Simrad ROBERTSON AP45 Instruction Manual

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INSTRUCTION MANUAL

Robertson AP45

Autopilot

20220042/6/02

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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

Simrad Robertson AS

Egersund - Norway

MODIFICATION RECORD

Robertson AP45 Autopilot

Document revisions

Rev. Written by Checked by Approved by

Date Sign. Date Sign. Date Sign.

January 1996 08.01.96

N.G.

08.01.96

I.K.

08.01.96

Th.H.

September 1997 08.09.97

N.G.

08.09.97

I.K.

08.09.97

Th.H.

October 1998 01.10.98

N.G.

01.10.98

I.K.

01.10.98

Th.H.

September 1999 15.09.99

N.G.

15.09.99

I.K.

15.09.99

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 mak ing 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

Robertson AP45 Modification record

Simrad Robertson AS

Egersund - Norway

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 aut opilot is prohibited by law

When using an autopilot:

• Do not leave the helm unattended

• Do not place any magnetic materi al 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

Robertson AP45 Modification record

Simrad Robertson AS

Egersund - Norway

Robertson AP45 Autopilot Table of contents

Simrad Robertson AS

Egersund - Norway

Page I

TABLE OF CONTENTS

1. GENERAL INFORMATION..................................................1-1

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

2. OPERATION OF THE AUTOPILOT...................................2-1

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

Page II Robertson AP45 Autopilot

Table of contents

Simrad Robertson AS

Egersund - Norway

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

Robertson AP45 Autopilot Table of contents

Simrad Robertson AS

Egersund - Norway

Page III

7. TROUBLE SHOOTING .........................................................7-1

Fault warnings...............................................................................................................7-1

Debug/Adjust mode.......................................................................................................7-5

8. SPARE PARTS AND DRAWINGS.......................................8-1

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

9. SALES AND SERVICE WORLDWIDE (990901)...................9-1

LIST OF DRAWINGS

FIG. 1-1 AP45 SYSTEM LAYOUT - BASIC SYSTEM WITH OPTIONS................................1-1

IG. 2-1 AP45 CONTROL UNIT - FRONT PANEL...........................................................2-1

IG. 3-1 AUTOPILOT PRINCIPL E DIAGRAM ...................................................................3-1

IG. 3-2 PROCESSOR CONTROLLED AUTOPILOT ...........................................................3-1

IG. 3-3 COURSE DETECTOR PRINCIP LE......................................................................3-2

IG. 3-4 RF45X PRINCIPLE .........................................................................................3-3

IG. 3-5 BASIC SYSTEM................................................................................................3-4

IG. 3-6 SOLENOIDS WITH POSITIVE COMMON ............................................................3-5

IG. 3-7 SOLENOIDS WITH NEGATIVE COMMON...........................................................3-5

IG. 3-8 J45A PRINCIPLE ............................................................................................3-6

IG. 4-1 AP45 CONTROL UNIT - DIMENSIONS.............................................................4-1

IG. 4-2 CD109 COURSE DETECTOR............................................................................4-2

IG. 4-3 RFC35NS - DIMENSIONS ..............................................................................4-3

IG. 4-4 G40A GYRO INTERFACE - DIMENSIONS.........................................................4-4

IG. 4-5 FI100-40 FLUXGATE INTERFACE - DIMENSIONS ...........................................4-5

IG. 4-6 RF45X RUDDER FEEDBACK - DIMENSIONS...................................................4-5

IG. 4-7 RF14XU RUDDER FEEDBACK UNIT - DIMENSIONS........................................4-6

IG. 4-8 J45S/J45A/G45 - DIMENSIONS .....................................................................4-7

IG. 4-9 S9 STEERING LEVER - DIMENSIONS ..............................................................4-8

IG. 4-10 FU91 STEERING LEVER - DIMENSIONS.......................................................4-8

IG. 4-11 S35 STEERING LEVER - DIMENSIONS ..........................................................4-9

IG. 4-12 F1/2 REMOTE CONTROL - DIMENSIONS.....................................................4-10

IG. 4-13 F200-40 REMOTE CONTROL DIMENSIONS.................................................4-10

IG. 4-14 RI35 RUDDER ANGLE INDICATOR - DIMENSIONS......................................4-11

IG. 4-15 RI9 RUDDER ANGLE INDICATOR - DIMENSIONS........................................4-12

IG. 5-1 AP45 CONTROL UNIT - PANEL MOUNT .........................................................5-1

IG. 5-2 AP45 CONTROL UNIT - BRACKET MOUNTING ...............................................5-1

IG. 5-3 CONTROL UNIT - CONNECTOR MOUNTING......................................................5-2

IG. 5-4 AP45 EXTERNAL CABLING DIAGRAM .............................................................5-3

IG. 5-5 CD109 COURSE DETECTOR - MOUNTING ......................................................5-5

IG. 5-6 AP45/RFC35NS - CONNECTION...................................................................5-7

IG. 5-7 RFC35NS - INTERNAL CONNECTION ...........................................................5-7

Page IV Robertson AP45 Autopilot

Table of contents

Simrad Robertson AS

Egersund - Norway

FIG. 5-8 AP45/FI100-40 FLUXGATE INTERFACE - WIRING.........................................5-8

IG. 5-9 G40A GYRO INTERFACE CONNECTIONS........................................................5-9

IG. 5-10 G40A PC-BOARD - SWITCH LOCATION.......................................................5-10

IG. 5-11 CONNECTION TO G45 EXCITATED SYNCHRO TRANSMITTER.......................5-11

IG. 5-12 CONNECTION TO GYRO EXCITATED SYNCHRO T RANSMITTERS ...................5-11

IG. 5-13 G45 INPUT/OUTPUT...................................................................................5-12

IG. 5-14 AP45/RGC SIGNAL INTERFACE UNIT - WIRING........................................5-12

IG. 5-16 RF45X RUDDER FEEDBACK UNIT - MOUNTING........................................5-13

IG. 5-17 RF14XU - MOUNTING...............................................................................5-14

IG. 5-18 RF45 TEMPLATE SCALE 1:1 ......................................................................5-15

IG. 5-19 SCREEN TERMINATION...............................................................................5-17

IG. 5-20 RF14XU INTERNAL WIRING......................................................................5-18

IG. 5-21 RF14XU/J45S - WIRING ...........................................................................5-19

IG. 5-22 J45A JUNCTION UNIT GROUNDING...........................................................5-21

IG. 5-23 AP45 WIRING DIAGRAM - BASIC SYSTEM (015936H).................................5-22

IG. 5-24 AP45 WIRING DIAGRAM - SOLENOIDS WITH POSITIVE COMMON (015936H)5-23

IG. 5-25 AP45 WIRING DIAGRAM - SOLENOIDS WITH NEGATIVE COMMON (015936H)5-24

IG. 5-26 AP45/J45 WIRING DIAGRAM......................................................................5-25

IG. 5-27 F200-40/AP45 - WIRING DIAGRAM............................................................5-26

IG. 5-28 S9 MOUNTING ...........................................................................................5-26

IG. 5-29 S9/AP45 - WIRING DIAGRAM .....................................................................5-27

IG. 5-30 S9 STEERING LEVER - INTERNAL W IRING..................................................5-27

IG. 5-31 FU91 MOUNTING ......................................................................................5-28

IG. 5-32 FU91 WITHOUT MODE SWITCHING ............................................................5-28

IG. 5-33 FU91 WITH MODE SWITCHING...................................................................5-29

IG. 5-34 FU91 MULTIPLE INSTALLATION................................................................5-29

IG. 5-35 S35, F1/2 - AP45 - WIRING DIAGRAM........................................................5-30

IG. 5-36 AP45 WIRING DIAGRAM - J3 W/MULTIPLE INPUT......................................5-30

IG. 5-37 RI9 WIRING DIAGRAM................................................................................5-31

IG. 5-38 RI9 INPUT SIGNAL SELECTION ..................................................................5-32

IG. 5-39 RI35-J45A WIRING DIAGRAM...................................................................5-33

IG. 5-40 RI35-J45S WIRING DIAGRAM ...................................................................5-33

IG. 5-41 PANEL MOUNTING......................................................................................5-34

IG. 5-42 RI35 BRACKET MOUNTING .......................................................................5-34

IG. 5-43 N40 NAV. INTERFACE MOUNTING (FOR MAIN PCBS WITH REVISION UP TO

AND INCLUDING REVISION

G).............................................................................5-36

IG. 5-44 AP45/NAVIGATION RECEIVER - WIRING ....................................................5-37

IG. 5-45 WA9 CIRCUIT/WIRING DIAGRAM ...............................................................5-37

IG. 6-1 AP45 INSTALLATION LOOP............................................................................6-3

IG. 6-2 COUNTER RUDDER SETTINGS.........................................................................6-7

IG. 8-1 AP45 EXPLODED VIEW ..................................................................................8-2

IG. 8-2 AP45 SIGNAL REFERENCE.............................................................................8-3

IG. 8-3 CD109 - SPARE PARTS...................................................................................8-4

IG. 8-4 G40A COMPONENT REFERENCE ....................................................................8-5

IG. 8-5 G40A CIRCUIT DIAGRAM ...............................................................................8-6

IG. 8-6 G45 COMPONENT REFERENCE.......................................................................8-7

IG. 8-7 G45 CIRCUIT DIAGRAM..................................................................................8-8

IG. 8-8 RF14XU - SPARE PARTS................................................................................8-9

IG. 8-9 J45S COMPONENT REFERENCE...................................................................8-10

IG. 8-10 J45S CIRCUIT DIAGRAM.............................................................................8-11

IG. 8-11 J45A COMPONENT REFERENCE.................................................................8-12

IG. 8-12 J45A CIRCUIT DIAGRAM ............................................................................8-13

IG. 8-13 F200-40 COMPONENT REFERENCE............................................................8-14

IG. 8-14 F200-40 CIRCUIT DIAGRAM .......................................................................8-15

IG. 8-15 RI40 EXPLODED VIEW ...............................................................................8-17

Robertson AP45 Autopilot General Information

Simrad Robertson AS

Egersund - Norway

Page 1-1

1. GENERAL INFORMATION

Today Simrad manufac ture a complete range of au topilots for all types of vessels, from leisure boats u p to advanced steerin g systems for merchan t marine vessels. Our factory for these products – branded Robertson – is located in Egersund, on the south/west coast of Norway. The compan y’s inv olve ment in autopilo ts began 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

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 butto ns it has two LCD-displays and a cour se 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:

Introduction

System description

AP45 Control Unit

Heading Sensors

Page 1-2 Robertson AP45 Autopilot

General Information

Simrad Robertson AS

Egersund - Norway

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 vessel'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 signal o utput f rom th e gy ro comp ass to ge nerate 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.

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.

Rudder Feedback Units

Robertson AP45 Autopilot General Information

Simrad Robertson AS

Egersund - Norway

Page 1-3

Except for a bigger cabinet, the J45S and the J45A junction units d escribed 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 printe d circuit board with terminal 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 alumin ium housing. The internal me chanism 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) steeri n g 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 co mmand bu tton. By position ing 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 selec tor knob to set course o r rudder angle. It has push butto ns for power steering, course adjustment and mode selection between power steering, dodging and auto ste ering. The unit consists of a PC board moun ted in a splash proof aluminium cabinet fitted with a 7m (23 ft) cable connecting to th e control unit.

Junction units

Optional equipment

Remote Controls

Page 1-4 Robertson AP45 Autopilot

General Information

Simrad Robertson AS

Egersund - Norway

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 eith er bulkhead or

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 br idge wi ngs a s well as wheel hous e a nd engine room. RI35 is delivered with a 20 meter (65 feet) cable.

Rudder Angle Indicators

Robertson AP45 Autopilot Operation

Simrad Robertson AS

Egersund - Norway

Page 2-1

2. OPERATION OF THE AUTOPILOT

Fig. 2-1

AP45 Control Unit - front panel

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 adjustmen ts in steps of one degree can be achieved by the port or starboard push buttons.

The front panel has two LCD di splays, referred to as th e information display (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 ordinary 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 the OFF-button and the 4 mo de 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 th e 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".

General

Front Panel

Mode selection

Page 2-2 Robertson AP45 Autopilot

Operation

Simrad Robertson AS

Egersund - Norway

Any difference betwee n cou rse to stee r an d the ve sse l's actual h e adin g w ill th en be shown as a bargraph in t he Information Display. One bar eq uals 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 the 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 build 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 th e AP45, an alarm w ill be g iven to aler t 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. The alarm ceases w hen th e AP45 is switche d off . If the OFF-button is r eleased before two seconds have elapsed, the autop ilot 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.

Robertson AP45 Autopilot Operation

Simrad Robertson AS

Egersund - Norway

Page 2-3

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.

General The middle section of the AP45 control unit contains 4 push buttons and an

Information Disp lay. 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 se t by the n umbe r o f bars as we ll as in p lain fig u res. 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:

Then it switches to:

If the autopilot is connected to and set up for a gy rocompass with g eared synchro or stepper signal, the display will show at turn on:

Use the + or - button until the autopilot display shows the same heading as the gyrocompass.

Then press the MANUAL button and the display will again show:

When clear of obstacles and in open waters, steer your vessel on course and press the AUTO button.

The display will now show:

and the autopilot will automatically keep your vessel on course. INCREASE and DECREASE

Parameter setting

SOFTWARE V_R_

MANUAL

NON FOLLOW UP

MANUAL

GYROADJUST

PRESS +/-

NON FOLLOW UP

MANUAL

→←

AUTOMATIC

Page 2-4 Robertson AP45 Autopilot

Operation

Simrad Robertson AS

Egersund - Norway

These buttons are used to alter variou s settings. Each time o ne button is pre ssed, the value shown on the Information Display, will increase (+) or decrease (—) 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 automatically increase or d ecrease un til 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 th ere 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 increa se 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 slow oscillations (s-ing) around set course, and several rudder commands are given in the same direction before the vessel is back on course.

A value which is too high will give quick and in worst case increasing oscillations (s-ing) around set course.

The correct setting of RUDDER will be app rox imate ly in the midd le of the 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 require d, (e.g. following sea condition) , the value should be reduced.

The course selection section on the auto pilot consists of a course d isplay, a cour se 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 co ur se ch ang e and v ice ve rsa. O ne rev o lutio n o n 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.

Course selection

Robertson AP45 Autopilot Operation

Simrad Robertson AS

Egersund - Norway

Page 2-5

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.

The AP45 has the capability to use steering information from an external navigator (GPS, LORAN, Plo tter) to dire ct the bo at to a spe cific way poin t loc ation, 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.

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 waypoin t in the route afte r 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 pressin g the Alarm rese t button afte r the ale rt sc re e n is d isp laye d . If no verification is received, the AP45 will continue on the current set course in AUTO mode.

Navigating with the AP45

Mixed mode, XTE & CTS

Page 2-6 Robertson AP45 Autopilot

Operation

Simrad Robertson AS

Egersund - Norway

WAYPOINT 1

WAYPOINT 2

WAYPOINT 3

New heading = 70°

Heading =100°

INF O DISP L A Y

00° ON TRACK NAVIGATION

INF O D ISP L AY

04° XTE =R0.01NM NAV IGA T ION

XTE

ALARM

ACCEPT CHANGE? Y: RESET N: AUTO

INFO DISPLAY

RESET

10MIN CH G 30° NAVIGATION

RESET

COURSE DISPLAY

INFO D IS P LA Y

GPS satellite

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.

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 au topilo t to alte r the c ourse and br ing the 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.

XTE mode

Robertson AP45 Autopilot Operation

Simrad Robertson AS

Egersund - Norway

Page 2-7

Example:

R indicates that the vessel is located to the right of the bearing line, and L indicates to the left of the bearing line.

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”.

5. As the vessel gets within the arrival circle set on the navigational receiver, or

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 activate 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 c ourse 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.

ALARM

NAV.RECEIVER

05° XTE = R0.02NM NAVIGATION

POOR NAVDATA

CHANGE MODE

00° ON TRACK NAVIGA TION

WAYPOINT 3

WAYPOINT 2

WAYPOINT 1

INFO D IS P L A Y

INFO D IS P LA Y

INFO D ISPLAY

05°

BEARING LINE

XTE= R0.02NM

R RIGHT

L LEFT

RESET

ALARM

05° XTE=R 0.02Nm

NAVIGATION

00° ON TRACK

NAVIGATION

Page 2-8 Robertson AP45 Autopilot

Operation

Simrad Robertson AS

Egersund - Norway

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.

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.

Steering by bearing to waypoint (CTS)

08 MIN CHG:05°

NAVIGATION

Robertson AP45 Autopilot Operation

Simrad Robertson AS

Egersund - Norway

Page 2-9

WAYPOINT 1

WAYPOINT 2

WAYPOINT 3

Update

ALARM

ACCEPT CHANGE? Y: RESET N: AUTO

INFO D IS P LA Y

RESET

15MIN C H G 00° NAVIGATION

RESET

Heading: 100°

Drift

NEW HDG 65°

HDG=70°

Tr a n s it s a te llite s

08MIN C H G 00° NAVIGATION

00MIN CHG 05° NAVIGATION

15MIN C H G 00° NAVIGATION

INFO DISP LA Y

COURSE DISPLAY

INFO DISPLAY INFO DISPLAY

COURSE DISPLAY COURSE DISPLAY

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 new heading is automatically entered and the autopilot will turn the vessel towards the new heading.

When reaching waypoint 3, repeat the same procedure.

Page 2-10 Robertson AP45 Autopilot

Operation

Simrad Robertson AS

Egersund - Norway

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 remote 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 unit.

• 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

Function AP45

Display

F200 Display

MANUAL

NFU steering by F200 PORT/STBD push buttons

NON

FOLLOW UP

MANUAL

H 080 Vessel’s heading

MODE MANUAL

Follow-Up steering by F200 course selector

F200

FOLLOW UP

MANUAL

F ¯ 00

é 04

ù 32

Amidships, no rudder command 4° port rudder command 32° starboard rudder command

MODE AUTO

Autosteering Course set by the AP45/F200 course selector or PORT/ STBD button on both

AUTO

A 146 Set course

MODE

Remote Controls General

F200-40 Remote Control

Robertson AP45 Autopilot Operation

Simrad Robertson AS

Egersund - Norway

Page 2-11

F200-40 with dodging

Press AP45

Mode

Function AP45 Display F200 Display

MANUAL

NFU steering by F200 PORT/STBD push buttons

NON FOLLOW UP

MANUAL

H 080 Vessel’s heading

MODE MANUAL

Follow-Up steering by F200 course selector

F200 FOLLOW UP

MANUAL

F ¯00

é 04

ù 32

Amidships, no rudder command 4° port rudder command 32° starboard rudder command

MODE AUTO

Autosteering Course set by the AP45/F200 course selector or PORT/ STBD button on both

AUTO

A 146 Set course

MODE

long

press

Returns

MANUAL

MODE

short press

AUTO

DODGING made by the F200 course selector

* * * * * * *

DODGING

F ¯00

é 04

ù 32

Amidships, no rudder command 4° port rudder command 32° starboard rudder command

MODE

Returns to previous set course

The S9 steering lever is intended for use together with e.g. AP45 Autopilot. Several units can 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 used for starboard or port rudder commands. After finishing the manoeuvres the lever will be locked when pushed back to non-operational position.

S9 Steering Lever

Page 2-12 Robertson AP45 Autopilot

Operation

Simrad Robertson AS

Egersund - Norway

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

H 080

OUT MANUAL NFU steering by

moving lever to left or right

NON FOLLOW UP

MANUAL

H 080

IN AUTO,

WORK

S9 locked

AUTOMATIC

A 146

OUT AUTO,

WORK

Course change by moving lever AUTOMATIC

A 146

Alternative 2 (R = 1K)

S9 Lever AP45 Mode Function AP45 Displays

IN MANUAL S9 locked NON FOLLOW UP

MANUAL

H 080

OUT MANUAL NFU steering by

moving lever to left or right

NON FOLLOW UP

MANUAL

H 080

IN AUTO,

WORK

S9 locked

AUTOMATIC

A 146

OUT AUTO,

WORK

Dodging made by lever

DODGING H 080

IN AUTO,

WORK

S9 locked. Return to previous course

AUTOMATIC

A 146

Robertson AP45 Autopilot Operation

Simrad Robertson AS

Egersund - Norway

Page 2-13

Alternative 3 (R = 3K)

S9 Lever AP45 Mode Function AP45 Displays

IN MANUAL S9 locked NON FOLLOW UP

MANUAL

H 080

OUT MANUAL NFU steering by

moving lever to left or right

NON FOLLOW UP

MANUAL

H 080

IN AUTO,

WORK

S9 locked

AUTOMATIC

A 146

OUT MANUAL NFU-steering by

moving lever

NON FOLLOW UP

MANUAL

H 080

IN MANUAL

Remains in

manual mode

until new mode

has been selected

on control unit.

S9 locked. Return to previous course

NON FOLLOW UP

MANUAL

H 080

Alternative 4 (R = 5,1K)

S9 Lever AP45 Mode Function AP45 Displays

IN MANUAL S9 locked NON FOLLOW UP

MANUAL

H 080

OUT MANUAL NFU steering by

moving lever to left or right

NON FOLLOW UP

MANUAL

H 080

IN AUTO,

WORK

S9 locked

AUTOMATIC

A 146

OUT MANUAL NFU-steering by

moving lever

NON FOLLOW UP

MANUAL

H 080

IN AUTO,

WORK

S9 locked. Continues on new set course, same as vessel’s heading

AUTOMATIC

A 080

Page 2-14 Robertson AP45 Autopilot

Operation

Simrad Robertson AS

Egersund - Norway

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:

Rudder commands are made by setting the lever to the required rudder angle, wherafter the 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

NON FOLLOW UP

MANUAL

H 085

ON MANUAL Follow Up steering by

moving FU91 lever to desired rudder angle as read on FU91

FOLLOW UP

MANUAL

H 085

ON-OFF AUTO Automatic steering

* * * * *

AUTO

A 080

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 ac tivated also with autopilot in Auto mod e. Pressing the PTTC

button brings the AP45 into Helmsman mode. What mo de/sequence y ou get when pressing the PTTC button ag ain is depending on wh ich value of the resisto r 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)

The mode change sequence is in principle similar to S9 operatio n alt. 2, 3 and 4 explained at page 2-12 and 2-13.

FU91 Follow up Steering Lever

FOLLOW UP HELMSMAN

Robertson AP45 Autopilot Operation

Simrad Robertson AS

Egersund - Norway

Page 2-15

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 h ave both S9 and FU91 in operational condition at the

same time. This may create confusion an d inadvertent operation. Th e main rules are:

• Always put the S9 lever to locked position after use .

• Always switch the FU91 to OFF after use.

Page 2-16 Robertson AP45 Autopilot

Operation

Simrad Robertson AS

Egersund - Norway

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 re ading ru dder f eedback sig nal. By pre ssing the alarm reset button, the audible alarm w ill be rese t and the autop ilot will sw itch to a simulated signal, instead of th e 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

FLUXGATE FAIL

SELECT SENS.TYPE

GYROCOMPASS 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 sign al 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).

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.

Fault warnings

Robertson AP45 Autopilot Operation

Simrad Robertson AS

Egersund - Norway

Page 2-17

A selection of standard settings is then automatically entered into the memory. The standard settings will make the autopilot steer, but not to its best performance on all vessels. They should therefore be checked (See “Selection of parameter settings”, page 6-2).

If you prefer not to check the settings yourselves, enter the AUTO mode and consult your Simrad Robertson dealer when back in port.

Only if Watch alarm function is enabled. Ref. “Watch alarm”, page 5-37.

WATCH ALARM

PRESS RES BUTTON

The watch alarm warning signal is rep eate d e v er y f ou r min ute s as lo ng as AP45 is in Auto, Work or Nav mode and is reset by pressing Alarm reset button.

If you want to permanently disable the watch alarm function: Press the hidden bu tton above the + butto n entering De bug mode and then press

the WEATHER button repeatedly until the information display shows SOFTWARE/RUNTIME. Press the DECREASE (-) button repeatedly (six times) until the display shows DATA FAILURE - CHECK SETTINGS. Press the ALARM RESET button and the Watch Alarm function is disabled.

Note! This procedure is considered as a “Master reset” of the AP45 and you must therefore check all settings described under “Selection of parameter settings”, page 6-2 or consult your Simrad Robertson dealer when back in port.

For further explanation to Fault warnings, see page 7-1

Page 2-18 Robertson AP45 Autopilot

Operation

Simrad Robertson AS

Egersund - Norway

Robertson AP45 Autopilot Design and theory of operation

Simrad Robertson AS

Egersund - Norway

Page 3-1

3. DESIGN AND THEORY OF OPERATION

An autopilot is an apparatus that controls the rudder of a vessel in order to maintain a selected heading.

There are different design prin ciples for such an apparatus, but the y all basically operate as shown in Fig. 3-1.

This diagram shows th at the vessel's heading is supplied f rom the compass to a detector circuit. The dete ctor will sense when the vessel is off cou rse and to what side. The detected signal is amplified and directed to either energise the port or starboard solenoids, i.e. make the rudder move one way or the other.

COMPASS

DET AMP

FEEDBACK

UNIT

STBD. TRIGGER

PORT TRIGGER

SOLENOID

RUDDER

HEADING

RUDDER POSITION

Fig. 3-1

Autopilot principle diagram

I/O

INTE RFACE

DRIVER

GYRO

COMPASS

MAG NE T IC

COMPASS

COURSE

SELE CTO R

DISPLAY

RUDDER

FEEDBACK

PROG RAM

CPU

KEYPAD

RUDDER

SOLENO ID VALVES

Fig. 3-2

Processor controlled autopilot

Automatic Steering

Page 3-2 Robertson AP45 Autopilot

Design and theory of operation

Simrad Robertson AS

Egersund - Norway

In order to stop the rudder movement, a feedback signal is produced from the feedback unit. The feedback signal w ill be compared with the comp ass signal and when there is a balance be tween the two, the soleno id will be de-energised . The rudder has now been mov ed to a positio n that makes the vesse l turn. This turn is picked up by the compass and causes a new unbalance between the feedback signal and the erro r signal which e nergises th e opposite solenoid . Now the rudder will start to move back towards the previous positio n, and the f eedback sign al will again cancel out the unbalance and de-energise the solenoid to stop the rudder.

By utilising digital technology to perfo rm the function of an autop ilot, the typical block diagram will be slightly changed. Even so, the basic operation should be recognised on Fig. 3-2.

As we know, a microprocessor can only do what it has been programmed to. This is called software. The program can be either fixed or partly adjustable to adapt the microprocessor to the individual type of vessels. In Robertson terminology this is called "setting parameters", and it will determine the performance of the autopilot.

The AP45 Control Unit contains two electro nic boards, the Control Board an d the Illumination Board. An optional navigation interface board (N40) may be supplied.

The Control Board contains the micro-computing circuitry, and a plug-in PC-board for the Course Display. The alarm circuit is also mounted on this board.

The Illumination board consists of the display backlighting- and the In formation display electronics.

All interconnecting plugs for heading sensors, junction unit and remote controls are mounted on the Control Board.

The two boards are intercon nected with a ribbon cable which are soldered to th e illumination board and plugged into the control board.

All parameter settings and operation of the autopilot are made using the push buttons on the front panel.

CD109 is a magnetic compass sensor in moulded plastic. It is mounte d to a ve sse l's magnetic compass to transfer the heading information to the control unit. The primary windings are excited by a pulsating sign al. Dependant of the magn etism induced by the position of the compass card magnets (Heading), pulses of variable amplitude will be generated in the secondary sine and cosine windings. These pulses are filtered through the R/C network and amplified before entering the A/D converter.

AP45 Control Unit

CD109 Course Detector

Exitation

Digital HeadingC1

A/D

CONV.

2.5V (Ref.)

HEAD 2 (COS)

HEAD 1 (SIN)

Fig. 3-3

Course Detector principle

Robertson AP45 Autopilot Design and theory of operation

Simrad Robertson AS

Egersund - Norway

Page 3-3

The rudder feedback unit transmits rudder angle information to the control unit and rudder angle indicators. It is mounted close to the rudder stock and

mechanically connected to the rudder tiller arm by a transmission link.

The RF45X contains a circular PCB carrying all the electronics and a long life potentiometer con nected to the PCB by three wire s. The unit is repair able in that the electronics and the potentiometer can be replaced.

The electronics have two output circu its. One circuit outputs fr equency of 3400Hz as midposition reference. It varies at a rate of 20Hz/degree, increasing when the rudder moves to port and vice versa.

The other circuit outputs a current (0.1-1.1mA), to the rudder angel indicator(s) (RI35 and RI9).

The RF45X is supplied with a fixed 4-wire, screened cable of 2 m (6 ft.). Th is cable is meant to be spliced in the enclosed splash-proof junction box.

The shaft of the fe edback unit is free to travel 360 degre es, but only ±70 de grees from midposition are used for signal control.

The transmission link mechanically con nects the fee dback unit to the rudde r tille r arm. It is made of stainless steel and has standard length of 450 mm.

Fig. 3-4

RF45X principle

The RF14XU Rudder Feedback Unit consists of a glass-reinforced fire inhibiting polyester housing with a mounting plate of seawater resistant aluminium. Potentiometer, limit switches and an e lectro nic drive mo dule are also contained in the unit. The electronic drive module comprises a voltage section and a frequency section.

The voltage section outputs a voltage to the rudder angle indicator(s) which is proportional to the rudder angle. The voltage varies ±9V with half of the supply voltage as reference. The voltage should read zero volts with the rudder in midposition.

The frequency section outputs a signal to the control unit with 3400 Hz as midposition reference. It varies at a rate of 20 Hz/degree, increasing when the rudder moves to port and vice versa.

The shaft of the Feedback Unit is free to trave l 360 degrees, but o nly ±90 degree s from midposition are used for signal control.

Rudder Feedback Units

RF45X Rudder Feedback Unit

RF14XU Rudder Feedback Unit (optional)

Page 3-4 Robertson AP45 Autopilot

Design and theory of operation

Simrad Robertson AS

Egersund - Norway

RF14XU is equipped with two sets of limit switches. One set can be connected in series with the autopilot solid state switch, the other can be incorporated in an independent hand steering system, if required.

The J45S Junction Unit operates hydraulic power units with directional valves (e.g. Robertson RPU 1 and 3). It h as been made for 12, 24 and 32V DC operatio n. The unit incorporates a printed circuit board with terminal block, fuse, polarity and over voltage protection, isolated solid state output for solenoid switching and start relay for the Power Unit, all mounted in a splash proof aluminium cabinet.

Fig. 3-5

Basic system

The J45S solid state circuit is activated from the output transistors in AP45 Control Unit and LD1/LD2 monitors the rudder commands.

Galvanic isolation is obtained by opto ’s IC1 A and B. Q2/Q3 switche s the sole noid s on/off. Relay K1 has a double function: Used as “safe relay”, breaking the solenoid supply when AP45 is switched off and starting the steering gear pump when AP45 is switched on (RPU1 and RPU3).

Junction Units J45S Junction Unit

Robertson AP45 Autopilot Design and theory of operation

Simrad Robertson AS

Egersund - Norway

Page 3-5

Fig. 3-6

Solenoids with positive common

Fig. 3-7

Solenoids with negative common

Page 3-6 Robertson AP45 Autopilot

Design and theory of operation

Simrad Robertson AS

Egersund - Norway

The J45A operates reversible hydraulic power units with variable speed control (RPU80, RPU160, RPU200 and HLD2000) and reversible electro mechanical power units (MRD100). The un it consists of a printe d circuit board with terminal block, fuse, motor drive electronics and reversing relay mounted in the same type of aluminium cabinet as the J45S.

Rudder commands from AP45 Control Unit to IC3 A and B makes the relay RL1 change the polar ity to the mo tor. IC2A ensu res the mo tor brake is switche d on by T2 when there is no rudder commands from AP45. IC2A also controls a “dead time” (delay) to ensure the RL1 relay contacts have physically changed position before voltage is applied to the motor. This prevents arcing of relay contacts.

Adjusting RV1, preset speed, the output pulse width is decreased/increased, hence the voltage (RMS) to the motor is changed, adjustable 0-12V.

Connecting straps S1 and S2 provides adjustable 0-24V output for 24V drive units. Connecting an external strap from terminal 2 to 4 will enable a “Soft start”

function, which reduces the start current and is recommended for the most powerful drive units like RPU200, RPU300, HLD2000LD and MRD100.

Fig. 3-8

J45A principle

J45A Electronic Junction Unit

Robertson AP45 Autopilot Technical specifications

Simrad Robertson AS

Egersund - Norway

Page 4-1

4. TECHNICAL SPECIFICATIONS

Dimensions:................................................See Fig. 4-1

Weight:........................................................3.0 kg

Protection:...................................................IP43*

Ambient temperature, storage: ............–25 - +70°C

operation: ........0 - +55°C

Safe distance to magnetic comp.: ..............0.3m

Maximum current consumption :..............0.6A

Input signals:

Rudder Feedback: ......................................3400 Hz, 20 Hz/deg.

Magnetic, Fluxgate and Gyro compass: sin/cos ±2V, 2.5V ref. Nav.signal : NMEA 0183/180 (APA, APB, XTE, XTR,

RMB, BWW, BWC, BWR, BOD, HSC).

* The IP code is an internatio nal code th at deals with protec tion again st intrusion of particles and water. IP43 mean s that the unit is p rotected ag ainst solid obj ects greater than 1.0 mm and against spraying water from above up to 60° from vertical. Best protection is obtained with the front mounted horizontally.

Fig. 4-1

AP45 Control Unit - dimensions

AP45 Control Unit

Page 4-2 Robertson AP45 Autopilot

Technical specifications

Simrad Robertson AS

Egersund - Norway

Dimensions:................................................See Fig. 4-2

Protection:...................................................IP56

Ambient temperature, storage: ............–40 - +85°C

operation: ........–30 - +60°C

Cable length:...............................................1 m

120°

m in/m a x. 80 -10 0 (3 .2-4.3 ")

(

)

(

)

35 (1.4")

1000 (39.4")

Fig. 4-2

CD109 Course detector

CD109 Course Detector

Robertson AP45 Autopilot Technical specifications

Simrad Robertson AS

Egersund - Norway

Page 4-3

Dimensions.............See Fig. 4-3

Heading output:.....Serial and analogue

Output format: .......NMEA183 10x/sec. and sine/cosine.

NMEA data:............$IIHDM,x.x,m*hh<cr><If>

x.x=heading, hh = checksum

Analogue data:........Sine/Cosine ±2V, 2.5VDC reference.

Accuracy: ................<1.25° rms

Repeatability: .........<0.2° rms

Calibration: ............Automatic

Roll & Pitch: ..........±35°

Supply:....................10-29 VDC, 1 W

Temperature:

Operation: .......0 to +55°C (+32 to + 130°F)

Storage: ...........–30 to +80°C (–22 to +176°F)

Protection:...............IP56

Mounting.................Deck or bulkhead

Cable supplied:.......0.3m (1 ft.) with Viking connector for Robertson autopilots

(Sine/Cosine data) and N2500 NMEA Interface.

Fig. 4-3

RFC35NS - Dimensions

RFC35NS Fluxgate compass

Page 4-4 Robertson AP45 Autopilot

Technical specifications

Simrad Robertson AS

Egersund - Norway

Dimensions:................................................See Fig. 4-4

Signals in....................................................- 6 step/degree with positive or

negative common

- Synchro signal, 90:1 or 360:1, gyro excitated

- SKR80/82 current loop (9600 Baud)

Signal level in:............................................- Stepper signal: 20 - 70V DC

- Synchro signal: 40 - 115V, 50 - 400Hz

Load:............................................................Maximum 20mA

Supply voltage:...........................................12V DC (autopilot supplied)

Power Consumption:..................................2.4 W

Ambient temperature, storage: ............–25 - +70°C

operation: ........ 0 - +55°C

Fig. 4-4

G40A Gyro Interface - dimensions

Dimensions:................................................See Fig. 4-8

Signals in - Synchro signal, 1:1

Signal level in (S1, S2, S3):........................- High voltage, 80V L-L

- Low voltage, 11,6V L-L

Signal out (Synchro excitation):................26V 400 Hz, max 5 VA

Supply voltage:...........................................12V DC (autopilot supplied)

Ambient temperature, storage: ............–25 - +70°C

operation: ........ 0 - +55°C

G40A Gyro Interface

G45 Gyro Interface

Robertson AP45 Autopilot Technical specifications

Simrad Robertson AS

Egersund - Norway

Page 4-5

Dimensions:................................................See Fig. 4-5.

Cable length:..............................................2 m (with plug)

Ambient temperature, storage:............–25 - +70°C

operation: .......–10 - +55°C

Input signal: ...............................................sine/cosine

Output signal:.............................................sine/cosine ±2V DC at +2.5V reference

89 (3.5 ")

47 (1.85")

3.5 (0.14")

160 (6.3")

144 (5.67")

34 ( 1 .3 4 " )

148 (5.83")

25 (0.9 8 ")

Fig. 4-5

FI100-40 Fluxgate Interface - dimensions

Dimensions:................................................See Fig. 4-6.

Protection:...................................................IP56

Ambient temperature: ...............................–10 - +55°C

Operating voltage:......................................12V DC (autopilot supplied)

Frequency output, Feedback: ....................3400Hz (midship reference)

Port: +20Hz/degree, stbd: -20Hz/degree

Current output, Indicator..........................0.1mA - 1.1mA

Capacity:.....................................................5 indicators in series

Rudder angle: .............................................±45°

Cable length:...............................................2 m (6 ft)

Fig. 4-6

RF45X Rudder Feedback - dimensions

FI100-40 Fluxgate Interface

RF45X Rudder Feedback Unit

Page 4-6 Robertson AP45 Autopilot

Technical specifications

Simrad Robertson AS

Egersund - Norway

Dimensions:................................................See Fig. 4-7.

Protection:...................................................IP56

Ambient temperature: ...............................–10 - +55°C

Operating voltage:......................................19-40V

(Frequency section 12-40V DC)

Voltage output, Rudder indicator:.............0-18V DC (9V as midship reference)

Frequency output, Autopilot feedback:.....3400Hz (midship reference)

Port: +20Hz/degree, stbd: -20Hz/degree

Rudder indicator capacity:.........................5 indicators in parallel

Rudder angle: .............................................+/-45° (Changeable to 60, 70 or 90°)

Limit switches: ...........................................Adjustable from ±5 to ±160°

120 (4.8")

40 (1.6")

75 (3")

80 (3.15")

Ø12 (0.47")

185 (7.3")

150 (5.9")

240 (9.5")

160 (6.3")

(

)

Fig. 4-7

RF14XU Rudder Feedback unit - dimensions

RF14XU Rudder Feedback Unit

Robertson AP45 Autopilot Technical specifications

Simrad Robertson AS

Egersund - Norway

Page 4-7

Dimensions:................................................See Fig. 4-8.

Protection: ..................................................IP22

Ambient temperature, storage:............–25 - +70°C

operation: ........0 - +55° C

Safe distance to magnetic compass:..........1.5 m

Supply voltage:...........................................12, 24, 32V DC ±20%

Max. solenoid load:.....................................3A

Dimensions:................................................See Fig. 4-8.

Protection:...................................................IP22

Ambient temperature, storage: ............–25 - +70°C

operation: ........0 - +55° C

Safe distance to magnetic compass:..........1.5 m

Max. motor load:.........................................10A continuous

20A peak

Supply voltage:...........................................12, 24, 32V* DC ±20%

*) For 32V DC the J101A/32V Adapter must be used.

Fig. 4-8

J45S/J45A/G45 - Dimensions

J45S Junction Unit

J45A Junction Unit

Page 4-8 Robertson AP45 Autopilot

Technical specifications

Simrad Robertson AS

Egersund - Norway

Dimensions:................................................See Fig. 4-9.

Protection: ..................................................IP56

Ambient temperature:...............................–25 - +70°C

Safe distance to magnetic compass:..........0.3 m

Max. inductive load:...................................4A/24V DC, 60mA/110W AC,

25mA/220V AC

137 (5.40")

144 (5.67")

Panel cut-out:138x138 (5.44")

78 (3.1")

70 (2.75")

144 (5.67")

95 (3.75")

Fig. 4-9

S9 Steering Lever - Dimensions

Dimensions:................................................See Fig. 4-10.

Protection:...................................................IP56

Ambient temperature, storage: ............–25 - +70°C

operation: ........–10 - +55°C

Safe distance to magnetic compass:..........0.3 m

144 (5.67")

68 (2.68")

76 (3.00")

137 (5.40")

144 (5.67")

30 (1 .1 8")

Panel cut-out:138x138 (5.44")

Fig. 4-10

FU91 Steering Lever - Dimensions

S9 Steering Lever

FU91 Steering Lever

Robertson AP45 Autopilot Technical specifications

Simrad Robertson AS

Egersund - Norway

Page 4-9

Dimensions:..............................See Fig. 4-11.

Weight: ....................................1.4 kg (inclusive cable)

Max. inductive load:.................4A/24V DC, 60mA/110V AC, 25mA/220V AC

Temperature range: .................Storage: –30 to 80° C

Operation: –10 to 55° C.

Environmental protection:.......IP56

Safe distance to compass: ........0.5 m (1,6 ft.)

Power consumption (light):......6 mA

Cable: ........................................10 m cable with six wires connected through

bottom gland

Note! Cable gland can be moved to the back side.

Fig. 4-11

S35 Steering Lever - Dimensions

S35 Steering Lever

Page 4-10 Robertson AP45 Autopilot

Technical specifications

Simrad Robertson AS

Egersund - Norway

Dimensions:................................................See Fig. 4-12

Protection:...................................................IP56

Cable length:...............................................10 meters (30 ft.)

Max. inductive load:...................................4A/24V DC, 60mA/110W AC,

25mA/220V AC

65 (2.6")

210 (8.3")

76 (3.0")

Fig. 4-12

F1/2 Remote Control - Dimensions

Dimensions:........................ See Fig. 4-13.

Protection:........................... IP56

Ambient temperature,

storage:........................... –25 - +70°C

operation:....................... 0 - +55° C

Safe distance to

magnetic compass: ............. 0.3 m

Cable length:....................... 7 m (21ft.)

F1/2 Remote Control

72 (2.8")

145 (5.7")

30 (1.2")

46 (1.8")

5 (0.2")

Fig. 4-13

F200-40 Remote Control

Dimensions

F200-40 Remote Control

Robertson AP45 Autopilot Technical specifications

Simrad Robertson AS

Egersund - Norway

Page 4-11

Dimensions:..............................See Fig. 4-14.

Weight: .....................................1.0 kg

Supply voltage:.........................12/24V DC –25%/+30%, polarity independent

Power consumption:.................Max 3 W

Input signal: .............................Frequency 3400 Hz (midship reference),

±20Hz/degree Current: 0.1 - 1.1mA (midship 0,6mA),

polarity independent

Accuracy:...................................±3° (Indicator alone)

Temperature range: .................Storage: –30°C to +80°C

Operating: –10°C to +55°C

Environmental protection:.......IP56

Safe distance to

magnetic compass: ...................0.3 m (1 ft)

Cable: ........................................20 m, single twisted pair (not connected).

Rudder Feedback Units: ..........RF300 (frequency signal),

RF45X (current signal)

Fig. 4-14

RI35 Rudder Angle Indicator - Dimensions

RI35 Rudder Angle Indicator

Page 4-12 Robertson AP45 Autopilot

Technical specifications

Simrad Robertson AS

Egersund - Norway

Dimensions:................................................See Fig. 4-15.

Supply voltage:...........................................24/32V DC ±20%

Current consumption:................................Maximum 100 mA

Input signal:................................................. Voltage (0-18V) or

current (0.1 - 1.1mA)

Rudder angle: .............................................45°-0-45° (other angles as option)

Ambient temperature, storage: ............–25 - +70°C

operation: ........–10 - +55°C

Protection:...................................................IP56

Safe distance to magnetic compass:..........2.6 m (9 ft.)

Rudder Feedback Units: RF45X, RF14XU, RF14XI.

137 (5.40")

144 (5.67")

Panel cut-out:138x138 (5.44")

65 (2.56")

57 (2.24")

144 (5.67")

153 (6.02")

RI9

Fig. 4-15

RI9 Rudder Angle Indicator - Dimensions

RI9 Rudder Angle Indicator

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-1

5. INSTALLATION

Care should be taken when unpacking and handling the equipment. A visual inspection should be made to check that the equipment has not been damaged during shipment and that all components and parts are present according to the packing list.

Common sense should be used when installing the units, particular attention being given to the operator's need for ease of access.

For cable layout refer to the External Cabling Diagram, Fig. 5-4. For connection of several units to the J3 connector, refer to Fig. 5-36. The unit is built to standard DIN dimensions for console mounting. Dimensions

for the panel cut out are shown on Fig. 4-1. A fastening device for console mounting and a bracket for panel mo unting are sup plied with th e equipme nt. The mounting bracket has four screw holes for bulkhead mounting, and the Control Unit is fitted to the bracket by two Allan screws (Fig. 5-2). A matching Allan wrench is supplied.

It is important to locate the Control Unit so that the viewing angle to the displays are between 45 and 90 degrees in both planes. When console mounting, locate the control unit as near the front edge as possible. This makes the reading of the displays easier. Avoid direct sunlight on the display.

Fig. 5-1

AP45 Control Unit - Panel mount

Fig. 5-2

AP45 Control Unit - Bracket mounting

Unpacking and handling

General

AP45 Control Unit

Page 5-2 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

The cable conductors are connected to the connector block according to separate connection diagrams. The following tools are required to crimp the connector pins and sockets to the individual cable conductors.

Crimping tool : Amp 90277-1

Extraction tool: Amp 725840

Note!

Do not use other tools

than those specified!

For protection against electro magnetic interference, all control unit connectors must be fitted with the supplied metal shell and cover.

Strip about 1 cm (0.4") of the cable insu lation and pull the screen backwards to cover the insulation. Screw the connector block onto the actual control unit socket. Screw the shell onto the connector block. Fix the cable screen to the shell by a wire strap and tighten well to make sure the screen has good contact. Apply a thin layer of pure Vaseline on the shell threads. Screw the cover onto the shell until it makes good contact with the control unit cabinet.

The control unit has a ground terminal and must have a proper ground connection to the hull. The grou nding wire should be as sho rt as possible and at le ast 10 mm wide.

Fig. 5-3

Control unit - connector mounting

Connector assemble

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-3

Fig. 5-4

AP45 External cabling diagram

Page 5-4 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

AP45 is designed for connection to one compass only. However, a combination of two compasses are possible as CD 109 and Fluxgate/Gyro h as separate input pins in the J2 Compass connector. This means you can combine a magnetic compass with either a fluxgate- or a gyrocompass.

The type of heading sensor used in the standard scope of supply may vary from distributor to distributor as a result of practical experience and the preferences of their market place.

The CD109 Course Dete ctor is fitted to the vessel's e xisting magnetic compass or to one particularly installed for the autopilot (“Magnetic compass”, page 5-4.).

The Robertson RFC35NS Fluxgate Compass can be connected directly to the control unit (“RFC35NS Fluxgate Compass”, page 5-6), whilst other makes of fluxgate compasses require a FI100-40 Fluxgate Interface (“FI100-40 Fluxgate Interface”, page 5-8).

If a gyrocompass is used as heading sensor, the G40A or G45 Gyro Interface is required (page 5-9).

To obtain an accurate heading from the magnetic compass, great care should be taken when determining the location of the compass.

Select a location that provides a solid horizontal mounting base, free from vibration and as close to the v essel's centre of ro ll and pitch as possible . It should be as far as possible from disturbing magnetic interference such as the engines, cables, transmitter antennas or other electro magnet ic objects.

Note! The compass must be compensated.

Heeling error Heeling error may be observ ed when the boat is rolling and pitching, causing an

unstable compass card. This can be adjusted for by using a "heeling magnet" placed vertically below or above the exact centre of the compass. The magnet is normally placed with the red end up in the Northern hemisphere and the blue end up in the Southern hemisphere. The correct distance between magnet and compass can best be found during sea trials. The heeling error can also be reduced by mounting the compass close to the vessel's centre of roll a n d pitch.

Northerly/southerly turning error Symptoms of northerly turning error are that the vessel is "S-ing" on northerly

headings when at high latitudes. The reason for this phenomena is that the earth's magnetic fluxlines are parallel to the earth's surface only at the equator, and thus no vertical magnetic component exists. When moving further north from the equator, the vertical component of the earth's magnetic field in creases.

The directional reading from a magnetic compass is based upon the horizontal component of the earth's magnetic field. This component becomes smaller and smaller with increasing latitude, while the ve rtical magnetic co mpone nt increase s. The resulting eff ect at high latitud es is that magnetic c ompasses becom e sluggish and appear to be unstable. These symptoms become more apparent as speed increases.

The same phenomena is experienced in the southern hemisphere, but on southerly headings and is referred to as southerly turning error.

There is no patent cure for this problem, besides making a proper installation and compensation of the compass.

CD109 Course Detector mounting

Heading sensors General

Magnetic compass

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-5

The course detector is mounted on the ship's magnetic compass to transmit a heading signal to the control unit. The mounting method will depend upon the compass design. The distance between the course detector and the compass card depends upon the magnetic momentum of the compass card magnets. A distance of 70-90 mm for a magnetic moment of 1500-2000 cgs is therefore recommended. For adjustment of signal level, see “Course Detector Alignment” page 6-2. If a nonRobertson supplied magnetic compass is used, it is advisable to consult a qualified compass adjuster for mounting of the CD109.

For mounting instructions refer to Fig. 5-5. The course detector can be attached to the compass either by a 6 mm screw to the bottom of the compass bowl or by use of the tri-pod holder supplied with the course detector.

The course detector is also supplied with cable (1m) feed and plug. Socket and connector with bracket for extension cable are in the standard scope of supply. The extension cable is optional equipment.

The compass should be checked for free movement in the gimbals without stressing the detector cable.

The CD109 Course Detector is connected to J2 on the Control Unit, and the connection is shown on the Wiring Diagram (Fig. 5-23).

If the Course Detector is mounted up-side down on top of the compass, the sine/cosine signal on J2 pin 10 and 11 must be interchanged.

Fig. 5-5

CD109 Course detector - Mounting

Page 5-6 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

FWD

The RFC35NS (part no. 22083596) substitutes the Robertson RFC250 Fluxgate compass. It comes with a “pigtail” c able that matches the Vikin g connecto r on the RFC250 (extension) Cable part no. 20183554. The internal connection of the “pigtail” cable is shown on Fig. 5-7. Heading output is on sine/cosine and NMEA0183 formats.

Note! On new installations together with AP45 you need the standard RFC250 Cable part no. 20183554. Cut off the Viking connector at one end and replace it with the AP45 AMP type connector (J2) as per Fig. 5-6.

An extra cable gland is supplied for a separate NMEA cable con ne ction if re quire d. Disconnect the brown and blue w ires to J1-2 and J1-1 and connect the separate cable instead. See Fig. 5-7.

The RFC35NS contains a magnetic fluxgate sensor and g reat care should be taken when deciding the mounting location.

To minimize the effect of heeling errors, installation on the fly bridge or in the mast is not recommended.

Select a location that provides a solid mounting place free from vibration and as close to the vessel's centre of roll and pitch as possible, i.e. close to the water line. It should be as far as possible from disturbing magnetic influences such as engines (min. 2 meters), ignition cables, other large metal objects and particularly the autopilot drive unit.

The RFC35NS compass must be mounted with the cable gland pointing aft.

Note! The compass should be deck mounted to allow for mechanical alignment. The compass face plate on the RFC35NS is the TOP. Never mount it upside down! Level the sensor as close to horizontal as possible.

Use the supplied mounting kit and drill holes through the centre of the slots.

RFC35NS Fluxgate Compass

Mounting

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-7

Fig. 5-6 AP45/RFC35NS - connection

NMEA

ROBNET

EXT.COMP

VIN-

WHITE (VIN+)

RX+

RX-

654321

11223

NMEA/RA TE PC B

SIN PCB

Cable 220 83661

BROWN (TX-)

BLUE (TX+)

0,5 m

Original RFC250 cable (Part no. 20183554)

RFC35NS

Fig. 5-7 RFC35NS - Internal connection

The calibration is carried out by using the “RFC250 procedure”:

1. Switch on the autopilot to supply power to

RFC35NS.

2. Make two 360 degree turns to starboard within 5

minutes after switch on. Make su re the boat passes 3 times through North (see figure). Ensure smooth and slow movements. A minimum of roll and acceleration will give the best result. As soon as north is passed for the 3rd time, there will be a confirmation in the autopilot display (see below).

• Provided you have an AP45 with software version V1R3 or V1R4 (latest), you will read "Fluxgate co mpass compensated" in th e info display whe n the calibration is completed. Press the alarm bu tton to reset. There w ill be no

Connection

Calibration

Page 5-8 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

confirmation in the display if the AP45 has a sof tware revision earlier than V1R3.

Carry out the calibration procedure, then steer the boat on a known heading or bearing. Slightly turn the heading sensor until the correct heading readout is displayed. Tighten the screws.

Note! If you sail the boat more than 15-20° north or south of the latitude of your last calibration, the calibration procedure should be repeated. Calibration data is stored in the RFC35NS and will only be deleted when a new calibration is performed.

When connecting fluxgate compasses other than Robertson types, the FI100-40 Fluxgate Interface must be connected between the compass and the control unit.

The interface unit is bulkhead (or table) mounted with t wo screws. The fluxgate compass is conn ected to a terminal board in the FI100-40 accordin g

to the diagram enclosed with the unit. FI100-40 is connected to J2 of the control unit according to Fig. 5-8.

Fig. 5-8

AP45/FI100-40 Fluxgate Interface - Wiring

Alignment

FI100-40 Fluxgate Interface

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-9

The G40A is required when a Gyro Compass with geared synchro or stepper signal output is connected to AP45. The unit shall be mounted not more than two meters from the AP45 control unit. This is to avoid voltage drop and reduce

interference via the interconnecting cables. All cable conductors are terminated in screw terminals on the G40A PCB. For

cabling and connections see Fig. 5-9. For screen termination, see Fig. 5-22.

Fig. 5-9

G40A Gyro Interface Connections

There are also three plug-in straps on the PCB, one for each phase. The position of the straps makes the G40A to operate from either positive or negative stepsignals. For setting of the straps, refer to Fig. 5-10. The shown strap position enables step signals with positive common. For negative common, insert strap vertically, A1-A3, A2-A4 and so on.

In addition a DIP switch is included. Switch no. 1 sets gear ratio: 360:1 = switch to 0 (OFF) 90:1 = switch to 1 (ON) The remaining switches 2, 3 and 4 are for test purpose only and shall be 0 (OFF)

for normal use. Refer to table on page 7-3. For SKR80/82 current loop, switch no. 2 shall be set to ON, the others to OFF. Fig. 5-10 shows the location of the switches and LED's. The potentiometer VR1 is factory set to 2.5V reference voltage, and should not be

readjusted.

G40A Gyro Interface Unit

Page 5-10 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

Fig. 5-10

G40A PC-board - Switch location

Power turn-on

After power turn-on, verify that the LED D8 is lit. This indicates that the regulated 5V is OK.

If step-signals are connected, the LED’s D1, D2 and D3 should not be lit. If they are, pull out the plug-in straps and insert them in the vertical direction. The LEDs D5, D6 and D7 shall turn on and off in a Gray- code sequence when changing the gyro heading.

If synchro signals are connected, the position of the plug-in straps is irrelevant. However, if the read-out from the AP45 does not follow the gyro, phase S1 and S3 may have to be interchanged.

The LED D4 shows the presence of the synchro reference voltage, and the LEDs D1, D2 and D3 will turn on with variable intensity, depending on the phase voltage.

If the heading read -out has an offse t, this is compensate d by the “Gyro Adjust” in the “Installation loop”. See “Type of Heading Sensor”, page 6-4, for detai ls.

Select “Gyrocompass” - “Geared/Stepper” in the AP45 Installation loop.

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-11

The G45 is required when a gyrocompass with 1:1 ratio synchro signal is connected to AP45.

There is separate terminals for high voltage (80V L-L) an d low voltag e (11,6V L- L) synchro input. Input terminals not used should be short circuited as shown in connection diagrams.

G45 can also be used for excitation of a “dead” synchro transmitter. The unit shall be mounte d wi thin the cable le ngth (3 m) f rom the autop ilot contr ol

unit. In case the cable has to be extended, the 2.5V reference voltage must be checked and eventually readjusted in accordance with “TROUBLE SHOOTING”, page 7-8 to maintain the accuracy.

All cable conductors are terminated in screw terminals on the G45 PCB. For cabling and connections see Fig. 5-11.

The PCB contains four trim potentiometers which are all facto ry set and should normally need no readjustment.

Select “Gyrocompass” - “1:1 Synchro” in the AP45 Installation loop. See “Installation loop”.

Fig. 5-11

Connection to G45 excitated synchro transmitter

Fig. 5-12

Connection to gy r o excitated synchro transmitters

G45 Gyro Interface Unit

Page 5-12 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

Fig. 5-13

G45 Input/output

(Part of RGC Gyrocompass delivery) The RGC Signal Interface Unit is designed to generate heading signals of different

formats when connected to either RGC50, RGC10 or RGC11. The heading sig nal used by AP45 is the sine/cosine output, and the interconnection is shown in Fig. 5-14.

The unit comprises one PCB mounted in a J45A/J45S type box. Further details, such as installation, technical specifications and eventual

adjustments are described in the “RGC Interface” addendum in the RGC Gyrocompass manual.

Fig. 5-14

AP45/RGC Signal Interface Unit - Wiring

Note!

Select “1:1 SYNCHRO” via the “INSTALLATION LOOP”.

RGC Signal Interface Unit

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-13

The RF45X is normally mounted with the shaft pointing upwards. It can, however,

also be mounted with the shaft pointing downwards if that appears to be more convenient.

NOTE! In case of an “upside-down” installation, the two plug-in straps on the component side of the PCB have to be “turned” 90

to achieve reversed output signal. (To remove the PCB from the housing, simply grip the potentiometer and pull.

Shaft pointing up: Strap S2 to “N(ormal)” Shaft pointing down: Strap S2 to “I(nverted)”.

It should be noted that an “upside-down” installation will make any adjustment and service more convenient as the unit t hen can be opened without removing the unit from the mounting base.

Fig. 5-16

RF45X Rudder Feedback Unit - Mounting

Use the attached template (Fig. 5-18) to drill the required mounting holes. The unit is fastened to the mounti ng ba s e by t he two A ll en screws encl osed. (Oth er types of screws may be used if fast ened to i .e. a wooden b as e.)

Make the parallelogram configuration of the transmission link (see Fig. 5-16) and fasten the link to the RF45X shaft preliminary. The transmission link can be shortened by cutting of a piece of the rod (us ing a hack sa w). M ove t he rudder

RF45X Rudder Feedback Unit

Fig. 5-15

RF45X Internal Wirin

Page 5-14 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

manually h.o. - h.o. and make s ure the t ra ns mis s ion l ink is moving freel y in b oth directions.

Electrical connection The cable should be connected to th e junction unit according to Fig. 5-23 - Fig.

5-26. When splicing cable in the junction box, use the enclosed crimp pins on each wire of the extension cable. Otherwise the wires may be cut off at the terminal point when tightening the screw.

The screen is open in RF45X and s houl d be connect ed in t he juncti on unit . For final alignment, see page 6-1.

Mechanical mounting

Before installation check that the alignment mark on the mounting plate agrees with the mark on the shaft. Bring the rudder to Amidships position. The feedback unit should be mounted on a plane su rface and secu red by bolts th rough the three holes in the mounting plate . It should be linked to the rudder in accordance with Fig. 5-17. It is important that the linkage is linear, i.e. the A-a and D-d are pairs of equal length. This will give a ratio 1:1 between the rud der angle and that of the feedback unit shaft.

Note! If the RF14XU is mounted with the shaft pointing upwards, the yellow and the blue lead to the potentiometer inside must be interchanged (See Fig. 5-20).

Fig. 5-17

RF14XU - Mounting

RF14XU Rudder Feedback Unit

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-15

Fig. 5-18

RF45 Template

Scale 1:1

Page 5-16 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-17

Electrical installation Electrical connection is shown in Fig. 5-21. The cables are carried through cable

glands and connected to the terminal board. If required, to avoid any mechanical damage, the cables should be run in a conduit between the rudder feedback unit and the junction unit or rudder indicator. The cable screen must be connected to the internal ground terminal. Ref. picture below.

The feedback unit has an external ground terminal and must have a proper ground connection to the hull. The grounding wire should be as short as possible and at least 10 mm wide.

The RF14XU can be powered either from the rudder angle indicator supply (1940V DC) or directly from the autopilot j unction unit. I f a rudder an gle indicator is connected, the RF14XU is powered from the rudder angle indicator supply. If the rudder angle indicator voltage disappears, or rudder angle indicator is not connected to the RF14XU, the feedback unit is powered directly from the autopilot. The change over is done automatically.

Note! If RF14XU is connected to rudder angle indicators, and the indicators are powered from an unfiltered 24V supply, the enclosed 470uF capacitor should be connected across the supply. Without the capacitor, a deviation may occur between the autopilot feedback midposition reference and that of the rudder angle indicator(s).

Fig. 5-19

Screen termination

Scaling of rudder angle The RF14XU is normally delivered for ±45 degrees rudder angle (violet, brown and

pink leads are not connecte d). For ± 60 deg rees, co nnect bro wn lead to terminal 10, for ±70 degrees, connect pink to terminal 10 and for ±90 degrees, connect the violet lead to terminal 10. White lead must remain connected. To invert the indicator deflection, the brow n lead to terminal 8 of the RF14XU terminal board must be connected to terminal 9. See Fig. 5-20.

Page 5-18 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

VIOLET

BROWN

PINK

BLACK

RED

WHITE

BLACK

RED

BLUE (GND)

YELLOW (+5V)

GREEN ( WIPER )

NOTE 1

NOTE 2

981076

RF14XU ELECTRONIC MODULE

(VIEWED FROM BACK SIDE)

NOTE 1: Brown lead normally connected to . Move to to i n ve r t th e r udder in d ica tor deflection.

NOTE 2: Normally connected for +/-45˚ rudder angle (violet, brown and pink leads are not connected). For +/-60˚ connect brown lead to terminal 10, for +/-70˚ connect pink lead to terminal 10, for +/-90˚ connect violet lead to terminal 10. Wh ite l ead mu st remai n con nec ted.

BROWN

TO POT. METER

Fig. 5-20

RF14XU Internal wiring

Final check After installation, the cable gland s must be sealed with silicon to preven t water

from seeping in. Also apply silicon grease to the gasket betw een the bottom and top cover.

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-19

On the inside of the feedback unit cover, a piece of moisture protecting sponge is attached. The sponge produces a corrosion preventive gas, and to increase the efficiency of the gas the cover must be kept tight.

Fig. 5-21

RF14XU/J45S - Wiring

The junction unit is made for bulkhead mounting and secured by screws. To minimise length of power cables (thus avoiding voltage drop), it should be centrally located between mains panel and power unit.

J45S Junction Unit

Page 5-20 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

The unit has separate mains supply for the autopilot electronics and the power unit (motor/solenoids). This reduces the interference to the autopilot electronics caused by the motor switching. The power unit supply cable (mains supply) should be of at least 4 mm

(AWG10). The electronic supply cable should be 1,5 mm

(AWG14). Cables from control unit, rudder feedback unit, power unit and mains supply

should be connected to the terminal blocks according to wiring diagram fig. 5.23. Sufficient free cable should be left inside the junction unit so that the P.C. board can be removed for repair without having to disconnect the cables from the terminal board.

Note! The J45S Junction Unit has been set for 24V DC operation and prewired from factory to drive Robertson power units with solenoid valves such as RPU3 (solenoid supply is via J45S).

If the autopilot shall operate on 12 or 32V DC, set voltage selector (plug-in strap) to appropriate position.

Check that the FB selector is in correct position (S2-S3) for frequency feedback signal.

Run two voltage feed cables as follows: Mains input for pump motor and solenoid valves is co nnected to + and - terminals

marked "Supply" (Cable dimensions 4.0 mm

- AWG10).

Autopilot (electronic) supply is connected to + and - terminals marked "Electronic" (Cable dimensions 1.5 mm

- AWG14). OTHER SOLENOID CONFIGURATIONS (Driving steering gear solenoids not Robertson supplied). If the "Supply" cable shall feed solenoid v oltag e on ly it may be re d uce d to 1.5mm

AWG14. In installations where the unit shall operate solenoids with positive common, they

must be connected according to Fig. 5-24. Note that min us on so len oid sup ply shall be connected to "+ Supply"-terminal on J45S.

If the unit shall operate solenoids with negative common, they must be connected according to Fig. 5-25. Note that terminal B must be connected to terminals 15 and 16 by external strapping. Also note th at straps S5-S6 and S8-S9 on the PCboard must be cut.

Note! (Does not apply for US-installations and only for older version of J200S-40). If the unit has a PC-board marked "Rev -" and shall operate solenoids with positive common (Fig. 5-24), there shall be no strap between terminals B and C. Instead terminal B shall be connected to both terminal 13 and 14.

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-21

The junction unit is made for bulkhead mounting and secured by two screws. To minimise length of power cables (thus avoiding voltage drop), it should be

centrally located between mains panel and power unit. The unit has separate mains supply for autopilot electronics and power unit

motor. This reduces the interference to the autopilot electronics caused by the motor switching. The powe r unit supply cable (mains supply) should be of at least 4 mm

(AWG10) size. The electronic supply cable should be 1,5 mm2 (AWG14).

Cables from control unit, rudder feedback unit, power unit and mains supply should be connected to the te rminal blo cks acco rdin g to Fig . 5-26. Strip abo ut 1 cm (0.4”) of the cable’s insulation and pull the screen backwards to cover the insulation. Position the str aps as sh o wn in Fig . 5- 22 an d tig h ten w e ll to m ake sur e the screen has good contact. Sufficient free cable should be left inside the Junction Unit so that the P.C. board can be removed for repair without disconnecting the cables from the terminal board.

Mains supply of 12V, 24V or 32V DC is connected to the MAINS + and -terminals. The unit has been provided with a polarity test point. Connect only the mains

supply conductor that are supposed to be the MAINS– (minus). Switch on the mains supply and let the other con ductor get into touch w ith the TP1 test point. See Fig. 8-11. If the green diode D20 lights, the correct conductor is connected to MAINS– and the other conductor can be connected to MAINS+. If the red diode D21 lights the conductors must be interchanged.

A separate autopilot (electronic) + supply line is connected to terminal no. 17 (+). At 32V DC mains the external J101A/32V Adapter must be conne cted betw een the mains + and terminal 17 (ref. Fig. 5-26).

Note! When using a RPU pump unit, the “Soft start” function should be activated by connecting a strap between terminal 2 and 4. See Fig. 3-8.

Fig. 5-22

J45A Junction Unit grounding

J45A Junction Unit

Page 5-22 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

Fig. 5-23

AP45 Wiring diagram - basic system (015936H)

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-23

Fig. 5-24

AP45 Wiring diagram - solenoids with positive common (015936H)

Page 5-24 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

Fig. 5-25

AP45 Wiring diagram - solenoids with negative common (015936H)

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-25

Fig. 5-26

AP45/J45 Wiring diagram

Page 5-26 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

This unit is fixed to a mounting bracket, wh ich is se cured by fou r screws. F200-40 is connected to J3 on the control unit according to Fig. 5-27.

Fig. 5-27

F200-40/AP45 - Wiring diagram

Mounting (Fig. 5-28)

Fig. 5-28

S9 Mounting

For bulkhead mounting, use the 8 bushings enclosed with the unit. These are placed two and two against each other and the screws are put through them. Direct contact between S9 and a steel bulkhe ad is then avoided and corrosion is prevented. The cover plate can be turned 360 degrees for the most convenient position of cable outlet. For panel mounting use the two mounting brackets enclosed with the unit.

Electrical connection: Connection to the AP45 Control Unit is made in accordance with Fig. 5-29. The diagram in the cover plate shows the terminal connections in the S9 (Fig.

5-30). For use together with AP45, four different operation alternatives can be selected

by changing a resistor in S9.

Optional equipment F200-40 Remote

Control

S9 Steering Lever

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-27

The different alternatives are described on page 2-12, and are the result of connecting a resistor between terminals M and A3 in S9.

Alternative 1: No resistor mounted. Alternative 2: 1.0 Kohm (1/4W, 5 %) Alternative 3: 3.0 Kohm (1/4W, 5 %) Alternative 4: 5.1 Kohm (1/4W, 5 %)

Note! If F200-40 is connected in combination with S9, only alternative 1 can be used.

Fig. 5-29

S9/AP45 - Wiring diagram

Fig. 5-30

S9 Steering Lever - internal wiring

Page 5-28 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

Mounting

Fig. 5-31

FU91 Mounting

For bulkhead mounting, use the 8 bushings enclosed with the unit. These are placed two and two against each other and the screws are put through them. Direct contact between FU91 and a steel bu lkhe ad is th en av oid ed and corro sio n is prevented. The cover plate can be turned 360 degrees for the most convenient position of cable outlet. For panel mounting use the two mounting brackets enclosed with the unit.

Electrical connection There is two alternatives of connecting FU91 to AP45; without mode switching or

with mode switching (similar to S9)

Fig. 5-32

FU91 without mode switching

See page 2-14 for operation.

FU91 Steering Lever

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-29

Fig. 5-33

FU91 with mode switching

The two diodes (1N4002 o r similar) and the resistor can be mounted either in th e AP45 J3 connector or in the FU91 te rminal board. By giving resistor R diff erent values, following mode changes are possible:

R = 1.0K: Auto → Dodge → Auto R = 3.0K: Auto → Manual → Manual R = 5.1K: Auto → Manual → Auto

See also page 2-14 for operation. Multiple FU91 installation is not recommended w ith AP45 u nle ss the o ptio n al FU-

Junction box is used. Connections are shown in Fig. 5-34 If mode switching is required, the resistor and the two diodes must be mounted

between the FU-Junction box and the AP45 Control unit.

Fig. 5-34

FU91 Multiple installation

Page 5-30 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

The unit is mounted to bulkhead or panel by two screws from the front. The cable

is connected to the junction un it according to Fig . 5-35. Inter change the port and stbd wires to the screw terminals in the junction unit if necessary to make the direction of the lever movement coincide with the direction of the rudder movement.

Fig. 5-35

S35, F1/2 - AP45 - Wiring diagram

This handheld remote control with 10 m (30 ft.) cable is connected to the control unit as shown in Fig. 5-35.

Fig. 5-36

AP45 Wiring diagram - J3 w/multiple input

F1/2 Remote Control

S35 Steering Lever

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-31

The RI9 is designed for bulkh ead or panel mounting, and sho uld be placed in a

location in clear view of the helmsman. Two or more indicators may be connected in series with the rudder feedback unit.

Note! If more than one rudder angle indicator is connected, remove the Jumper Switch S1-S2 on J45S PCB.

For electrical connection of rudder feedback unit and indicator a 3-wire cable (3 x 1,5 mm

- AWG14) should be run. See Fig. 5-37. for connection to junction unit.

Fig. 5-37

RI9 Wiring diagram

Calibration The RI9 indicator is calibrated for voltage input signal (RF14XU Rudder Feedback

Unit) and has to be reconnected for current signal from RF45X. This is done by open ing the RI9 and move “jumper” ST3 fro m “U” to “I” p osition.

See Fig. 5-38.

Note! The “Norm”/“Inv” jumper does not affect the meter deflection for current input signal. If the meter deflection has to be reversed, it must be made in the feedback unit as described for RF45X.

RI9 Rudder Angle Indicator

Page 5-32 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

Fig. 5-38 RI9 Input signal selection

Note! When changing from voltage to current signal (or vice versa), the indicator may have to be recalibrated. In this case, or if the Gain and Offset trimpot’s for other reasons are maladjusted, the following calibration procedure should be carried out:

1. Take the rudder to midship position.

2. Use trimpot “O” (R23) to calibrate RI9 to indicate zero rudder angle.

3. Move the rudder to e.g. 40 degrees (starboard or port). Use trimpot “G” (R22) to

calibrate RI9 to show the same angle as the rudder is set to (or the same angle as shown on the autopilot display in “Debug” mode).

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-33

The RI35 is designed for flush, bulkhead or bracket mounting, and should be

positioned in a location in clear view of the helmsman. When the mounting location is determined, the cables should be connected to RI35 before the unit is mounted. Maximum two indicators can be connected in a system.

* Non polarized (colour independant)

J45A JUNCTION UNIT

RF45X

RUDDER FEEDBACK

UNIT

12 111 0

GND

RUDDER FB I/P

+OUT

BLUE

GREEN

RED

FREQ SUPPLYCURR

RI35

RUDDER ANGLE

INDICATOR

SUPPLY VOLT AG E 12- 24V

RI35

RUDDER ANGLE

INDICATOR

FREQ SUPPLY

CURR

Do not connect this wire in a dual RI35 system

Fig. 5-39 RI35-J45A Wiring diagram

* Non polarized (colour independant)

J45S JUNCTION UNIT

RF45X

RUDDER FEEDBACK

UNIT

12 1110

GND

RUDDER FB I/P

+OUT

BLUE

GREEN

RED

FREQ SU PPLYCURR

RI35

RUDDER ANGLE

INDICATOR

SUPPLY VOLTAGE 12-24V

RI35

RUDDER ANGLE

INDICATOR

FREQ SUPPLY

CURR

Do not connect this wire in a dual RI35 system

Use a separate term inal for this connection

Fig. 5-40 RI35-J45S Wiring diagram

RI35 Rudder Angle Indicator

Page 5-34 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

Panel mounting

• Make a panel cut-out of 126 x 102 mm.

• Use the supplied fastening device to

secure the unit to the panel. See Fig. 5-41

Fig. 5-41 Panel mounting

Bracket mounting

• Mount two of the bracket halves to the RI35.

• Temporarily bolt together the other two halves of the bracket to the

first two halves.

• Hold the RI35 in place by hand and mark the 4 holes for the fixing

screws on the mounting surface.

• Remove the RI35, drill the 4 mounting holes in the mounting surface.

• Unbolt the temporarily fitted bracket halves and secure them to the

mounting surface using the self-tapping screws.

• Assemble the complete bracket again and adjust the RI35 to best

viewing angle and tighten up the mounting bracket bolts .

Fig. 5-42 RI35 Bracket mounting

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-35

Illumination

The scale is illuminated by internal LED’s. The illumination is turned on and adjusted in three steps by the front panel key pad.

Zero adjust

Follow the instructions on page 6-1 to zero adjust the rudder feedback.

Note! There may be a difference in the RI35 and the autopilot reading. This is normal because the autopilot zero adjust compensates for drag caused by the hull, flaps etc. If you prefer the readings to be aligned, then put the rudder amidships using the RI35 as reference, and then zero adjust the autopilot.

Reversed deflection

On installations where the feedback unit is mounted upside down, the deflection of the pointer will be re ve rse d. To make it correct set SW1 on the PCB to the opposite position.

The first production lots did not have the SW1 switch. Instead interchange the brown and white wires going from the instrument housing to the PCB.

SW1

Page 5-36 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

The AP45 is preset to accept signals of NMEA 0183 format. For 180/182 format, please contact your Simrad Robertson dealer.

Correct NMEA format, baud rate and current loop polarity are found in the navigation receiver manual.

For older AP45’s with s.n. below 4000 (Main PCBs with revision up to and including revision G), the N40 Navigation Interface must be mounted in the control unit. The N40 is plugg ed into the holes provided on the Main PCB (Fig. 5-43).

Fig. 5-43

N40 Nav. Interface mounting

(For Main PCBs with revision up to and including revision G)

The AP45 is set to correct p olarity and Baud rate by putting the BCD-switch on the N40 PC-board (Fig. 5-43) in the appropriate posi tion.

Sentences used are: APA, APB, XTE, XTR, RMB, BWW, BWC, BWR, BOD, HSC. The AP45 automatically selects the sentence(s) to use according to the “NMEA

Priority table” on page 7-8. Position 3: NMEA 0180, standard polarity

Position 8: NMEA 0183, inverse polarity Position 9: NMEA 0183, standard polarity

Note! Both a hardware setting (switch or strap), and a software selection from the infoloop is necessary to select the Nav. Interface format (0180, 0183).

The NMEA format is selected under the installation loop, see page 6-5. The NMEA 0183 format accepts different sentences as per “NMEA Priority table”, page 7-8.

For receivers with NMEA 0183 format that outputs both XTE and Bearing to waypoint type of nav. information, the autopilot displays the XTE information between the waypoints, and Bearing information at the waypoint.

Connection to Navigation Receiver

Robertson AP45 Autopilot Installation

Simrad Robertson AS

Egersund - Norway

Page 5-37

The output from the navigational receiver is connected to AP45 J3 pin 9 and 10 (Ref. Fig. 5-44).

Fig. 5-44

AP45/Navigation receiver - Wiring

AP45 is originally designed f or co nn ectio n to an ex tern al w atch alarm o f ty pe WA9 which is no longer available. WA9 was connected to J1 as per Fig. 5-45

However, it is still possible to enable the built in watch alarm in AP45 by temporarily connect pin 2 of J1 (Watch al. sen se) to p in 13 ( Gn d) . The watch alarm function can be permanently disabled again by following the procedu re described in section “Fault warnings” page 2-16 and section “TROUBLE SHOOTING”, page 7-1

Fig. 5-45

WA9 Circuit/Wiring diagram

Note! If pin 2 of J1 has a fixed connection to pin 13 (Gnd) it is not possible to disable the watch alarm.

Watch alarm

Page 5-38 Robertson AP45 Autopilot

Installation

Simrad Robertson AS

Egersund - Norway

Robertson AP45 Autopilot Start-Up procedure / Commissioning

Simrad Robertson AS

Egersund - Norway

Page 6-1

6. START-UP PROCEDURE/ COMMISSIONING

After finishing the installation and interconnecting all units, check that correct power and polarity is supplied to the junction unit. See page 5-19 and 5-21.

Alignment and adaptation of the autopilot parameters to the vessel's characteristics must be carried out according to the following procedure.

Turn on the autop ilot by pressing the MAN UAL button. The Inf ormation Display shows MANUAL and software version for two-three seconds after turn on:

Then the display will show:

The Rudder Feedback Unit must be adjusted to zero when the rudder is in midposition. This is done by using the DEBUG mode, which enables the rudder angle to be shown digitally on the Information Display. Use the following procedure:

a. Move the rudder to centre position. b. Select MANUAL-mode on the Control Unit. c. Select DEBUG-mode by pressing the hidden DEBUG button (just above the

INCREASE-button) and then the WEATHER-button. The Information Display now shows (example):

S = starboard, P = port

d. Adjust for approx. zero rudd er angle (less than 1.0 de gree) by turning the shaft

of the feedback unit after it has been loosened from the lever. Secure the lever after completion of adjustment.

e. Take the rudder 5 degre es to starboard and v erif y th at the f ee d back sign al is in

phase by reading S05° on the information display. Repe at by taking the rudder 5 degrees to port. The display should now read P05°.

Final setting of dynamic zero position is made (via the Debug mode) under Sea Trial. Ref. page 6-6.

Press the MANUAL button and set the RUDDER value to 1.0. Take the rudder approximately 5 degrees to port or starboard using the helm or a NFU control. Press the AUTO button and verify that the rudder returns to amidships position.

If the rudder moves in opposite dir ection, press the MANUAL button to stop the rudder. Interchange the wires to the solenoids or motor and repeat the procedure.

Power ON

PROGRAM V_R_

MANUAL

NON FOLLOW UP

MANUAL

Rudder Feedback Adjustment

DEBUG MODE

RUDD.ANG: S02.2°

Direction of Rudder Movement

Page 6-2 Robertson AP45 Autopilot

Start-Up procedure / Commissioning

Simrad Robertson AS

Egersund - Norway

The rudder speed is a contributing factor to autopilot performance. For the majority of vessels a rudder speed of 5-8 degrees pr. second is preferable

(equals to 11-18 seconds h.o-h.o. time for ±45° rudder travel). The rudder speed can easily be calculated by the following equation: H.O.-H.O. rudder angle in degrees H.O.-H.O. time in seconds If a Robertson power unit has been installed, the speed can be adjusted in two

ways dependant on the type of unit.

1. Reversible units using the J45A Junction Unit:

By adjustment of the RV1 potentiometer.

2. Continuously running pump units (RPU-3):

By selection between two speeds on the motor.

If a non-Robertson power unit has been installed, consult the supplier or manufacturer.

Note! If the rudder speed can not be set within the recommended limits, perform the sea trial before any further steps are taken. Some vessels may steer satisfactory even with a rudder speed exceeding the recommended limits.

• Select DEBUG-mode by pressing the hidden DEBUG button (just above the

INCREASE-button) and then the WEATHER-button until the Information Display shows compass signal level:

Turn the compass slowly 360° around. The signal level should vary be tween 0.5 and 4.5V. Adjustment of signal le vel can only be done by adjusting the distance between the compass card and the course detector.

• Select MANUAL-mode. Loosen the fastening screw and turn the course

detector by hand until the display readout corresponds with the compass.

• On some installations a heading error may occur in certain compass quadrants.

Turn the course detector so that the error is distributed through 360°.

• Fasten screw and finally check the readout on different headings.

To adapt the autopilot to the vessel's characteristics and the mechanical installations, some parameters must be set. An installation programme loop is available for this purpose. The loop is accessed by pressing the RUDDER and WEATHER buttons simultaneously. To step through the loop, press the WEATHER button, and to change the different parameters, use the + and buttons. Refer to Fig. 6-1.

If any of the factory set parameters has been changed under Debug Adjust mode (see page 7-5), a warning will be given when stepping through the installation loop. The warning:

Rudder speed

Course Detector Alignment

DEBUG MODE

COMP.SIN: 3.26V

Selection of parameter settings

SPECIAL PARAMSET

CHANGE?: +/-

Robertson AP45 Autopilot Start-Up procedure / Commissioning

Simrad Robertson AS

Egersund - Norway

Page 6-3

will be shown in the information display instead of each parameter that has got a special value. This is done to avoid that the parameters are re-selected by a mistake.

To continue without further changing the special value: Press the WEATHER button.

To re-select the factory parameter setting:

• Enter the Debug mode as

described on page 7-5. (Press hidden button + Weather button).

• Step through the entire debug

loop until you find:

• Press - button repeatedly until

alarm sounds and display shows:

• By pressing the ALARM button

and cancel the alarm the complete set of factory settings are re-selected.

The text in the Information D isplay can be presented in four different languages.

Select desired language by pressing the RUDDER and WEATHER button simultaneously . The display shows one of the following

languages: ENGLISH, FRANCAIS, ESPANOL, NORSK.

Press the + or - button until the desired language is shown in the display.

Fig. 6-1

AP45 Installation loop

PROGRAM: V_R_

RUNTIME: -------------H

DATA FAILURE !

CHECK SETTINGS

Select language

* ENGLISH *

F, E, D, N: +/-

Page 6-4 Robertson AP45 Autopilot

Start-Up procedure / Commissioning

Simrad Robertson AS

Egersund - Norway

AP45 has been set up for magnetic compass from factory (Default setting). If connected to a fluxgate or a gyro compass - or a combination of magnetic and gyro compass, the actual compass to be used as heading reference must be selected by means of the + or - button. The compass selection will appear in following order when pressing + button:

MAGN ETIC COMPASS

FLUX, GYRO: +/-

FLUXGATE COM PASS

GYRO, MAGN: +/-

1 : 1 SYNC HR O

M AG N / F L UX: + / -

GEARED / STEPPER

MAGN, FLUX: +/-

FLUXGATE COM PASS

OFFSET BY: 00

GYRO ADJUST

PRESS +/-

When Fluxgate Compass or Ge ared synchro/Steppe r gyro is selected, you will get an additional heading adjust display in the installation loop.

Fluxgate compass heading can be adjusted ±90°. Gyro compass heading can be adjusted ±180°. If gyrocompass has been selecte d, you can also turn off and on again an d adjust

the autopilot as described in “Parameter setting”, page 2-3.

The range for the Off Course limit is ±5 to ±32 degrees in one degree step from set course. Alarm is given if the difference between set course and compass heading exceeds the limit. See “Fault warnings”, page 7-1.

Adjust for appropriate limit by means of the + or - buttons.

Specification of vessel's le ngth de termines the v alues for autotrim, cou nter ru dder time constant, turn initiate and turn rate. The values are based on experience realising, however, that not only the length contributes to the steering characteristics of a ve ssel. In some occasions, a selecte d length bigger o r smaller than the one of a particular vessel, may give a better result.

By means of the + or - button, the following lengths can be selected: Below 50 ft, 40-70 ft, 60-100 ft, 90-130 ft and above 120 ft.

Type of Heading Sensor

Off Course limit

I I I I I I I I OFFC.LIM.: 15°

Vessel's length

I I I I I I I LENGTH: 40-70FT.

Robertson AP45 Autopilot Start-Up procedure / Commissioning

Simrad Robertson AS

Egersund - Norway

Page 6-5

The COUNTER RUDDER serves two purposes, firstly to give a smooth transition to the new heading af ter a major course change has been made, and secondly to enable the autopilot to stabilise the vessel on a straight course.

The COUNTER RUDDER can be set to one of four values: OFF, LOW, MEDIUM and HIGH. The best setting can o nly be found during a sea trial. Initial setting should be LOW.

The value of the RUDDER LIMIT determines the maximum rudder movement in degrees from midship position. The range is ±5° to ±55°. The adjustment is in steps of 5 degrees, using the + or - button.

The RUDDER LIMIT should always be set approximately 5° less than the maximum rudder angle to avoid damage on the steering gear.

Rudder limit also applies when hand-steering is made by FU-steering levers.

A deadband in the rudder control loop is necessary to filter out noise generated by vibration. A narrow deadband may cause the rudder to hunt, a wide deadband will create inaccurate steering.

The rudder deadband can be adjusted in steps of 0.1° from 0.2-1.6°. Adjust the deadband when the vessel is tied dockside. Find the lowest possible value that will prevent the rudder from hunting. Adjust by means of the + or - button. Counter Rudder should be off during this test.

The AP45 Control Unit can be connected to navig ation receiv ers with NMEA 0180 and/or NMEA 0183 output signal format. NMEA 0183 is the factory hardw are set up. If NMEA 0180 is required, contact your local dealer for details on how to reconfigure the internal connections on Main PCB.

Refer to the nav. receiver manual and select the correct format by pressing the +

or - button.

In some occasions, e. g. at pair trawling, it is nece ssary to disengage the autotrim function in WORK-mode. This is done by pressing the DECREASE (-) button.

To engage the autotrim function, press the INCREASE (+) button.

I I I I I COUNT.RUDD.:LOW

Counter rudder

Rudder limit

I I I I RUDD. LIM.: 15°

Rudder deadband

I I I I I DEADBAND 1.0°

NMEA-format

NMEA0183-FORMAT

NMEA0180: -

WORK: AUTOTRIM

AUTOTRIM OFF?:-

Disengage of autotrim-function in WORK-mode

Page 6-6 Robertson AP45 Autopilot

Start-Up procedure / Commissioning

Simrad Robertson AS

Egersund - Norway

In some occasions, e.g. at very lo w speed, it may also be w anted to disengage the Off course alarm in Work mode. This is done by pressing the DECREASE (-) button.

The purpose of the sea trial is to verify that the AP45 has been properly installed and is well performing as a result of that. A successful sea trial is dependant of the following assumptions:

• The compass is placed correctly

• The compass is compensated by an auth orised co mpass adjuster , particularly if

the vessel's magnetic steering compass is used

• Rudder hardover to hardover time is appropriat e

• Rudder feedback geometry is correct

• Initial settings are in accordance with “Selection of parameter settings”, page 6-

• Autopilot works at the dock side. The sea trial should take place in open waters with sufficient room for

manoeuvring. It is also recommended to find a place where the sea is reasonably calm.

Note!

Do not use the PORT and STBD buttons during steps 2-4 of the sea trial.

1. Rudder Feedback centring procedure

Enter Debug mode (Press the hidden button just above the + button and then the Weather button). Step through the Debug loop until you find the following text:

Bring the vessel up to normal cruising speed. Place the rudder in exact midposition where the vessel steers a straight line.

Press Increase button and the display will show:

Step back through the Debug loop until you read the rudder angle, and verify that this now indicates zero.

2. Refe r to the Operation section and set WEATHER to OFF and RUDDER to 1.0.

Press the WORK button an d disengage the autotrim functio n as described in “Disengage of autotrim-function in WORK-mode”, page 6-5.

3. Maintain cruising speed and keep a straight course on different headings. Refer

to “RUDDER”, page 2-4, to find the best setting of the RUDDER value.

Disengage of Off Course alarm in Work mode

WORK: OFFC. ALARM OFFC. ALARM OFF?: -

Sea Trial

Centre Rudder Yes: Press In c

Rudder Feedback

* centred *

Robertson AP45 Autopilot Start-Up procedure / Commissioning

Simrad Robertson AS

Egersund - Norway

Page 6-7

4. Make several major course changes to test the effect of the different COUNTER

RUDDER settings. Refer to the figures below to find the best setting.

New course

New cours

New course

Counter rudder setting too low, overshoot response.

Counter rudder setting too high, sluggish and creeping response.

Correct setting of counter rudder, ideal response.

Fig. 6-2

Counter rudder settings

5. Eng age the auto trim functio n and press th e AUTO butto n. Demo nstrate to the

owner the effect of the operational controls i.e. RUDDER, WEATHER, Course Selector and PORT and STBD buttons.

6. Select WORK mode and demonstrate the manual trim using the PORT and

STBD buttons. Explain and demonstrate the purpose and effect of selecting a different RUDDER value in WORK mode when going at slow speed.

If a Nav. receiver is connected, make a trial as explaine d in “Navigating with the AP45”, page 2-5.

Page 6-8 Robertson AP45 Autopilot

Start-Up procedure / Commissioning

Simrad Robertson AS

Egersund - Norway

Robertson AP45 Autopilot Trouble shooting

Simrad Robertson AS

Egersund - Norway

Page 7-1

7. TROUBLE SHOOTING

The following fault warnings may be shown on the Information Display:

Course deviation greater than selected off course alarm limit. The alarm is automatically reset when the vessel is back within the limit or cancelled by pressing Alarm reset button.

The following conditions may cause the alarm: a. Low speed on vessel (slow acting response). b. Extreme sea conditions (following sea). Readjustment of the autopilot (Weather, Rudder, Counter Rudder) to improve

steering performance may cure the problem. Otherwise the off course limit should be adjusted.

This fault warning may also appear due to intermittent fault on the compass signal (open connection).

Indicates that the autopilot is no t re adin g an y ru dd e r fe e dback sig nal. By p re ssing the alarm reset button, the aud ible alarm will be disabled and the auto pilot will switch to a simulated signal, instead of the real. This is indicated by a flashing * * SIM * * on the information display.

The autopilot will continue to steer the set course , but the ste ering pe rformance is normally somewhat reduced.

The alarm is probably caused by and should be checked in the following sequence: a. Open wire in feedback cable. b. Defective feedback unit. c. Defective input circuit in control unit.

When the fault is rectified, th e autopilot will automatically disable th e simulated rudder angle signal.

Note! “Rudder Feedback Fail” may also be caused by a Feedback unit that has not been aligned and is outside AP45’s maximum working angle of ±55°.

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.

Other reasons may be: a. Wrong connection of feedback unit (new installation only).

b. Broken feedback unit transmission link. c. Opposite Port/Stbd output connection to solenoids or motor. d. Sticking solenoid valve.

e. Defective drive unit motor.

Fault warnings

OFF COURSE

RESET ALARM

RUDDER FEEDBACK

FAIL!

NO RESPONSE

FROM RUDDER

Page 7-2 Robertson AP45 Autopilot

Trouble shooting

Simrad Robertson AS

Egersund - Norway

Check that the nav. receiver is turned on and set up properly (see manual).

Poor reception conditions or improper set-up of nav. receiver.

Wrong NMEA-format selected on autopilot or transmitted by nav. receiver. All three messages indicate problems with reading the signals from the navigation

receiver. If you are unable to cure the problem, after having checked all connections and the nav. receiver and autopilot set-up, consult the factory or main distributor.

The alarm will also occur if no heading sensor is connected.

CD109 COURSE DETECTOR

a. Ente r the DEBU G-mod e (see page 7- 5) and v erify th at the comp ass sine, co sine

and reference signals are correct. If not, proceed to "b".

b. Check the cable and connector for open or intermittent connection. If found OK,

proceed to "c".

c. Try a new CD109.

FLUXGATE COMPASS

a. Enter the DEBUG-mode (see page 7-5) and verify that the sine and cosine

signals varies with the heading between approx. 0.5 and 4.5 volts. If not, proceed to "b".

b. Check all connections between the compass and the control unit. Check the

cable for a possible b rake in one of the wires. If found OK, proceed to "c".

c. Try another fluxgate compass.

FI100-40 FLUXGATE INTERFACE

a. Make su re the fluxgate comp ass is working properly by observing it’s repeater

(if installed). If OK, proceed to "b".

NAVDATA NOT REC.

CHANGE MODE

POOR NAVDATA

CHANGE MODE

WRONG DATAFORMAT

NAVRECEIVER

FLUXGATE FAIL

SELECT SENS.TYPE

GYROCOMPASS FAIL

SELECT SENS.TYPE

MAGN.COMP. FAIL

SELECT SENS.TYPE

Robertson AP45 Autopilot Trouble shooting

Simrad Robertson AS

Egersund - Norway

Page 7-3

b. Enter the DEBUG-mode (see page 7-5) and verify that the sine and cosine

signals varies with the heading between approx. 0.5 and 4.5 volts. If not, proceed to "c".

c. Check all connections between the fluxgate compass and the FI100 unit and

between the FI100 unit and the AP45 control unit. If found OK, proceed to "d".

d. Try a spare FI100 Fluxgate Interface PC-board.

G40A GYRO INTERFACE

a. Verify that the gyrocompass is working properly. b. Refer to “G40A Gyro Interface Unit” page 5-9. and check that the G40A is

operating properly with special attention to LEDs as explained. If the unit is not working properly, check all connections to the gyro compass and the AP45 control unit. If found OK, proceed to "c".

c. Check the signal transmission to AP45 by trying the different SW1 test

positions. Verify the sin/cos output levels and/or the AP45 display readings are according to table.

1234 Angle SINCOS

I 0 0 I 0° 2,5V 2,5V

0 I 0 I 45° 4V 4V

I I 0 I 90° 4,5V 2,5V

0 0 I I 180° 2,5V 0,5V

I 0 I I 270° 0,5V 2,5V

000I45° STEP – –

d. Try a spare G40A Gyro Interface PC-board. If the problem is still present af ter replaceme nt of the

heading sensor or interface, the problem most probably lies within the control unit.

90 180

270

360

0.5V

2.5V

4.5V

SINE

COSINE

Page 7-4 Robertson AP45 Autopilot

Trouble shooting

Simrad Robertson AS

Egersund - Norway

G45 GYRO INTERFACE

Readjusting procedure of 2,5V reference voltage (VR4) in case of extension of autopilot interconnection cable:

1. Disconnect S1-S2-S3 inputs.

2. Enter Debug mode in AP45. (See page 7-5).

3. Step through the loop until you find “Flux Sin” and/or “Flux Cos”.

4. Adjust RV4 until sin/cos reads exactly 2.50 V.

5. Reconnect the S1-S2-S3 inputs.

6. Verify correct heading readout on AP45 in Manual mode compared to the

Gyrocompass.

Lining up Gyro Synchro transmitter:

When the transmitter is correctly in stalled, the S1-S2-S3 voltage levels should be in accordance with figure below.

30 60

120 150 180 210

240 270 300

330

S1-S3 = 0V at 0 and 180 degrees S2-S3 = 0V at 60 and 240 degrees S1-S2 = 0V a t 120 and 30 0 degrees

360

I.e.: Measuring between S1 and S3 should give 0 volts when gyrocompass shows heading 000 (north).

If not, loosen the tran smitte r ’s f asten in g d e vi ce and tu rn tran smitte r un til re ad ing is correct.

If the autopilot sho uld lose or re ad erratic data store d in the memor y (RAM), this alarm will be given, and the au topilot is simultaneously set to MANUAL-mo de. A selection of factory settings are then automatically entered into the memory. These settings should be checked before AUTO-mode is re-selected (See “Selection of parameter settings” page 6-2.).

DATA FAILURE

CHECK SETTINGS

Simrad ROBERTSON AP45 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual