INSTRUCTION MANUAL Robertson AP45 Autopilot 20220042/6/02
This page is intentionally left blank.
NOTE! Simrad Egersund AS makes every effort to ensure that the information contained within this document is correct. However, our equipment is continuously being improved and updated, so we cannot assume liability for any errors which may occur. The information contained within this document remains the sole property of Simrad Egersund AS.
Robertson AP45 Modification record 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.
Robertson AP45 Modification record IMPORTANT! An autopilot is a very useful navigational aid, but DOES NOT under any circumstance replace a human navigator.
Robertson AP45 Modification record Simrad Robertson AS Egersund - Norway
Page I Robertson AP45 Autopilot Table of contents TABLE OF CONTENTS 1. GENERAL INFORMATION..................................................1-1 Introduction ...................................................................................................................1-1 System description.........................................................................................................1-1 AP45 Control Unit.........................................................................................
Page II Robertson AP45 Autopilot Table of contents RI9 Rudder Angle Indicator ........................................................................................4-12 5. INSTALLATION .....................................................................5-1 Unpacking and handling ................................................................................................5-1 General ......................................................................................................................
Page III Robertson AP45 Autopilot Table of contents 7. TROUBLE SHOOTING .........................................................7-1 Fault warnings ...............................................................................................................7-1 Debug/Adjust mode.......................................................................................................7-5 8. SPARE PARTS AND DRAWINGS .......................................8-1 AP45 Control Unit................................
Page IV Robertson AP45 Autopilot Table of contents FIG. 5-8 AP45/FI100-40 FLUXGATE INTERFACE - WIRING .........................................5-8 FIG. 5-9 G40A GYRO INTERFACE CONNECTIONS ........................................................5-9 FIG. 5-10 G40A PC-BOARD - SWITCH LOCATION.......................................................5-10 FIG. 5-11 CONNECTION TO G45 EXCITATED SYNCHRO TRANSMITTER .......................5-11 FIG. 5-12 CONNECTION TO GYRO EXCITATED SYNCHRO TRANSMITTERS ................
Page 1-1 Robertson AP45 Autopilot General Information 1. GENERAL INFORMATION Introduction Today 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.
Page 1-2 Robertson AP45 Autopilot General Information 1. Magnetic compass with CD109 Course Detector 2. RFC35NS Fluxgate compass* 3. Gyrocompass (using optional G40A or G45 Interface Unit) *) For other types of Fluxgate Compass the FI100-40 Fluxgate Interface must be used. CD109 Course Detector CD109 is a magnetic sensor in moulded plastic which is mounted on the vessel's magnetic compass to transfer the heading to the control unit.
Page 1-3 Robertson AP45 Autopilot General Information Junction units Except for a bigger cabinet, the J45S and the J45A junction units described 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.
Page 1-4 Rudder Angle Indicators Robertson AP45 Autopilot General Information 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 intended for either bulkhead or console mounting. The splash proof construction is suitable for exposed mounting locations.
Page 2-1 Robertson AP45 Autopilot Operation 2. OPERATION OF THE AUTOPILOT General 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 symbols. The buttons are backlighted, activated mode buttons being brighter than the others. Course selection is made by the rotary Course Selector Knob.
Page 2-2 Robertson AP45 Autopilot Operation Any difference between course to steer and the vessel's actual heading will then be shown as a bargraph in the Information Display. One bar equals one degree. Rudder commands are indicated by an arrow in the lower left or right corner of the information display depending upon which direction the autopilot commands the rudder to move.
Page 2-3 Robertson AP45 Autopilot Operation ALARM The acoustic alarm is reset by pressing the red alarm push button. Alarm messages shown on the information display are described under “Fault warnings”, page 2-16. Parameter setting General The middle section of the AP45 control unit contains 4 push buttons and an Information Display. The display shows selected mode, deviation from set course, parameter settings and other user information.
Page 2-4 Robertson AP45 Autopilot Operation These buttons are used to alter various settings. Each time one button is pressed, 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 decrease until the button is released. RUDDER When the RUDDER button is pressed, the Information Display shows selected RUDDER value.
Page 2-5 Robertson AP45 Autopilot Operation The PORT and STBD push buttons are for minor course adjustments, pressed once gives a one degree course change in the appropriate direction. In WORKmode however, the buttons are used for manual rudder trim, and course changes can therefore only be made by the course selector knob.
Page 2-6 Robertson AP45 Autopilot Operation GPS satellite 00° ON TRACK NAVIGATION 04° XTE =R0.
Page 2-7 Robertson AP45 Autopilot Operation Example: 05° XTE=R 0.02Nm NAVIGATION R indicates that the vessel is located to the right of the bearing line, and L indicates to the left of the bearing line. 00° ON TRACK NAVIGATION 05° is the number of degrees course correction relative to initial set course.
Page 2-8 Steering by bearing to waypoint (CTS) Robertson AP45 Autopilot Operation 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.
Page 2-9 Robertson AP45 Autopilot Operation Transit satellites Update HDG=70° Update WAYPOINT 2 Heading: 100° Update Drift WAYPOINT 3 NEWHDG 65° WAYPOINT 1 08MIN CHG 00° NAVIGATION INFO DISPLAY 15MIN CHG 00° NAVIGATION INFO DISPLAY COURSE DISPLAY RESET 00MIN CHG 05° NAVIGATION ALARM INFO DISPLAY COURSE DISPLAY ACCEPT CHANGE? Y: RESET N: AUTO COURSE DISPLAY RESET 15MIN CHG 00° NAVIGATION INFO DISPLAY Waypoint 2 has been reached.
Page 2-10 Robertson AP45 Autopilot Operation Remote Controls General The different types of Remote Controls that can be connected to AP45, have different way of operation, depending on the system configuration. F200-40 Remote Control 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.
Page 2-11 Robertson AP45 Autopilot Operation F200-40 with dodging Press MODE AP45 Mode Function MANUAL NFU steering by F200 PORT/STBD push buttons MANUAL Follow-Up steering by F200 course selector MODE MODE AUTO Autosteering Course set by the AP45/F200 course selector or PORT/ STBD button on both AP45 Display NON FOLLOW UP MANUAL F200 FOLLOW UP MANUAL F200 Display H 080 Vessel’s heading F ¯00 F ù 32 Amidships, no rudder command 4° port rudder command 32° starboard rudder command A 146
Page 2-12 Robertson AP45 Autopilot Operation Alternative operation. The S9 can be configured in four alternatives. At delivery from Robertson the S9 is connected for alternative 1. If alternative 2, 3 or 4 is to be used, S9 has to be modified according to the chapter “S9 Steering Lever”, page 5-26. Note! If a F200-40 also is connected, only alternative 1 can be used.
Page 2-13 Robertson AP45 Autopilot Operation 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 A 146 AUTOMATIC OUT MANUAL NFU-steering by moving lever NON FOLLOW UP MANUAL H 080 IN MANUAL S9 locked.
Page 2-14 FU91 Follow up Steering Lever Robertson AP45 Autopilot Operation Operation The FU91 is activated by operating the push to take command (PTTC) button. When in “COMMAND”, the button light is switched on and the autopilot INFO display will show: FOLLOW UP HELMSMAN Rudder commands are made by setting the lever to the required rudder angle, wherafter 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.
Page 2-15 Robertson AP45 Autopilot Operation Multiple FU91 installation The operation of each lever is identical to above description of a single lever. Activating one FU91 will deactivate the one that was previously active. FU91 and S9 connected to the same autopilot It is recommended not to have both S9 and FU91 in operational condition at the same time. This may create confusion and inadvertent operation. The main rules are: • Always put the S9 lever to locked position after use .
Page 2-16 Fault warnings Robertson AP45 Autopilot Operation 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 reading rudder feedback signal.
Page 2-17 Robertson AP45 Autopilot Operation 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.
Page 2-18 Robertson AP45 Autopilot Operation .
Page 3-1 Robertson AP45 Autopilot Design and theory of operation 3. DESIGN AND THEORY OF OPERATION Automatic Steering An autopilot is an apparatus that controls the rudder of a vessel in order to maintain a selected heading. There are different design principles for such an apparatus, but they all basically operate as shown in Fig. 3-1. This diagram shows that the vessel's heading is supplied from the compass to a detector circuit. The detector will sense when the vessel is off course and to what side.
Page 3-2 Robertson AP45 Autopilot Design and theory of operation In order to stop the rudder movement, a feedback signal is produced from the feedback unit. The feedback signal will be compared with the compass signal and when there is a balance between the two, the solenoid will be de-energised. The rudder has now been moved to a position that makes the vessel turn.
Page 3-3 Robertson AP45 Autopilot Design and theory of operation Rudder Feedback Units 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. RF45X Rudder Feedback Unit The RF45X contains a circular PCB carrying all the electronics and a long life potentiometer connected to the PCB by three wires.
Page 3-4 Robertson AP45 Autopilot Design and theory of operation 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. Junction Units J45S Junction Unit The J45S Junction Unit operates hydraulic power units with directional valves (e.g. Robertson RPU 1 and 3). It has been made for 12, 24 and 32V DC operation.
Page 3-5 Robertson AP45 Autopilot Design and theory of operation Fig. 3-6 Solenoids with positive common Fig.
Page 3-6 J45A Electronic Junction Unit Robertson AP45 Autopilot Design and theory of operation The J45A operates reversible hydraulic power units with variable speed control (RPU80, RPU160, RPU200 and HLD2000) and reversible electro mechanical power units (MRD100). The unit consists of a printed circuit board with terminal block, fuse, motor drive electronics and reversing relay mounted in the same type of aluminium cabinet as the J45S.
Page 4-1 Robertson AP45 Autopilot Technical specifications 4. TECHNICAL SPECIFICATIONS AP45 Control Unit 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.
Page 4-2 Dimensions: ................................................See Fig. 4-2 Protection:...................................................IP56 Ambient temperature, storage: ............–40 - +85°C operation: ........–30 - +60°C Cable length:...............................................1 m 1000 (39.4") Ø60 (2.4") 120° 120° Ø33 (1.3") CD109 Course Detector Robertson AP45 Autopilot Technical specifications 120° 35 (1.4") min/max. 80-100 (3.2-4.3") Fig.
Page 4-3 Robertson AP45 Autopilot Technical specifications RFC35NS Fluxgate compass 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 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: ..................
Page 4-4 Robertson AP45 Autopilot Technical specifications G40A Gyro Interface 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:..........................
Page 4-5 Robertson AP45 Autopilot Technical specifications FI100-40 Fluxgate Interface 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 47 (1.
Page 4-6 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:.....
Page 4-7 Robertson AP45 Autopilot Technical specifications J45S Junction Unit 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:.....................................
Page 4-8 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 144 (5.67") 137 (5.40") 95 (3.75") S9 Steering Lever Robertson AP45 Autopilot Technical specifications 144 (5.67") 70 (2.75") 78 (3.
Page 4-9 Robertson AP45 Autopilot Technical specifications S35 Steering Lever 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: Operation: –30 to 80° C –10 to 55° C. Environmental protection:.......IP56 Safe distance to compass: ........0.5 m (1,6 ft.) Power consumption (light):......6 mA Cable: .............
Page 4-10 Robertson AP45 Autopilot Technical specifications F1/2 Remote Control 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: ........................
Page 4-11 Robertson AP45 Autopilot Technical specifications RI35 Rudder Angle Indicator 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:......................
Page 4-12 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: ........
Robertson AP45 Autopilot Installation Page 5-1 5. INSTALLATION Unpacking and handling 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. General Common sense should be used when installing the units, particular attention being given to the operator's need for ease of access.
Page 5-2 Robertson AP45 Autopilot Installation Connector assemble 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.
Robertson AP45 Autopilot Installation Page 5-3 Fig.
Page 5-4 Heading sensors General Robertson AP45 Autopilot Installation AP45 is designed for connection to one compass only. However, a combination of two compasses are possible as CD109 and Fluxgate/Gyro has separate input pins in the J2 Compass connector. This means you can combine a magnetic compass with either a fluxgate- or a gyrocompass.
Robertson AP45 Autopilot Installation 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” Fig.
Page 5-6 RFC35NS Fluxgate Compass Robertson AP45 Autopilot Installation The RFC35NS (part no. 22083596) substitutes the Robertson RFC250 Fluxgate compass. It comes with a “pigtail” cable that matches the Viking connector 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.
Robertson AP45 Autopilot Installation Page 5-7 Connection Fig. 5-6 AP45/RFC35NS - connection SIN PCB NMEA/RATE PCB J1 NMEA 1 4 3 2 J3 EXT.COMP 1 2 1 BLUE (TX+) RX- BROWN (TX-) 2 4 3 RX+ VIN- 5 WHITE (VIN+) 6 J2 ROBNET BL AC GR K EE VIO N+R ED L YE ET LL OW 0,5 m Original RFC250 cable (Part no. 20183554) Cable 22083661 RFC35NS Fig. 5-7 RFC35NS - Internal connection Calibration The calibration is carried out by using the “RFC250 procedure”: 1.
Page 5-8 Robertson AP45 Autopilot Installation confirmation in the display if the AP45 has a software revision earlier than V1R3. Alignment 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.
Robertson AP45 Autopilot Installation Page 5-9 G40A Gyro Interface The G40A is required when a Gyro Compass with geared synchro or stepper Unit 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.
Page 5-10 Robertson AP45 Autopilot Installation 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.
Robertson AP45 Autopilot Installation G45 Gyro Interface Unit 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) and low voltage (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 mounted within the cable length (3 m) from the autopilot control unit.
Page 5-12 Robertson AP45 Autopilot Installation Fig. 5-13 G45 Input/output RGC Signal Interface Unit (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 signal 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.
Robertson AP45 Autopilot Installation RF45X Rudder Feedback Unit 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.
Page 5-14 Robertson AP45 Autopilot Installation manually h.o. - h.o. and make sure the transmission link is moving freely in both directions. Electrical connection The cable should be connected to the 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.
Robertson AP45 Autopilot Installation Page 5-15 Fig.
Page 5-16 Robertson AP45 Autopilot Installation Simrad Robertson AS Egersund - Norway
Robertson AP45 Autopilot Installation 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.
Page 5-18 Robertson AP45 Autopilot Installation VIOLET R F14X U EL EC TR ONIC MOD ULE BROWN (VIE WED FROM BACK S IDE) PINK N OT E 2 BLUE (GND) YELLOW (+ 5V) N OT E 1 8 9 9 8 10 7 6 RED BLAC K W HITE W HITE RED BLACK BROWN GR EEN (WI PER) TO POT . MET ER 5 NOTE 1: Brown lead normally connected to 8 . Move to 9 to invert the rudder indicator deflection. NOTE 2: Normally connected for +/-45˚ rudder angle (violet, brow n and pink leads are not connected).
Robertson AP45 Autopilot Installation 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 J45S Junction Unit The junction unit is made for bulkhead mounting and secured by screws.
Page 5-20 Robertson AP45 Autopilot Installation 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 mm2 (AWG10). The electronic supply cable should be 1,5 mm2 (AWG14).
Robertson AP45 Autopilot Installation J45A Junction Unit 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.
Page 5-22 Robertson AP45 Autopilot Installation Fig.
Robertson AP45 Autopilot Installation Page 5-23 Fig.
Page 5-24 Robertson AP45 Autopilot Installation Fig.
Robertson AP45 Autopilot Installation Page 5-25 Fig.
Page 5-26 Robertson AP45 Autopilot Installation Optional equipment F200-40 Remote Control This unit is fixed to a mounting bracket, which is secured by four screws. F200-40 is connected to J3 on the control unit according to Fig. 5-27. Fig. 5-27 F200-40/AP45 - Wiring diagram S9 Steering Lever 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.
Robertson AP45 Autopilot Installation 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.
Page 5-28 Robertson AP45 Autopilot Installation FU91 Steering Lever 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 bulkhead 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.
Robertson AP45 Autopilot Installation Page 5-29 Fig. 5-33 FU91 with mode switching The two diodes (1N4002 or similar) and the resistor can be mounted either in the AP45 J3 connector or in the FU91 terminal board. By giving resistor R different 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.
Page 5-30 S35 Steering Lever Robertson AP45 Autopilot Installation The unit is mounted to bulkhead or panel by two screws from the front. The cable is connected to the junction unit according to Fig. 5-35. Interchange 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 F1/2 Remote Control This handheld remote control with 10 m (30 ft.
Robertson AP45 Autopilot Installation RI9 Rudder Angle Indicator Page 5-31 The RI9 is designed for bulkhead or panel mounting, and should 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 mm2 - AWG14) should be run. See Fig. 5-37.
Page 5-32 Robertson AP45 Autopilot Installation 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.
Robertson AP45 Autopilot Installation RUDDER FB I/ P J45A JUNCTION UNIT Do n ot c onnect this wire in a du al RI35 sy ste m +OUT GND 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.
Page 5-34 Robertson AP45 Autopilot Installation 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.
Robertson AP45 Autopilot Installation 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.
Page 5-36 Robertson AP45 Autopilot Installation Connection to The AP45 is preset to accept signals of NMEA 0183 format. For 180/182 format, Navigation Receiver 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.
Robertson AP45 Autopilot Installation 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 Watch alarm AP45 is originally designed for connection to an external watch alarm of type 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. sense) to pin 13 (Gnd).
Page 5-38 Robertson AP45 Autopilot Installation Simrad Robertson AS Egersund - Norway
Robertson AP45 Autopilot Start-Up procedure / Commissioning 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 characteristics must be carried out according to the following procedure. Power ON vessel's Turn on the autopilot by pressing the MANUAL button.
Page 6-2 Rudder speed Robertson AP45 Autopilot Start-Up procedure / Commissioning 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.
Robertson AP45 Autopilot Start-Up procedure / Commissioning 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).
Page 6-4 Type of Heading Sensor Robertson AP45 Autopilot Start-Up procedure / Commissioning 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.
Robertson AP45 Autopilot Start-Up procedure / Commissioning Counter rudder Page 6-5 The COUNTER RUDDER serves two purposes, firstly to give a smooth transition to the new heading after a major course change has been made, and secondly to enable the autopilot to stabilise the vessel on a straight course. IIIII COUNT.RUDD.:LOW The COUNTER RUDDER can be set to one of four values: OFF, LOW, MEDIUM and HIGH. The best setting can only be found during a sea trial. Initial setting should be LOW.
Page 6-6 Disengage of Off Course alarm in Work mode Sea Trial Robertson AP45 Autopilot Start-Up procedure / Commissioning WORK: OFFC. ALARM OFFC. ALARM OFF?: In some occasions, e.g. at very low speed, it may also be wanted 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.
Robertson AP45 Autopilot Start-Up procedure / Commissioning 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 Counter rudder setting too low, overshoot response. New course Counter rudder setting too high, sluggish and creeping response. New course Correct setting of counter rudder, ideal response. Fig. 6-2 Counter rudder settings 5.
Page 6-8 Robertson AP45 Autopilot Start-Up procedure / Commissioning Simrad Robertson AS Egersund - Norway
Page 7-1 Robertson AP45 Autopilot Trouble shooting 7. TROUBLE SHOOTING Fault warnings The following fault warnings may be shown on the Information Display: OFF COURSE RESET ALARM 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).
Page 7-2 Robertson AP45 Autopilot Trouble shooting NAVDATA NOT REC. CHANGE MODE Check that the nav. receiver is turned on and set up properly (see 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. All three messages indicate problems with reading the signals from the navigation receiver.
Page 7-3 Robertson AP45 Autopilot Trouble shooting 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.
Page 7-4 Robertson AP45 Autopilot Trouble shooting 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.
Page 7-5 Robertson AP45 Autopilot Trouble shooting Factory settings: LANGUAGE: ENGLISH COMPASS: MAGN. COMPASS OFF COURSE LIM.: 20° LENGTH: 40-70 ft COUNTER RUDDER: LOW RUDDER LIMIT: 30° DEADBAND: 1.0° DIMMER 4 NMEA-FORMAT: 0183 AUTOTRIM IN WORK: ON OFF COURSE ALARM IN WORK: ON Front Controls: RUDDER: 1.0 (AUTO) 1.
Page 7-6 Robertson AP45 Autopilot Trouble shooting Step through the loop by pressing the WEATHER button. Display text Explanation DEBUG MODE RUDD.ANG: S02.2° DEBUG MODE RUDD.COM: S02.7° DEBUG MODE HEADING: 158.9° DEBUG MODE TURN: 00.2° DEBUG MODE COMP.SIN: 3.26V DEBUG MODE REF.SIN: 2.45V DEBUG MODE COMP.COS: 0.89V Measured rudder angle in degrees. S = Starboard, P = port. Rudder command from autopilot. S = Starboard, P = port.
Page 7-7 Robertson AP45 Autopilot Trouble shooting Proceeding through the DEBUG-mode you will get access to the adjustable parameters: Adjustment of parameters is made by the + or - button. Values shown below are just examples. Display text Explanation ADJUST MODE C.RUDD., AUTO 0.4 Counter Rudder magnitude in AUTO- and NAV-mode Adjusting range: 0,0-3,5 in steps of 0,1. ADJUST MODE C.RUDD., WORK 0.4 Counter Rudder magnitude in WORK-mode. Adjusting range: 0,0-3,5 in steps of 0,1. ADJUST MODE C.R.T.
Page 7-8 Robertson AP45 Autopilot Trouble shooting The AP45 is as a standard set up with the NMEA 0183 CTS&XTE mode. Priority 1 2 3 4 5 Mixed mode (CTS+XTE) APB APA XTE+ BWW RMB+ BWW XTR+ BWW XTE mode APB APA XTE RMB XTR CTS mode APB APA RMB BWC BWR 6 7 8 BOD HSC BWW Table 1 NMEA 0183 Sentence priority table If one or more of the adjustable parameters are changed, the information display will initially at turn on show: SPES.
Page 8-1 Robertson AP45 Autopilot Spare parts and drawings 8.
Page 8-2 Robertson AP45 Autopilot Spare parts and drawings Fig. 8-1 AP45 Exploded view Note! Pos. 3 (N40 Nav. Interface board) is only for Main PCB with s.n. below 4000.
Page 8-3 Robertson AP45 Autopilot Spare parts and drawings Fig. 8-2 AP45 Signal reference J1 J2 J3 1 N.C. 2 Watch alarm sense 3 +12V out 4 Rudder HI 5 Rudder LO 6 Port relay 7 Stbd relay 8 Power (safe) relay 9 Watch/External alarm 10 Watch alarm reset 11 Power steering 12 +12V supply 13 GND 14 Screen 1 GND 2 N.C. 3 N.C.
Page 8-4 CD109 Course Detector Robertson AP45 Autopilot Spare parts and drawings 20120861 20120721 20331997 44112126 44107217 20120739 44112134 20120853 44106862 44150647 44151066 44149011 44149102 44108199 1 2 3 4 5 6 7 8 9 10 11 CD109 Course Detector with holder CD109 Course Detector Holder for Course Detector Connector block AMP NO 206044-1 Cable clamp AMP NO 206070-1 Cable with plug Pin contact AMP NO 163090-0 Plug with bracket for extension cable Socket contact AMP NO 163088-2 Washer Screw M6x30 W
Page 8-5 Robertson AP45 Autopilot Spare parts and drawings G40A Gyro Interface 20157202 20157228 44103638 44122406 44123792 44111409 44116812 44115566 44132199 44120871 44116788 44116798 44132074 44106623 44118529 20157244 44116739 44126068 44122604 G40A Gyro Interface Unit G40A PC-board assy. Fuse 0.5A/250V 5x20mm F1 Trim pot. multiturn 10K VR1 Capacitor (tantalum drop) 1mF/35V C5, C6, C7 Capacitor 4.7mF/35V C18, C20, C37 Diode 1N4006 D10, D13, D14 Diode ref. 2.
Page 8-6 Robertson AP45 Autopilot Spare parts and drawings Fig.
Page 8-7 Robertson AP45 Autopilot Spare parts and drawings G45 Gyro Interface 20158200 20158226 20158283 20158242 20158259 44157287 44158319 44158327 44123685 44127553 44116812 44103422 44104123 44115566 44155174 44157188 44103893 44126738 44157832 44158707 44112233 44157824 44154300 44118727 44119097 20158267 44120624 44114551 44111409 44118529 44109411 G45 Gyro Interface (1:1 SYNC) G45 PCB ass'y G45 Cable w/ plug G45 Coil, L2 G45 Filter, L4 Trimpotmeter VR3 Capacitor EL 470MFD 63V, C3 Capacitor EL.
Page 8-8 Robertson AP45 Autopilot Spare parts and drawings Fig.
Page 8-9 Robertson AP45 Autopilot Spare parts and drawings FI100-40 Fluxgate Interface RF45X Rudder Feedback RF14XU Rudder Feedback Unit 20155008 20155206 20155404 20107017 20107025 FI100-40/VDO Fluxgate Interface FI100-40/Marinex Fluxgate Interface FI100-40/ Brooks & Gatehouse Fluxgate Interface FI100-40 PC-board complete Cable for VDO connection w/VDO plug 22011282 RF45X Rudder Feedback Unit w/ transmission link 22011290 RF45X Rudder Feedback Unit 22011183 RF45 Transmission Link 44156644 Transm
Page 8-10 J45S Junction Unit Robertson AP45 Autopilot Spare parts and drawings 21102579 21102827 21100144 44155539 44133684 44110989 44111177 44104123 44116812 44104156 44106474 44115384 44103000 44103091 44115160 44118735 44103653 44114171 44122604 J45S Junction Unit PC-board complete Relay socket complete, K1 Relay 12V/40A 1 pole Line filter 250V/3A, FL1 Capacitor 22mF/20V, C11, C12 Capacitor 220mF 40V C4 Diode MR851, D3, D4, D5, D8 Diode IN4006, D6, D7 Diode BZX 79B16 D2 Thyristor 2N6394, SCR1 Diode
Page 8-11 Robertson AP45 Autopilot Spare parts and drawings Fig.
Page 8-12 J45A Junction Unit Robertson AP45 Autopilot Spare parts and drawings 21102611 21099981 21099908 44115434 44114734 44114874 44103091 44112233 44114841 44109213 44103026 44118164 44103257 J45A Junction Unit J101A-40 Junction Unit J45A PCB ass'y Trans.
Page 8-13 Robertson AP45 Autopilot Spare parts and drawings Fig.
Page 8-14 F200-40 Remote Control Robertson AP45 Autopilot Spare parts and drawings 20171377 20171385 20156410 20103859 20171286 44116754 44115160 20104220 20104253 44117224 20103784 44190114 44116796 20171328 F200-40 Remote Control w/mounting accessories F200-40 Remote Control Cable (7m) with AMP-plug Mounting accessories PC-board ass’y LCD displays 4 digits Light emitting diode SPR5531 D2, D3 Control knob assembly (COURSE) Toothed wheel with shaft Push button switch SW1, SW2, SW3 (MPD) Actuator for SW1
Page 8-15 Robertson AP45 Autopilot Spare parts and drawings Fig.
Page 8-16 Robertson AP45 Autopilot Spare parts and drawings S9 Steering Lever 23601800 23601859 44125631 44190114 23601875 44153872 23601834 44125599 44116812 S9 Non Follow Up steering lever Lever with actuator shaft Cable gland PG16 Gasket O-ring 3mm 0.6m Coil spring Steel ball 0.
Page 8-17 Robertson AP45 Autopilot Spare parts and drawings RI9 Rudder Angle Indicator 22015655 22015663 22015662 22015671 22015028 44117687 44155620 44107423 44149995 44108496 22015606 22015721 22015697 22015705 1 2 3 4 5 6 7 8 9 2 2 2 RI9 Rudder Angle Indicator Mounting kit Printed Circuit Board Assy (PCB) Instrument Window Light Bulb 12V 40mA Potentiometer, 2.2K Nut Cover Dimmer Knob Cap Front panel plate Instrument scale 60 degrees Instrument scale 70 degrees Instrument scale 90 degrees 9 Fig.
Page 8-18 Robertson AP45 Autopilot Spare parts and drawings Simrad Robertson AS Egersund - Norway
Page 9-1 Robertson AP45 Autopilot Sales and service worldwide 9. Sales and service worldwide (150502) EUROPE AUSTRIA Allroundmarin Griesfeldstrasse 1 A-2351 Vienna Tel.: +43 2236 646 760 Fax: +43 2236 63135 BENELUX Bennex Holland BV P O Box 587 3200 AM Spijkenisse Tel.: +31 181 600234 Fax: +31 181 626688 CROATIA Almar d.o.o. Porec - Kamenarija 12 52452 Funtana Tel.: +385 52 445 005 Fax: +385 52 445 276 CYPRUS Regis Marine Electronics Ltd. P O Box 55532 CY-3780 Limassol Tel.
Page 9-2 SOUTH AFRICA Marine Radio Acoustic Devices P O Box 12076 N1 City 7463 Edgemead 7441 Tel.: +27 21 559 4003 Fax: +27 21 559 2752 MIDDLE EAST ISRAEL YAMIT Ltd. P O Box 6158 61061 Tel-Aviv Tel.: +972 3 5271 778 Fax: +972 3 5271 772 UNITED ARAB EMIRATES Maritronics P.O. Box 6488 Dubai Tel.: +971 4 324 7500 Fax: +971 4 324 7503 LEBANON Selcom Electronics Sarl P.O. Box 55541 Dekwaneh Main Street Beirut Tel.: +961 149 1489 Fax: +961 149 5325 IRAN Darya Negar Co. Office 2, 1st Floor, Bldg. No.
