Simrad Robertson AP9 Mk3, Instruction Manual, Page: 140 / 202

Robertson AP9 Mk3 Autopilot
5-50
20169223D
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Set Autotrim to OFF
•
Set Rudder Limit to 30°
•
Select AUTOPILOT mode and make a 10 degree Port (Stbd) course
change. Verify (by reading the rudder stock scale) that the rudder
moves to 10 degrees Port (Stbd). Reset the rudder limit to 25° and
verify that the rudder responds correctly.
This ensures that the rudder response ratio is 1:1.
Rudder Angle Indicators
Verify that rudder angle indicators connected to the RF14XU Rudder
Feedback unit respond with correct movement and deflection (refer
to Fig. 5-43 or Fig. 5-44 and Fig. 5-46 for location of components).
If required, the rudder feedback signal may be inverted by
interchanging the wires to the potentiometer (blue & yellow).
Note !
Be aware of that a fine adjustment (offset) of the frequency via the DEBUG
Service Mode WILL NOT influence the rudder angle indicator signal.
Analogue signal, Rudder & Thruster
When using the analogue signal, normally 0±10V, the rudder
response is checked both for correct direction and deflection.
Note !
Verify that the 10kHz Feedback from the Dual Analogue PCB is connected
to the control unit via jumper switches S21 and S22 (pos. 1). Also verify
that switches S1, S2, S11, S12 are positioned for autopilot input (pos. 1).
See Fig. 5-43 or Fig. 5-44. (Fb lo connected to Return/GND).
First make sure that the output from the Dual Analogue PCB
(eventually the Thruster Interface PCB) matches the required input
signal for the rudder amplifier. To select and adjust the output signal,
refer to the following tables. The first table refers to Dual Analogue
PCB with revision up to Rev. C. and to the Thruster Interface PCB.
The second table is for Dual Analogue PCB with revision D and
higher. The Dual Analogue PCB has two identical channels. The
components in one channel are marked with numbers that differ by
ten compared the corresponding component in the other channel.
E.g. SW1 and SW11. (On the Thruster Interface PCB the
corresponding component numbers are identical to the Dual
Analogue channel with the highest number.)
Note !
The voltage span and 4-20mA are adjusted with ±10V output from the AP9
MK3 Control Unit. The centre point (= midship rudder) is adjusted with
0V output from control unit.