Simrad Robertson AP9 Mk3, Instruction Manual, Page: 158 / 202

Robertson AP9 Mk3 Autopilot
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20169223D
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Adjust the Rudder for best ON-Course steering.
•
Make a small course change and observe how the Counter rudder
function behaves. Adjust the amount for best performance.
• Make course changes of 20° or more. Fine adjust the performance
by the Rudder and Counter Rudder for best possible result. Pay
attention to how the rudder will counter up by moving to the
opposite direction before the vessel is on course. This amount and
time is tuned by the combination of Rudder and Counter Rudder.
•
To adjust the Autotrim function, start with a value of 0,5 and
monitor the Autotrim in the Debug Mode. If the Autotrim error
seems to increase, increase the effect of the Autotrim until the
error becomes stable. This indicates that compensation for
wind/current has been made for.
If an Autotrim error is present without influence of wind or
current, it indicates that the rudder feedback zero setting is offset
and therefore needs to be corrected, either by mechanically
moving the centre point or electrically, in the Debug Service
Mode, compensate the error.
• If speed signal (VTG sentence) is applied via the Nav. Input port,
the adjustment of Speed Sense can be made. After adjusting the
rudder during cruising speed, reduce the speed by 50% or less.
Adjust the Speed Sense for best performance during turns and On-
Course steering.