Simrad Robertson AP9 Mk3 Instruction Manual

INSTRUCTION MANUAL

Robertson AP9 Mk3

Autopilot

20169223

Simrad Robertson AS Telephone: +47 51 46 20 00 Nyåskaien Telefax: +47 51 46 20 01 P.O. Box 55 N-4379 Egersund, Norway

NOTE!

Simrad Robertson 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 Robertson 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 Robertson 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 Robertson AS disclaims any responsibility for damage or injury caused by improper installation, use or maintenance of the equipment.

Instruction Manual

20169223D I

Instruction Manual

The manual is intended as a reference guide for operating and correctly installing the AP9 Mk3 Autopilot.

Great care has been paid to simplify operation and set-up. However, an autopilot is a complex electronic syste m; it is affected by sea conditions, speed of the vessel, hull shape and size.

Please take time to read this manual to get a thorough understanding of the operation and system components and their relationship to a complete autopilot system.

Other documentation materials that is provided with your system include a warranty card. This must be filled in by the authorized dealer that performed the installation and mailed in to activate the warranty.

Robertson AP9 Mk3 Autopilot

II 20169223D

Document revisions

Documentation

department

Hardware/Software

design

Project/Product

Management

Rev Date Sign Date Sign Date Sign

– 10.04.96

N.G.

10.04.96

G.K.

10.04.96

Th.H.

A 30.05.96

N.G.

30.05.96

G.K.

30.05.96

Th.H.

B 12.07.96

N.G.

12.07.96

T.J.

12.07.96

Th.H.

C 3.9.99

N.G.

3.9.99

T.J.

3.9.99

Th.H.

D 07.11.00

N.G.

07.11.00

T.J.

07.11.00

T.R.

Document history

Rev. – First edition Rev. A Updated table of contents and references throughout the manual Rev. B Minor corrections in table page 1-6 and fig. 1-5. New dimensional

drawing of control unit, fig. 4.1. Section 5: Due to modified PCBs the instructions for ferrite core mounting are omitted. New component layout and set-up procedure for Dual Analogue Board included. Section 8: Updated circuit diagrams included. Section 9: Certificate of Type Approval included.

Rev. C New layout. Section 2 and 5 revised according to new software version

V1R3. Diagrams updated. Dimensional drawing of RF Standard Transmission link included. D9X Bus cable connection included. Index and distributor list included.

Rev. C has not been released.

Rev. D Updated according to software version V1R4.

Instruction Manual

20169223D III

TABLE OF CONTENTS

1 INTRODUCTION .........................................................................................................1-1

1.1 General .........................................................................................................1-1

1.2 MK3 System Layout............................................................................................1-1

1.3 Options available with the standard system ..................................................1-1

1.4 AP9 MK3 Standard System, On-Off Valves....................................................1-3

1.5 AP9 MK3 Standard System, Dual analogue output ......................................1-4

1.6 AP9 MK3 with analogue thruster control.......................................................1-5

1.7 Combinations of Heading Sensors...................................................................1-6

GYRO COMPASS................................................................................................1-6

FLUXGATE COMPASS......................................................................................1-8

1.8 Dual Station .........................................................................................................1-9

SERIAL LINES.....................................................................................................1-9

1.9 Connection of steering levers..........................................................................1-11

1.10 Rudder Angle Indicators .................................................................................1-12

1.11 Special Applications.........................................................................................1-13

2 OPERATION .........................................................................................................2-1

2.1 General .........................................................................................................2-1

2.2 Front Panel .........................................................................................................2-1

2.3 Mode selection.....................................................................................................2-2

HELMSMAN (Power ON).................................................................................2-2

AUTOPILOT........................................................................................................2-2

NAV. MODE........................................................................................................2-2

OFF........................................................................................................................2-2

ALARM ................................................................................................................2-3

Thruster/rudder parameters.............................................................................2-3

2.4 Parameter setting ................................................................................................2-3

General..................................................................................................................2-3

Switch ON............................................................................................................2-4

HELMSMAN.......................................................................................................2-5

AUTOPILOT........................................................................................................2-5

INCREASE- and DECREASE-buttons.............................................................2-5

ILLUM ..................................................................................................................2-5

COMPASS SELECT ............................................................................................2-6

RUDDER ..............................................................................................................2-6

WEATHER...........................................................................................................2-7

COUNTER RUDDER..........................................................................................2-8

INFO .....................................................................................................................2-9

2.5 Course selection ................................................................................................2-15

2.6 Navigational steering.......................................................................................2-15

Robertson AP9 Mk3 Autopilot

IV 20169223D

General................................................................................................................2-15

Steering by XTE to waypoint...........................................................................2-16

Priority mode (APB sentence).........................................................................2-18

Ecdis mode ( APB sentence)............................................................................2-19

Remote Control .................................................................................................2-19

AP9 MK3 Dual Station.....................................................................................2-20

F200-40 Remote Control...................................................................................2-21

S9 Steering Lever (NFU) ..................................................................................2-22

FOLLOW-UP Steering Levers.........................................................................2-23

2.7 Fault Warnings..................................................................................................2-25

HEADING SENSOR WARNINGS.................................................................2-25

OTHER FAULT WARNINGS.........................................................................2-28

3 DESIGN AND THEORY OF OPERATION..............................................................3-1

3.1 General system description...............................................................................3-1

3.2 AP9 MK3 Control Unit.......................................................................................3-2

3.3 CD109 Course Detector......................................................................................3-4

CD109 Course Detector Principle.....................................................................3-4

3.4 Course Handling.................................................................................................3-4

3.5 RF14XU Rudder Feedback Unit........................................................................3-6

3.6 D90 Series Distribution Unit .............................................................................3-7

POWER SUPPLY BOARD.................................................................................3-7

INTERCONNECTION BOARD........................................................................3-8

THRUSTER INTERFACE BOARD...................................................................3-9

SOLID STATE BOARD ....................................................................................3-10

DUAL ANALOGUE PCB ................................................................................3-13

3.7 F200-40 Remote Control...................................................................................3-15

3.8 FU91/92 Follow-Up Lever ..............................................................................3-16

4 TECHNICAL SPECIFICATIONS ...............................................................................4-1

4.1 AP9 MK3 Control Unit.......................................................................................4-1

4.2 AP9 MK3 Gyro Interface Board........................................................................4-2

4.3 CD109 Course Detector......................................................................................4-2

4.4 RFC35R Rate Compass.......................................................................................4-3

4.5 RFC35NS Fluxgate Compass.............................................................................4-4

4.6 RFC35N NMEA Compass..................................................................................4-4

4.7 Distribution Unit.................................................................................................4-5

4.8 RF14XU Rudder Feedback Unit........................................................................4-7

4.9 RF Standard Transmission Link .......................................................................4-8

4.10 S9 Steering Lever.................................................................................................4-8

4.11 FU91 Steering Lever............................................................................................4-9

4.12 S35 Steering Lever.............................................................................................4-10

Instruction Manual

20169223D V

4.13 F1/2 Remote Control........................................................................................4-11

4.14 F200-40 Remote Control...................................................................................4-11

4.15 RI9 Rudder Angle Indicator............................................................................4-12

4.16 IP protection ...................................................................................................4-13

4.17 Specification of messages.................................................................................4-14

CTS steering.......................................................................................................4-14

Bearing steering.................................................................................................4-14

Priority (mixed) steering..................................................................................4-14

Speed correction signal (VTG) ........................................................................4-14

5 INSTALLATION .........................................................................................................5-1

5.1 Unpacking and handling...................................................................................5-1

5.2 General .........................................................................................................5-1

5.3 Control Unit.........................................................................................................5-1

Connector assembly............................................................................................5-2

Screen termination..............................................................................................5-3

5.4 Heading sensors..................................................................................................5-4

General..................................................................................................................5-4

Magnetic compass...............................................................................................5-4

Gyro Compass.....................................................................................................5-7

RFC35NS Fluxgate Compass...........................................................................5-10

RFC35N NMEA Compass................................................................................5-12

5.5 D90/D91/D92/D93/D99 Distribution Unit.................................................5-12

Mounting............................................................................................................5-13

Electrical connections.......................................................................................5-13

Adjustments.......................................................................................................5-15

5.6 RF14XU Rudder Feedback Unit......................................................................5-15

Mechanical mounting.......................................................................................5-15

Electrical installation ........................................................................................5-16

Scaling of rudder angle....................................................................................5-17

Final check..........................................................................................................5-19

5.7 Optional equipment..........................................................................................5-19

AP9 MK3 Dual Station.....................................................................................5-19

5.8 Mode selection (External mode selector).......................................................5-21

F200-40 and Mode Selection............................................................................5-22

Complete Mode Selections ..............................................................................5-22

5.9 F200-40 Remote Control...................................................................................5-23

5.10 S9 Steering Lever...............................................................................................5-23

Mounting............................................................................................................5-23

Electrical connection.........................................................................................5-24

Function..............................................................................................................5-24

5.11 FU9X Follow up Steering Lever......................................................................5-26

Robertson AP9 Mk3 Autopilot

VI 20169223D

Mounting............................................................................................................5-26

Electrical connection.........................................................................................5-26

5.12 S35 connection to D9X......................................................................................5-27

S35 alternative connection...............................................................................5-27

5.13 RI9 Rudder Angle Indicator............................................................................5-28

5.14 PANORAMA Mk2 Rudder Angle Indicator ................................................5-28

Installation .........................................................................................................5-28

5.15 Analogue ±10V or 4-20mA control signals...................................................5-29

5.16 Connection to Navigational Receiver ............................................................5-31

5.17 Start-Up and commissioning...........................................................................5-32

Power ON...........................................................................................................5-32

Rudder Feedback Unit Adjustments..............................................................5-32

5.18 Selection of parameter settings .......................................................................5-33

Information and Debug Loops........................................................................5-33

5.19 Dockside Alignment/test................................................................................5-49

General................................................................................................................5-49

RF14XU Feedback unit (ON-OFF valves)......................................................5-49

Rudder Angle Indicators .................................................................................5-50

Analogue signal, Rudder & Thruster.............................................................5-50

Deflection test (Rudder or azimuth thruster propulsion)...........................5-52

Tunnel Thruster function.................................................................................5-57

Gyro Compass selection...................................................................................5-58

Magnetic Compass (CD109) adjustments .....................................................5-60

FOLLOW-UP Levers ........................................................................................5-61

Dual Station Configuration .............................................................................5-61

Mode selectors...................................................................................................5-61

5.20 Sea Trial ...................................................................................................5-62

RFC35NS Fluxgate Compass calibration and alignment............................5-64

RFC35N NMEA and RFC35R Compass calibration and alignment..........5-65

On course steering ............................................................................................5-66

Minimum rudder function ..............................................................................5-66

Course Changes.................................................................................................5-67

Save Parameters ................................................................................................5-69

Navigational Steering test................................................................................5-71

Special feedback arrangement ........................................................................5-72

6 TROUBLE SHOOTING................................................................................................6-1

6.1 Fault warnings.....................................................................................................6-1

6.2 CD109 COURSE DETECTOR............................................................................6-4

6.3 FLUXGATE COMPASS......................................................................................6-4

6.4 MALFUNCTION OF THE D90-91-92..............................................................6-4

6.5 MALFUNCTION OF THE D93/D94 ...............................................................6-5

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20169223D VII

6.6 THRUSTER INTERFACE PCB..........................................................................6-5

7 SPARE PARTS .........................................................................................................7-1

7.1 AP9 MK3 Control Unit.......................................................................................7-1

7.2 Distribution Unit.................................................................................................7-1

7.3 CD109 Course Detector......................................................................................7-3

7.4 RF14XU Rudder Feedback Unit........................................................................7-4

7.5 RF Standard Transmission link.........................................................................7-5

7.6 F200-40 Remote Control.....................................................................................7-6

7.7 S9 Steering Lever.................................................................................................7-7

7.8 FU91 Steering Lever............................................................................................7-7

7.9 S35 NFU Steering Lever.....................................................................................7-7

8 Drawings ........................................................................................................................8-1

9 Index ...............................................................................................................................9-1

10 Appendix ...................................................................................................................10-1

Approvals Sales and service worldwide (000929)

TABLE OF FIGURES

FIG. 1-1 AP9 MK3 SYSTEM LAYOUT..................................................................... 1-2

IG. 1-4 THRUSTER CONTROL................................................................................ 1-5

IG. 1-5 HEADING SENSORS .................................................................................. 1-7

IG. 1-6 SERIAL LINE CONNECTIONS..................................................................... 1-9

IG. 1-7 DUAL STATION SYSTEM ......................................................................... 1-10

IG. 1-8 NFU/FU LEVERS................................................................................... 1-11

IG. 1-9 RUDDER ANGLE INDICATORS................................................................ 1-12

IG. 1-10 SPECIAL APPLICA T IONS, EXAMPLE 1................................................... 1-13

IG. 1-11 SPECIAL APPLICA T IONS, EXAMPLE 2................................................... 1-14

IG. 1-12 SPECIAL APPLICA T ION, EXAMPLE 3..................................................... 1-15

IG. 2-1 AP9 MK3 FRONT PANEL......................................................................... 2-1

IG. 2-2 RUDDER SETTINGS.................................................................................... 2-7

IG. 3-1 AUTOPILOT PRINCIPLE DIAGRAM............................................................ 3-1

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

IG. 3-3 AP9 MK3 ELECTRONIC BOARDS............................................................. 3-3

IG. 3-4 COURSE DETECTOR PRINCIPLE ................................................................ 3-4

IG. 3-5 AP9 MK3 COURSE HANDLING............................................................... 3-5

IG. 3-6 RF14XU PRINCIPLE.................................................................................. 3-6

IG. 3-7 D9X PCBS ................................................................................................ 3-7

IG. 3-8 POWER SUPPLY PCB - SIMPLIFIED DIAGRAM ..........................................3-8

IG. 3-9 INTERCONNECTION PCB - SIMPLIFIED DIAGRAM...................................3-8

IG. 3-10 THRUSTER INTERFACE PCB - SIMPLIFIED DIAGRAM ............................ 3-9

IG. 3-11 SOLID STATE PCB - SIMPLIFIED DIAGRAM.......................................... 3-10

IG. 3-12 SOLID STATE PCB - CONNECTION OF LIMIT SWITCHES.......................3-12

IG. 3-13 SOLID STATE PCB - CONNECTION OF SOLENOIDS...............................3-12

IG. 3-14 DUAL ANALOGUE PCB - SIMPLIFIED DIAGRAM................................. 3-14

IG. 3-15 F200-40 SIMPLIFIED DIAGRAM ............................................................ 3-15

Robertson AP9 Mk3 Autopilot

VIII 20169223D

FIG. 3-16 FU91/92 SIMPLIFIED DIAGRAM .......................................................... 3-16

IG. 4-1 AP9 MK3 CONTROL UNIT, DIMENSIONS.............................................. 4-1

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

IG. 4-3 RFC35R RATE COMPASS, DIMENSIONS................................................. 4-3

IG. 4-4 D9X DISTRIBUTION UNIT, DIMENSIONS................................................. 4-6

IG. 4-5 RF14XU RUDDER FEEDBACK UNIT DIMENSIONS .................................. 4-7

IG. 4-6 RF STANDARD TRANSMISSION LINK - DIMENSIONS............................... 4-8

IG. 4-7 S9 STEERING LEVER - DIMENSIONS......................................................... 4-8

IG. 4-8 FU91 STEERING LEVER - DIMENSIONS.................................................... 4-9

IG. 4-9 S35 STEERING LEVER - DIMENSIONS..................................................... 4-10

IG. 4-10 F1/2 REMOTE CONTROL - DIMENSIONS............................................. 4-11

IG. 4-11 F200-40 REMOTE CONTROL DIMENSIONS ........................................... 4-11

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

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

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

IG. 5-3 CONNECTOR ASSEMBLE ........................................................................... 5-2

IG. 5-4 CONTROL UNIT - CONNECTOR MOUNTING............................................. 5-3

IG. 5-5 SERIAL LINE CONNECTIONS..................................................................... 5-4

IG. 5-6 CD109 COURSE DETECTOR MOUNTING.................................................. 5-6

IG. 5-7 SYNCHRO SIGNAL CONNECTION .............................................................5-8

IG. 5-8 STEP SIGNAL CONNECTION...................................................................... 5-8

IG. 5-9 STEP SIGNAL, ALTERNATIVE CONNECTION ............................................. 5-8

IG. 5-10 SINE/COSINE CONNECTION...................................................................5-9

IG. 5-11 SERIAL LINE CONNECTION..................................................................... 5-9

IG. 5-12 RGC12 SERIAL LINE CONNECTION ....................................................... 5-9

IG. 5-13 RFC35 MOUNTING.............................................................................. 5-10

IG. 5-14 RFC35NS WIRING TO AP9 MK3........................................................5-11

IG. 5-15 RFC35N NMEA COMPASS WIRING TO AP9 MK3............................ 5-12

IG. 5-16 BUS CABLE (P/N 23602857) CONNECTION........................................ 5-14

IG. 5-17 AP9 MK3 / D93 (DUAL ANALOGUE PCB) INTERCONNECTION...... 5-15

IG. 5-18 RF14XU - MOUNTING......................................................................... 5-16

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

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

IG. 5-21 DUAL STATION WIRING DIAGRAM....................................................... 5-20

IG. 5-22 MODE SELECTOR CONNECTION........................................................... 5-21

IG. 5-23 F200-40 AS MODE SELECTOR .............................................................. 5-22

IG. 5-24 COMPLETE MODE SELECTION............................................................... 5-22

IG. 5-25 F200 REMOTE CONTROL, CONNECTION............................................. 5-23

IG. 5-26 S9 STEERING LEVER, BULKHEAD MOUNTING ..................................... 5-23

IG. 5-27 S9 STEERING LEVER, PANEL MOUNTING............................................. 5-24

IG. 5-28 S9 STEERING LEVER, INTERNAL WIRING............................................. 5-24

IG. 5-29 PRIORITY NFU CONTROL BY S9 DIRECTLY TO VALVES....................... 5-24

IG. 5-30 NON-PRIORITY NFU CONTROL BY S9, NO VALVE LOAD TO S9..........5-25

IG. 5-31 FU9X STEERING LEVER, BULKHEAD MOUNTING................................ 5-26

IG. 5-32 FU9X CONNECTION TO D9X............................................................... 5-26

IG. 5-33 S35 AND F1/2 CONNECTION TO D9X ................................................... 5-27

IG. 5-34 S35 AND F1/2 ALTERNATIVE CONNECTION TO AP9 MK3................ 5-27

IG. 5-35 RI9 CONNECTION................................................................................. 5-28

IG. 5-36 PANORAMA CONNECTION................................................................... 5-29

IG. 5-37 AP9MK3 /THRUSTER INTERCONNECTION........................................ 5-30

IG. 5-38 NAVIGATIONAL RECEIVER CONNECTION............................................ 5-31

IG. 5-39 INFO LOOP 1..........................................................................................5-34

IG. 5-40 INFO LOOP 2.........................................................................................5-39

IG. 5-41 “HIDDEN” BUTTON LOCATION............................................................ 5-44

IG. 5-42 RF14XU INTERNAL WIRING ............................................................... 5-49

Instruction Manual

20169223D IX

FIG. 5-43 D9X DUAL ANALOGUE BOARD, COMPONENT LAYOUT (REV. - C ). 5-53 F

IG. 5-44 D9X DUAL ANALOGUE BOARD, COMPONENT LAYOUT (REV. D - ).. 5-54

IG. 5-45 D9X SOLID STATE BOARD, COMPONENT LAYOUT.............................. 5-55

IG. 5-46 D9X THRUSTER INTERFACE BOARD, COMPONENT LAYOUT............... 5-56

IG. 5-47 GYRO INTERFACE BOARD, SWITCHES .................................................. 5-58

IG. 5-48 RUDDER/COUNTER RUDDER - COURSE RELATIONSHIP .....................5-66

IG. 5-49 SPECIAL FEEDBACK ARRANGEMENT.................................................... 5-72

IG. 7-1 AP9 MK3 CONTROL UNIT, SPARE PARTS.............................................. 7-2

IG. 7-2 CD109 - SPARE PARTS.............................................................................. 7-3

IG. 7-3 RF14XU - SPARE PARTS........................................................................... 7-4

IG. 7-4 RF STANDARD TRANSMISSION LINK....................................................... 7-5

IG. 7-5 F200-40 COMPONENT REFERENCE.......................................................... 7-6

IG. 8-1 J1 - INPUT/OUTPUT SIGNAL REFERENCES............................................... 8-2

IG. 8-2 J2 - INPUT/OUTPUT SIGNAL REFERENCES............................................... 8-3

IG. 8-3 J3 - INPUT/OUTPUT SIGNAL REFERENCES............................................... 8-4

IG. 8-4 J4 - INPUT/OUTPUT SIGNAL REFERENCES............................................... 8-5

IG. 8-5 J5 - INPUT/OUTPUT SIGNAL REFERENCES............................................... 8-6

IG. 8-6 SCREEN TERMINATION ............................................................................ 8-7

IG. 8-7 D9X/S SERIES DISTRIBUTION UNITS (OPTIONAL VERSION)..................8-8

IG. 8-8 FU9X - CIRCUIT DIAGRAM (N3-360308C)............................................ 8-9

IG. 8-9 D9X POWER SUPPLY - CIRCUIT DIAGRAM (DRW. NO. N3-012812G)8-10

IG. 8-10 D9X INTERCONNECTION BOARD – CIRCUIT DIAGRAM

(DRW. NO. N3-012813B)............................................................................ 8-11

IG. 8-11 D9X SOLID STATE BOARD, UNIVERSAL TYPE – CIRCUIT DIAGRAM

DRW. NO. N1-012815D.............................................................................. 8-12

IG. 8-12 D9X DUAL ANALOGUE BOARD – CIRCUIT DIAGRAM

(DRW. NO. N1-012816E)............................................................................ 8-13

IG. 8-13 D9X THRUSTER INTERFACE BOARD – CIRCUIT DIAGRAM

(DRW. NO. N1-012818C) ........................................................................... 8-14

XTERNAL CABLING DIAGRAM..................................................DRW. NO. 3-017111

XTERNAL WIRING DIAGRAM....................................................DRW. NO. 1-017115

Robertson AP9 Mk3 Autopilot

X 20169223D

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Introduction

20169223D 1-1

1 INTRODUCTION

1.1 General

To day Simrad manufacture a complete range of autopilots for all types of vessels, from leisure boats up to advanced steering systems for merchant marine vessels. Our factory for these products – branded Robertson – is located in Egersund, on the south-west coast of Norway. The company's involvement in autopilots began in 1953 with equipment for the North Sea fishing fleet.

The AP9 MK3 autopilot described in this document is based on predecessor, the AP9 MkII. The major changes are on the hardware to comply with IMO resolution 694 (17) and the Marine Directive (Wheelmark). The hardware changes are compatible with the AP9 MkII.

1.2 MK3 System Layout

The complete AP9 MK3 system layout is shown in Fig. 1-1 A number of configurations can be made from the complete system

layout, and certain standard systems are shown in separate figures. The relationship between control signals, mode signals and the

different versions of distribution unit are shown in the standard system drawings.

The combinations of heading sensors are shown in Fig. 1-5.

1.3 Options available with the standard system

The AP9 MK3 system has a series of options that can be specified, allowing the autopilot system to be configured to suit virtually any particular vessel.

Optional equipment:

• Dual station

This is a second control unit for remote control of the main station functions

• Non Follow Up (NFU) steering lever with mode selector and lock

mechanism

• Follow up (FU) steering lever with mode selection

• Rudder angle indicators

• Watch alarm

• Thruster control/second parameter set; i.e. the ability to control

either a thruster or both the rudder and thruster simultaneously. This option requires a special interface board in the Distribution Unit.

Robertson AP9 MK3 Autopilot

1-2 20169223D

For operation, technical specifications, installation and spare parts, see the respective sections of this manual.

Fig. 1-1

AP9 MK3 System layout

Introduction

20169223D 1-3

1.4 AP9 MK3 Standard System, On-Off Valves

Ref. Fig. 1-2. The standard AP9 MK3 system consist of the following units:

• AP9 MK3 Control Unit P/N 20169199

Optional Gyro interface PCB P/N 20168316

• CD109 Magnetic Course Detector

(with tripod holder) P/N 20120861

• RF14XU Feedback Unit (with transm. link) P/N 22501647

• D9X Distribution Units:

Version D90 (19-40V DC, 3A solenoids) P/N 20125001

(Extra S.S.B. P/N 20125043)

Version D91 (110V DC, 1A solenoids) P/N 20125407

(Extra S.S.B. P/N 20125423)

Version D92 (110/220V AC, 1A solenoids) P/N 20125704

(Extra S.S.B. P/N 20125720)

Note that the standard mains supply is 24V DC.

If AC mains is used, the system must also include an AC Power Adapter (Not supplied by Simrad Robertson AS)

Where the system shall operate two sets of solenoid valves, one extra Solid State PCB (S.S.B.) must be mounted in the D9X Distribution Unit (see above).

Interface to navigational receiver is incorporated.

Fig. 1-2

Standard system with ON-OFF

valves

AP9MKII AUTOPILOT

NAV.RECEIVER

AP9 MK3

MAGNETIC COMPASS

CD109

GYRO-COMPASS

D9X

DISTRIBUTION

(D90/91/92)

ADAPTER

24V DC MAINS

24V DC ALARM

"ON-OFF""ON-OFF"

TO INDICATORS

(VOLTAGE)

RF14XU

RUDDER

TRANSMISSION LINK

SOL.

VALVE

PUMP 1

SOL.

VALVE

PUMP 2

AUTOPILOT F.B.

FOR TWO PUMPS,

ADD EXTRA

SOLID STATE PCB.

110/220V AC

50/60Hz

(FREQUENCY)

Robertson AP9 MK3 Autopilot

1-4 20169223D

1.5 AP9 MK3 Standard System, Dual analogue output

The dual analogue system consist of the following units (Ref. Fig. 1-3.):

• AP9 MK3 Control Unit P/N 20169199

• Gyro Interface Board (Optional) P/N 20168316

• CD109 Magnetic Course Detector P/N 20120861

(with tripod holder)

• D93 Distribution Unit: P/N 20126009

Provides two galvanic isolated ±10V (adjustable) or 4-20mA output signals

Note ! No autopilot feedback unit is required.

It is recommended to use a separate mode selector to provide changeover (c/o) signals to the respective steering gear electronic units. Th e following functions can be included:

A: MANUAL - AUTO B: MANUAL - PORT - STBD - BOTH

(Function to be specified when ordering)

Fig. 1-3

Standard system, ±10V

Dual Analogue

AP9MKII

AUTO PILOT

STEERING

GEAR

EL. 1

STEERING

GEAR

EL. 2

RUDDER RUDDER

FEEDBA C K FEEDBA C K

EXT. MODE SELECTOR

(OPTIONAL)

D9X

DISTRIBUTION UNIT

D93

POWER

ADAPTER

110/220V AC

50/60Hz

24V DC MAINS

24V DC ALARM

NAV. RECEIVER

MAGNETIC COMPASS

AP9 MK3

GYRO-COMPASS

CD109

T.B.

C/O

+/-10V

ANALOG

+/-10V

ANALOG

MODE

NOT ROBERTSO N

SUPPLY

Introduction

20169223D 1-5

1.6 AP9 MK3 with analogue thruster control

Ref. Fig. 1-4. The system consists of the following units:

• AP9 MK3 Control Unit P/N 20169199

Optional Gyro Interface Board P/N 20168316

• CD109 Magnetic Course Detector

(with tripod holder) P/N 20120861

• D9X Distribution Unit P/N 20126306

(Includes S.S.B.(s) or Dual Analogue PCB P/N as per D9X depending on steering gear interface)

• Thruster Interface PCB P/N 20126017

(Replaces Interconnection PCB P/N 20125027 in D9X Distribution Unit)

• Thruster switch (RUDDER - THRUSTER) P/N 20168605

• RF14XU Feedback Unit P/N 22501647

(When connected to solenoid valves)

AP9M KII

AUTOPILOT

MAGNETIC COMPASS

AP9 MK3

NAV. RECEIVER

THRUSTER SWITCH

GYRO COMPASS

D9X

DISTRIBUTION

UNIT

FEED-

BACK

STEERING

GEAR

EL.

NOTE:

STEERING SYSTEM EITHER ON-OFF OR ANALOGUE. FOR ANALOGUE, NO FEEDBACK IS REQUIRED FOR AUT OPILOT .

THR.

INT. PCB

CD109

MODE

+/-10V ANALOG

NOTE

24VDC MAINS

Fig. 1-4

Thruster control

Robertson AP9 MK3 Autopilot

1-6 20169223D

1.7 Combinations of Heading Sensors

Ref. Fig. 1-5. The AP9 MK3 Control Unit is designed to accept several types of

heading sensors. The sensors can be divided in three groups:

1. Gyro Compass

2. Fluxgate Compass (Recommended as monitor compass only)

3. Magnetic Compass (Recommended as monitor compass only)

GYRO COMPASS

To interface to SYNCHRO, GYRO EXCITED, A/P EXCITED or STEP type gyro, the AP9 MK3 Control Unit must be equipped with the Gyro Interface Board P/N 20168316.

Signal type Option al ha rdware

Synchro 11,8V l-l 400Hz Gyro Interface PCB Synchro 20-115V l-l 50-60Hz, 400Hz Gyro Interface PCB Step 6 step/degree Gyro Interface PCB Sin/cos Not required Serial Not required

Note ! Two SYNCHRO or two STEP signals can not be connected at the same

time. When using two gyrocompasses, one gyro must provide SYNCHRO signal and the other gyro must provide STEP signal.

When using gyro with serial signal, no Gyro Interface Board is required.

Notice that dual station system communication can not be made when UART or NMEA serial line is used.

The Robertson RGC gyros can be connected according to the following table:

Direct connection RGC Interface connection

RGC10 Synchro Serial, sin/cos, 6 step/degree RGC11 RS422 Tokimec spes. Serial, sin/cos, 6 step/degree RGC50 Synchro Serial, sin/cos, 6 step/degree RGC12 Serial Serial, sin/cos, 6 step/degree

For details of gyro selection see page 5-58.

Introduction

20169223D 1-7

SKR-82 GYRO

GYRO-COMPA SS

RGC GYRO

RGC

INT. FACE

ROBERTSON

RFC35NS

SYNCHRO

MAGN.

GYRO

INTERFACE

BOARD

SYNCHRO

1:1

90:1

360:1

STEP

6 STEP/DEGREE

SERIAL

MAGN.

STEP

SIN/COS

(FLUXGATE)

AP9 MK3

CONTROL UNIT

SERIAL UART

SERIAL

UART

SIN/COS

GYRO-COMPA SS

SIN/

COS

1:1 SYNCHRO

110V 400Hz

(ONLY RGC10

AND RGC50)

MAGNETIC COMPASS

CD109

MAGNETIC COMPASS

CD109

SYNCHRO

NOTE:

THE GYRO INTERFACE BOARD CAN NOT ACCEPT TWO SYNCHRO OR TWO STEP SIGNALS SIMULTANEOUSLY, ONLY ONE OF EACH.

STEP

SERIAL TOKIM EC

NMEA

Fig. 1-5

Heading Sensors

Robertson AP9 MK3 Autopilot

1-8 20169223D

RGC Gyro with RGC Signal Interface Unit

When using an RGC gyro together with the RGC Signal Interface, four options of connections are possible:

1. UART serial line, 20mA. (Identical to the SKR 82 serial line)

2. NMEA serial signal

3. Fluxgate sin/cos signal, identical to the Robertson fluxgate signal.

4. Step signal, 24V – 6 step/degree. When using the fluxgate signal, select FLUXGATE compass. When using step signal, select STEP SIGNAL. See page 2-6 for compass selection.

RGC12 Gyrocompass

The RGC12 RS422 Tokimec special protocol or NMEA can be connected directly to the AP9 MK3 without any Gyro Interface PCB.

FLUXGATE COMPASS

The AP9 MK3 is designed to accept fluxgate compass sin/cos signals, using 2.5V DC as reference.

The Robertson type of Fluxgate Compasses, such as the RFC35NS therefore interfaces directly to the AP9 MK3.

Note ! A fluxgate compass should only be used as a Monitor Compass.

Gyrocompass is always recommended as Main Compass.

For details, refer to page 5-10.

Introduction

20169223D 1-9

1.8 Dual Station

See Fig. 1-7 The AP9 MK3 Control Unit can also be used as a remote station,

communicating with the main station by serial lines. The dual station system is designed to enable individual connections

of NFU levers, F200-40 remote controls and mode selectors. This makes it possible to select mode and change parameters from the two stations individually. FU levers can only be connected to the main Control Unit via D9X.

Note ! Change of parameters except the selection of compass on one unit, will

change the same parameters on the other unit.

Parameter 2 option (Thruster function) can be selected individually on the two units, but adjustment of parameters on one unit will automatically change the same parameters on the other unit.

When a F200-40 Remote Control is connected, a mode selector must have an "OFF" position to allow proper function of the F200-40.

SERIAL LINES

The AP9 MK3 has several serial line connections. As shown in Fig. 1-6, two input lines are in parallel, the "COMM.

LINE" and the "SERIAL HDG. DATA". This excludes the interface to serial heading data when a dual station is used.

3 6

8 6

1 2

OUT

SERIAL HEADING DATA

COMM. LINE (DUAL ST./RMP)

HEADING NMEA (HDT/HDM)

NAV. RECEIVER (NMEA)

AP9 MK3

CHANNEL A

CHANNEL B

NOTE: In Dual Station configuration, serial heading data

can not be connected to J3, 1-2.

OUT

Fig. 1-6

Serial line connections

Robertson AP9 MK3 Autopilot

1-10 20169223D

AP9MKII AUTOPILOT

AP9MKII A UTOPILOT

NFU LEVER

AP9 MK3

REMOTE STATION

EXT. MODE SELECTOR

(OPTION)

F200-40

SEE N O TE

COMMUNICATION LI NES

D9X

DISTRIBUTIO N

UNIT

F200-40

SEE N O TE

EXT. MODE SELECTOR

(OPTION)

NFU LEVER

FU9X

FOLLOW -UP

LEVER

AP9 MK3

MAIN STATION

PWR

NOTE:

WHEN A F200-40 IS CONNECTED, T HE MODE SELECTO R(S) MUST INCLUDE AN "OFF" POSITION.

Fig. 1-7

Dual Station System

Introduction

20169223D 1-11

1.9 Connection of steering levers

As shown on Fig. 1-8., a number of NFU levers and a single FU lever can be connected to the AP9 MK3 autopilot system.

The S9 NFU lever combines an "IN - OUT" function with the normal PORT - STBD operation. The "IN - OUT" function can be combined with the external mode-selection of the autopilot and this automatically brings the autopilot to NFU mode when the S9 lever is pulled out. The mode change has two alternatives:

A. Sets the autopilot to NFU mode when the S9 is pulled out. NFU

mode will remain when S9 is pushed in again. AUTOMATIC or NAV to be selected on the control unit. For this alternative refer to page 5-24.

B. Sets the autopilot to NFU-mode when the S9 is pulled out. Mode

will change back to AUTOMATIC or NAV when the S9 lever is pushed in again. To obtain this function, the closing contacts if S9 no. A5-A6 is used to control the mode. Refer to page 5-21.

An unlimited number of S9’s can be connected in parallel.

Note ! It is also possible to add several FU-levers to an AP9 MK3 system by using

the FUA9X Follow-Up Amplifier instead of the D9X Distribution Unit.

Note ! NFU levers should not be used for analogue steering(

10V output).

AP9MKII AUTOPILOT

AP9 MK3

S9 S9

(NFU)

FU9X

D9X

DISTRIBUTION

UNIT

ONE OFF

Fig. 1-8

NFU/FU Levers

Robertson AP9 MK3 Autopilot

1-12 20169223D

1.10 Rudder Angle Indicators

RI9

RUDDER

PANORAMA

NO.1

NO.2

NO.3

NO.4

24V DC

INDICATOR

SUPPLY

24V DC

INDICATOR

SUPPLY

FEEDBACK

TO AUTOPILOT

RF14XU

+/-45/60/70/90 DEGREE

FREQ.

3400Hz +/-20Hz/DEGREE

RI9

Fig. 1-9

Rudder Angle Indicators

Fig. 1-9 shows a typical Rudder Angle configuration. Number and type of indicators varies from ship to ship.

The indicators must be of the "voltage" type, such as Panorama, RI40 and RI9. Installation instructions are supplied with the indicators.

Introduction

20169223D 1-13

1.11 Special Applications

Example I:

AP9MKII

AUTOPILOT

THR.

INT. PCB

SOL.

STATE

PCB

AP9 MK3

THRUSTER SELECTOR

SWICH

D9X

DISTRIBUTION

UNIT

RF14XU

RUDDER

SOLENOID

VALVES

MODE

+/-10V ANALOG

(VIA THR.INT.)

C/O SIGNAL

SOLENOID (ON/OFF) SIGNALS

THRUSTER

ELECTRONICS

Fig. 1-10

Special applications, Example 1

In this example the autopilot is interfaced both to a conventional rudder system, using ON - OFF solenoid valves, and an azimuthing bow thruster with ±10V as control signal.

The AP9 MK3 can provide different parameters f or the thruster and the rudder control respectively, and the combination is determined under the INFO loop 2 (Ref. page 2-9).

The combination shown above requires a Thruster Interface PCB to provide the single ±10V analogue output, and a Thruster Selector Switch to provide the change-over (C/O) signal to the thruster combined with the mode control to the autopilot. The Thruster Interface PCB, part no. 20126017 is mounted in the Distribution Unit, and the solid state PCB must be specified according to the switching voltage. (Ref. Standard System).

Robertson AP9 MK3 Autopilot

1-14 20169223D

Example 2:

AP9MKII AUTOPILOT

AP9 MK3

THRUSTER SWITCH

SERVO

POT.

D9X

DISTRIBUTION

UNIT

U/X

CONV.

THR.

INT.

PCB

SOL.

ST.

PCB

C/O SIGNAL

ON-OFF SIG NAL

MODE

FEEDBACK

+/-10V SIGN.

FREQ. (X)

(U)

SOLENOID VALVES

THRUSTER

ELECTRONICS

Fig. 1-11

Special applications, Example 2

The AP9 MK3 autopilot is also designed to operate a tunnel bow thruster, with possibility to set deadband and thruster power in the second parameter set.

The control signal is the ±10V analogue, generated via the Thruster Interface PCB.

The shown configuration also includes a main propulsion azimuth thruster, operated by ordinary ON-OFF solenoid valves.

A special feedback arrangement is required to replace the standard RF14XU. It consists of a servo potentiometer and a voltage-tofrequency converter, to facilitate the installation of the mechanical and electrical part of the feedback system. Contact Simrad for further information

Introduction

20169223D 1-15

Example 3:

NOTE:

THE D94 CONTAINS ONE THRUSTER INTERFACE BOARD AND ONE DUAL ANALOG PCB.

AP9MKII AUTOPIL OT

AP9 MK3

THRUSTER SELECTOR

(SPECIAL)

D94

DISTRIBUTION

UNIT

DUAL

ANALOG

PCB

THR.

INT. PCB

BOW

THRUSTE R

AFT THRUSTERS

+/-10V

C/O SIGNAL C/O SIGNAL

+/-10V

MODE

C/O SIGNAL

THRUSTER

ELECTRONICS

THRUSTER

ELECTRONICS

THRUSTER

ELECTRONICS

Fig. 1-12

Special application, Example 3

The AP9 MK3 autopilot system can provide three galvanic isolated ±10V outputs and be configured as shown in Fig. 1-12.

In this example the Distribution Unit is equipped with one Thruster Interface board to control the bow thruster, and one Dual Analogue PCB to control the two aft thrusters.

The Thruster Selector Switch is normally custom-made for each individual system, and provides the change-over signals for the thrusters, and the mode for the autopilot.

No Feedback Unit is required! Thruster Selector Positions:

• MANUAL

• AUTO AFT (Aft Thruster)

• AUTO BOW (Bow Thruster)

FEATURES: First parameter set for synchronized operation of the

aft thrusters.

Second parameter set for the operation of the bow

thruster.

Robertson AP9 MK3 Autopilot

1-16 20169223D

This page is intentionally left blank.

Operation

20169223D 2-1

2 OPERATION

* * * * * * *

NAV

HELMS-

MAN

AUTO COMPASS

SELECT

ILLUM

COUNTER

RUDDER

INFO

WEATHER

OFF

INCREASE

DECREASE

PORT

STBD

AUTOPILOT

AP9 MK3

ALARM RESET

Mode selection Parameter setting Course selection

Fig. 2-1

AP9 MK3 Front panel

2.1 General

AP9 MK3 autopilot is operated by means of keypad push buttons on the front panel. The buttons are back lighted, activated buttons being brighter than the others.

Course selection is made by the rotary Course Selector Knob. Course adjustments in steps of one degree can be achieved by the port or starboard push buttons.

The front panel has three LCD displays, referred to as the information display (left side), bargraph display (upper right) and the course display. 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 are stored in the autopilot upon delivery.

2.2 Front Panel

The front panel is divided into three sections: Mode selection, Parameter setting and Course selection (Fig. 2-1).

Robertson AP9 MK3 Autopilot

2-2 20169223D

2.3 Mode selection

Together with the OFF-button and the 3 mode buttons, this section also contains an alarm buzzer and ALARM RESET-button.

HELMSMAN (Power ON)

The HELMSMAN button serves two purposes. It switches on the autopilot and selects manual steering mode. In this mode the course display gives a digital read-out of compass heading, while the vessel can be steered manually by helm or steering lever(s).

AUTOPILOT

The AUTOPILOT-mode is used under normal conditions when the boat is steered automatically on a pre-set course.

When the AUTOPILOT-button is pressed, the autopilot selects the current vessel heading as "course to steer".

Any difference between course to steer and the vessel's actual heading will then be shown as a bargraph in the bargraph display. One bar equals one degree.

The autopilot uses the activated heading sensor unit, selected from the COMPASS SELECT button to calculate the difference between course to steer and actual ships heading. Rudder command signals are then based on steering parameter settings.

Rudder commands are indicated by an arrow to left or right in the bargraph display depending upon which direction the autopilot commands the rudder to move. These arrows do not appear when the autopilot output signal is analogue voltage. The “Debug” rudder angle may show a random number as no rudder feedback is connected.

For the ±10V analogue control signal, a separate rudder control system moves the rudder to match the rudder angle command.

NAV. MODE

NAV.-mode is used when a navigation receiver is connected to the autopilot for automatic "waypoint" steering.

When the NAV-mode is selected, the AP9 MK3 automatically monitors the signals from the navigation system. If the signals are absent or in a wrong data format, an alarm will be given to alert the operator. See page 2-15: Navigational Steering.

OFF

The autopilot is switched off by pressing the OFF-button for 2 seconds, during which time the alarm will sound. The alarm ceases

+ 172 hidden pages

Simrad Robertson AP9 Mk3 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual