F200-40 without dodging
Press AP45
Mode
MANUAL
Function AP45
Display
NFU
steering by
F200
NON
FOLLOW UP
MANUAL
F200 Display
H 080 Vessel’s heading
PORT/STBD
push buttons
MODE MANUAL
Follow-Up
steering by
F200 course
selector
F200
FOLLOW UP
MANUAL
F ¯ 00
F
é 04
F
ù 32
Amidships, no
rudder command
4° port rudder
command
32° starboard rudder
command
MODE AUTO
Autosteering
Course set
A 146 Set course
AUTO
by the
AP45/F200
course
selector or
PORT/ STBD
button on
both
MODE
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
Operation
F200-40 with dodging
Page 2-11
Press AP45
Mode
MANUAL
MODE MANUAL
MODE AUTO
MODE
long
press
MODE
short
press
MODE
Returns
to
MANUAL
AUTO
Function AP45 Display F200 Display
NFU
steering by
NON FOLLOW UP
MANUAL
H 080 Vessel’s heading
F200
PORT/STBD
push
buttons
Follow-Up
steering by
F200 course
selector
F200 FOLLOW UP
MANUAL
F ¯00
é 04
F
Amidships, no
rudder command
4° port rudder
command
32° starboard
F
Autosteering
Course set
ù 32
A 146 Set course
AUTO
rudder command
by the
AP45/F200
course
selector or
PORT/
STBD
button on
both
DODGING
made by the
F200 course
selector
* * * * * * *
DODGING
F ¯00
é 04
F
Amidships, no
rudder command
4° port rudder
command
32° starboard
F
ù 32
rudder command
Returns to
previous set
course
S9 Steering Lever
The S9 steering lever is intended for use together with
e.g. AP45 Autopilot. Several units ca n be connected in
parallel, but only if configured as alternative 1 (see
next page)
Operation
Activation is achieved by pulling out the lever. The
lever is spring loaded to mid position , and can be use d
for starboard or port rudder commands. After
finishing the manoeuvres the lever will be locked
when pushed back to non-operational position.
Simrad Robertson AS
Egersund - Norway
Page 2-12 Robertson AP45 Autopilot
Operation
Alternative operation.
The S9 can be configured in four alternatives. At delivery from Robertson the S9 is
connected for alternative 1. If alternative 2, 3 or 4 is to be used, S9 has to be
modified according to the chapter “S9 Steering Lever”, page 5-26.
Note!
If a F200-40 also is connected, only alternative 1 can be used.
Alternative 1 (No resistor)
S9 Lever AP45 Mode Function AP45 Displays
IN MANUAL S9 locked NON FOLLOW UP
MANUAL
OUT MANUAL NFU steering by
moving lever to
NON FOLLOW UP
MANUAL
left or right
IN AUTO,
WORK
OUT AUTO,
WORK
S9 locked
AUTOMATIC
Course change
by moving lever AUTOMATIC
Alternative 2 (R = 1K)
S9 Lever AP45 Mode Function AP45 Displays
IN MANUAL S9 locked NON FOLLOW UP
MANUAL
OUT MANUAL NFU steering by
moving lever to
NON FOLLOW UP
MANUAL
left or right
IN AUTO,
WORK
S9 locked
AUTOMATIC
H 080
H 080
A 146
A 146
H 080
H 080
A 146
OUT AUTO,
WORK
IN AUTO,
WORK
Dodging made by
lever
S9 locked.
Return to
previous course
Simrad Robertson AS
Egersund - Norway
DODGING H 080
A 146
AUTOMATIC
Robertson AP45 Autopilot
Operation
Alternative 3 (R = 3K)
S9 Lever AP45 Mode Function AP45 Displays
Page 2-13
IN MANUAL S9 locked NON FOLLOW UP
MANUAL
OUT MANUAL NFU steering by
moving lever to
NON FOLLOW UP
MANUAL
left or right
IN AUTO,
WORK
OUT MANUAL NFU-steering by
IN MANUAL
Remains in
manual mode
until new mode
has been selected
on control unit.
S9 locked
moving lever
S9 locked.
Return to
previous course
AUTOMATIC
NON FOLLOW UP
MANUAL
NON FOLLOW UP
MANUAL
Alternative 4 (R = 5,1K)
S9 Lever AP45 Mode Function AP45 Displays
IN MANUAL S9 locked NON FOLLOW UP
MANUAL
H 080
H 080
A 146
H 080
H 080
H 080
OUT MANUAL NFU steering by
moving lever to
left or right
IN AUTO,
S9 locked
WORK
OUT MANUAL NFU-steering by
moving lever
IN AUTO,
WORK
S9 locked.
Continues on
new set course,
same as vessel’s
heading
NON FOLLOW UP
MANUAL
AUTOMATIC
NON FOLLOW UP
MANUAL
AUTOMATIC
H 080
A 146
H 080
A 080
Simrad Robertson AS
Egersund - Norway
Page 2-14 Robertson AP45 Autopilot
Operation
FU91 Follow up Steering Lever
Operation
The FU91 is activated by operating the push to
take command (PTTC) button. When in
“COMMAND”, the button light is switched on
and the autopilot INFO display will show:
FOLLOW UP
HELMSMAN
Rudder commands are made by setting the lever
to the required rudder angle, wherafter th e
rudder will move to the commanded angle and
stop.
FU91 may be connected to AP45 in two different
ways. See Fig. 5-32 and Fig. 5-33
FU91 without mode switching
The lever can only be activated when the autopilot is in Helmsman mode. Pressing
the PTTC button repeatedly will toggle between NFU and FU mode on AP45. See
table below.
FU91
Switch
AP45
Mode
Function AP45 Displays
OFF MANUAL NFU steering by NFU
lever or push button
control
ON MANUAL Foll ow Up steering by
moving FU91 lever to
desired rudder angle
as read on FU91
ON-OFF AUTO Automatic steering
Note!
If the Helmsman button is pressed when the FU91 is active, or if a NFU lever is
operated, the autopilot will go to NFU mode even though the PTTC button light is
on. However, as soon as the FU91 is operated again (lever is moved), the autopilot
will resume FU mode.
For safety reason, the FU91 should always be switched to OFF when not in use.
FU91 with mode switching
The lever can be activated also with autopilot in Auto mo de. Pressing the PTTC
button brings the AP45 into Helmsman mode. Wh at mode/sequence you get when
pressing the PTTC button again is depending on w hich value of the re sistor R is
installed (Ref. page 5-29)
R = 1K: Auto - Dodge - Auto (previous course)
R = 3K: Auto Manual - Manual
R = 5,1K: Auto - Manual - Auto (new course)
NON FOLLOW UP
MANUAL
FOLLOW UP
MANUAL
* * * * *
AUTO
H 085
H 085
A 080
The mode change sequence is in principle similar to S9 oper ation alt. 2, 3 and 4
explained at page 2-12 and 2-13.
Simrad Robertson AS
Egersund - Norway
Robertson AP45 Autopilot
Operation
Multiple FU91 installation
The operation of each lever is identical to above description of a single lever.
Activating one FU91 will deactivate the one that was previously active.
FU91 and S9 connected to the same autopilot
It is recommended not to have both S9 and FU91 in operational condition at the
same time. This may create confusion and inadvertent operation . The main rules
are:
• Always put the S9 lever to locked position after use .
• Always switch the FU91 to OFF after use.
Page 2-15
Simrad Robertson AS
Egersund - Norway
Page 2-16 Robertson AP45 Autopilot
Operation
Fault warnings
The following fault warnings may be shown on the Information Display:
OFF COURSE
RESET ALARM
Course deviation is greater than selected off course alarm limit. Press the Alarm
button to cancel the alarm. The alarm is automatically reset when the vessel is
back within the limit.
RUDDER FEEDBACK
FAIL!
Indicates that the autopilot is not r eading r udder f eedback sig nal. By pre ssing the
alarm reset button, the audible alarm will be re set and th e auto pilot will sw itch to
a simulated signal, instead of the real. This is indicated by a flashing * * SIM * *
on the information display. Repair actions should be taken when back in port.
NO RESPONSE
FROM RUDDER
If a rudder command is not executed, or the rudder moves in wrong direction, this
message will be shown on the display. The reason can be a malfunction of the
steering gear, or simply that the steering gear is not switched on.
NAVDATA NOT REC.
CHANGE MODE
Check that the nav. receiver is turned on and set up properly (see nav. receiver
manual).
POOR NAVDATA
CHANGE MODE
Poor reception conditions or improper set-up of nav. receiver.
WRONG DATAFORMAT
NAVRECEIVER
Wrong NMEA-format selected on autopilot or transmitted by nav. receiver.
MAGN.COMP.FAIL
SELECT SENS.TYPE
All three messages indicate problems with reading the signals from the navigation
receiver. If you are unable to cure the problem, the NAV-mode should not be used
before a Robertson dealer has been consulted.
These alarms will be given w hen the autopilot is u nable to detect a proper sig nal
from the selected heading sensor. The reason can be a faulty sensor or wrong
selection of sensor (See “Type of Heading Sensor”, page 6-4).
FLUXGATE FAIL
SELECT SENS.TYPE
GYROCOMPASS FAIL
SELECT SENS.TYPE
DATA FAILURE
CHECK SETTINGS
If the autopilot should lose or read erratic data stored in the memory, this alarm
will be given, and the autopilot is simultaneously set to MANUAL-mode.
Simrad Robertson AS
Egersund - Norway
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