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Robertson AP9 MK3 Autopilot

8-2

20169223D

AP9 MK3

OPTO
COUPLER

PIO

ULN2003

PIO

ULN2003

PIO

ULN2003

78LI2

AL GND.

MR851

RV1
27V

POWER NEG

POWER POS.

MODUS 1 NFU

MODUS 2 FU

FU I/P

RUDDER FB HI

RUDDER FB LO

STBD RELAY

PORT RELAY

SAFE RELAY

ALARM OUT

ALARM POWER POS

ALARM POWER RET

SCREEN

AD
CONV.

OPTO
COUPLER

+14V

OPTO
COUPLER

Fig. 8-1

J1 - Input/output signal references

Summary of Contents for Robertson AP9 Mk3

Page 1: ...INSTRUCTION MANUAL Robertson AP9 Mk3 Autopilot 20169223...

Page 2: ...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...

Page 3: ...onic system 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 the...

Page 4: ...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...

Page 5: ...OMPASS 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...

Page 6: ...ector 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...

Page 7: ...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...

Page 8: ...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 Magn...

Page 9: ...GLE INDICATORS 1 12 FIG 1 10 SPECIAL APPLICATIONS EXAMPLE 1 1 13 FIG 1 11 SPECIAL APPLICATIONS EXAMPLE 2 1 14 FIG 1 12 SPECIAL APPLICATION EXAMPLE 3 1 15 FIG 2 1 AP9 MK3 FRONT PANEL 2 1 FIG 2 2 RUDDER...

Page 10: ...NNECTION 5 9 FIG 5 13 RFC35 MOUNTING 5 10 FIG 5 14 RFC35NS WIRING TO AP9 MK3 5 11 FIG 5 15 RFC35N NMEA COMPASS WIRING TO AP9 MK3 5 12 FIG 5 16 BUS CABLE P N 23602857 CONNECTION 5 14 FIG 5 17 AP9 MK3 D...

Page 11: ...INPUT OUTPUT SIGNAL REFERENCES 8 2 FIG 8 2 J2 INPUT OUTPUT SIGNAL REFERENCES 8 3 FIG 8 3 J3 INPUT OUTPUT SIGNAL REFERENCES 8 4 FIG 8 4 J4 INPUT OUTPUT SIGNAL REFERENCES 8 5 FIG 8 5 J5 INPUT OUTPUT SI...

Page 12: ...Robertson AP9 Mk3 Autopilot X 20169223D This page is intentionally left blank...

Page 13: ...ns 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 distributi...

Page 14: ...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...

Page 15: ...a 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 opera...

Page 16: ...is required It is recommended to use a separate mode selector to provide change over c o signals to the respective steering gear electronic units The following functions can be included A MANUAL AUTO...

Page 17: ...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...

Page 18: ...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 gyroc...

Page 19: ...MAGN STEP SIN COS FLUXGATE J3 J5 AP9 MK3 CONTROL UNIT SERIAL UART SERIAL UART SIN COS GYRO COMPASS SIN COS 1 1 SYNCHRO 110V 400Hz ONLY RGC10 AND RGC50 MAGNETIC COMPASS CD109 MAGNETIC COMPASS CD109 SY...

Page 20: ...lect 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 A...

Page 21: ...cted 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 m...

Page 22: ...P9 MK3 REMOTE STATION EXT MODE SELECTOR OPTION F200 40 SEE NOTE COMMUNICATION LINES D9X DISTRIBUTION UNIT F200 40 SEE NOTE EXT MODE SELECTOR OPTION S9 NFU LEVER FU9X FOLLOW UP LEVER AP9 MK3 MAIN STATI...

Page 23: ...n 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 bac...

Page 24: ...LY FEEDBACK TO AUTOPILOT RF14XU 45 60 70 90 DEGREE FREQ 3400Hz 20Hz DEGREE RI9 RI9 RI9 Fig 1 9 Rudder Angle Indicators Fig 1 9 shows a typical Rudder Angle configuration Number and type of indicators...

Page 25: ...and an azimuthing bow thruster with 10V as control signal The AP9 MK3 can provide different parameters for the thruster and the rudder control respectively and the combination is determined under the...

Page 26: ...el 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...

Page 27: ...ree 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 An...

Page 28: ...Robertson AP9 MK3 Autopilot 1 16 20169223D This page is intentionally left blank...

Page 29: ...ector 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 bargr...

Page 30: ...e 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...

Page 31: ...er setting Note When the RUDDER and WEATHER buttons are pressed simultaneously IDEAL parameters are recalled provided the parameters have been stored earlier during sea trial See installation section...

Page 32: ...type of serial compass is detected If serial compass data is not connected the alarm text SERIAL COMP FAIL is displayed and serial compass is removed from sensor setup If serial data has wrong polarit...

Page 33: ...will show the actual course with resolution of one tenth of a degree operating as a heading repeater The Bargraph Display will show one single vertical line indicating zero heading error AUTOPILOT Whe...

Page 34: ...e main compass and the monitor compass The heading difference alarm is given when the difference exceeds the off course limit and thus the heading difference alarm also acts as an additional off cours...

Page 35: ...e before any response is given to the rudder In calm weather it should be set to OFF which means that theoretically the autopilot allows no deviation from set course The WEATHER value should be increa...

Page 36: ...NTER RUDDER adjustment The effect of the Counter Rudder is partly deter mined by the selected Turn Rate hence tuning the Counter Rudder effect also involves the Rudder Control A too low value results...

Page 37: ...Rate of turn or Radius steering Language Turn Rate Radius Deadband Rudder Limit Minimum Rudder Off course Serv speed Autotrim Speed sens Nav Filter Minimum radius Nav Gain Thruster function Nav Trim...

Page 38: ...in 360 min Note The range is limited by min radius value in INFO LOOP 2 Recommended 40 min Range 0 01 nm 10 nm Note The range is limited by min radius value in INFO LOOP 2 Recommended 0 1 nm Press INC...

Page 39: ...zero set the relative difference between the two compasses The actual difference is then shown in the display INFO Press Next press repeats the INFO loop 1 INFO loop 2 For detailed description see Sea...

Page 40: ...eed more rudder Press IIIIIIIIIIIIIII MIN RADIUS 0 05 Range 0 01 1 10 nm Recommended Ship dependent INFO This parameter limits the maximum allowed turnrate setting or the minimum allowed turn radius t...

Page 41: ...ended Refer to equipment to be interfaced Determines the NMEA output rate Press INFO OFFSET XXX FLUXGATE COMP Only shown if signal is present on sin cos input or at serial HDM input Used when fluxgate...

Page 42: ...INC DEC IIIIII FU A SCALE 45 IIIIII MIN RADIUS 0 05 INC DEC Range OFF 100 Recommended 25 Range OFF 32 Recommended 5 Range OFF 100 Recommended 25 The thruster parameters only appear if J4 11 13 Thrust...

Page 43: ...ain Clockwise turns gives a starboard course change and vice versa One revolution on the course selector knob is equal to a 60 degree course change The PORT and STBD push buttons are for minor course...

Page 44: ...t in the autopilot The set course reference is not updated until the reception conditions improve See Fault Warnings on page 2 25 Make the following check before using navigational steering 1 Set the...

Page 45: ...R indicates that the vessel is located to the right of the bearing line and L indicates to the left of the bearing line 05 is the number of degrees course change relative to initial set course As the...

Page 46: ...ial heading reference The XTE is used to update this heading reference in order to minimise the XTE When arrival circle for the next waypoint is reached the ACCEPT CHANGE alarm will start If the turn...

Page 47: ...go on for 4 seconds and the turn will start immediately This mode is best to use if ECDIS ECS PLOTTER is connected between GPS and AP9 Mk3 where the APB sentence has bearing waypoint waypoint and XTE...

Page 48: ...ever S9 connected for mode control see mode selection All parameters can be readjusted from both units Note Compass selection and selection of NAV mode XTE CTS PRIORITY ECDIS can only be made from the...

Page 49: ...ch unit Note If a separate external mode selector is used this must include an off position to enable mode changes from the F200 40 Remote Control Refer to page 5 23 F200 40 Functions The table starts...

Page 50: ...er movement will stop when the lever is released and returns to the mid position The S9 is disabled when pushed IN Several units may be connected in parallel Connecting details are shown on page 5 24...

Page 51: ...ees This enables the operator to predetermine the required rudder movement simply by moving the follow up lever to the required rudder angle The rudder will move to and stop at the set angle Auto mode...

Page 52: ...an be made Note When the manoeuvring is finished push the S9 lever back to locked position IN TRANSFER TO FU Push the PTTC button on the required FU91 to activate the lever RESUME AUTOPILOT MODE When...

Page 53: ...NMEA UART TOKIMEC RGC Gyro Fluxgate or serial line signal Magnetic Compass CD109 sensor Fluxgate Compass Sin cos signal The AP9 MK3 will automatically detect if any of these types of sensors are conn...

Page 54: ...1 1 has been selected Cancel the alarm as described before STEP COMP FAIL CHECK COMPASS This failure occurs in Automatic mode if loss of any phase S1 S2 S3 are detected When a compass fail alarm is r...

Page 55: ...One of the same type of compasses listed as MAIN Compass may be displayed To select another MONITOR COMPASS press INCREASE or DECREASE If a single compass is connected no selection of compass can be...

Page 56: ...ompasses are connected This alarm will appear if the difference between the MAIN compass and the MONITOR compass reading is more than the set value of the OFF COURSE LIMIT Normally the MAIN COMPASS is...

Page 57: ...or autopilot steering The reason may also be related to a failure in the steering gear system or the autopilot drive signal switches solid state PCB in the D9X unit NAVDATA NOT REC FAILURE No Navigati...

Page 58: ...f the watch alarm should occur when a Watch Alarm Unit is not connected use the following procedure to cancel the alarm Enter INFO loop 2 Press INFO and keep pressed press WEATHER release WEATHER rele...

Page 59: ...rudder movement a feedback signal is produced by 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 ene...

Page 60: ...together with the electronics for the course selector The alarm circuit is also included on this board The Display Board consists of the back lighting and the display electronics All interface plugs...

Page 61: ...Rudder Commands Interface Board Gyro Interface Board Display Board Front Board Key Board Course Change Knob PROM MICROPR NAV HELMS MAN AUTO COMPASS SELECT ILLUM COUNTER RUDDER RUDDER INFO WEATHER OFF...

Page 62: ...will be generated in the secondary sine and cosine windings These pulses are filtered through the R C network and amplified before entering the A D converter N S Exitation Digital Heading C1 C2 R1 R2...

Page 63: ...TS COURSE TO STEER STEERING COMPASS MONITOR COMPASS SHIP S COURSE HEADING REF AUX COURSE DISPLAY COURSE COURSE ERROR OFF COURSE ALARM COMPASS DIFFERENCE TO PID REGULATOR MAN AUTO NAV AUTO NAV COMP SEL...

Page 64: ...ltage as reference The voltage shall therefore read 24VDC supply 2 for midship position The frequency section outputs a signal to the control unit with 3400 Hz as midposition reference It varies at a...

Page 65: ...D9X series are D90 Provides solid state switching of one directional valve solenoids 19 40V DC 3A D91 Provides solid state switching of one directional valve solenoids 110V DC 1A D92 Provides solid st...

Page 66: ...ified diagram INTERCONNECTION BOARD For detailed diagram refer to SCHEMATICS The AP9 MK3 Control Unit is connected to the distribution unit via one cable from J1 terminated to TB1 TB2 and TB3 The Inte...

Page 67: ...onnection Board but includes one 10V analogue signal or one 4 20mA current signal output both galvanic isolated There is also a 10 kHz generator to provide feedback signal to the Control Unit in order...

Page 68: ...e are three versions D90 switching 19 40V DC 3A D91 switching 110V DC 1A D92 switching 110 220V AC 1A All versions are made from the same PCB Only the components related to the solid state switch rela...

Page 69: ...f both should conduct at the same time PORT and STBD rudder commands both on the switch transistor Q3 will be switched off This will result that the safety relay IC5 will deenergize and no rudder comm...

Page 70: ...the TB12 only control signals are switched When the limit switches are connected to TB16 the solenoid load current is switched It is recommended not to use the TB16 connections if the load exceeds ap...

Page 71: ...1 1 switch in pos 1 thus connecting the voltage divider R1 R2 SW1 2 must be placed in pos 1 ON to connect the DC DC converter RV4 is used to adjust the 0V output for 10V input of IC2 The DC DC IC4 co...

Page 72: ...1 0 1 0 2 3 4 TB21 DC DC CONV 15V IC2 AD CONV IC21 Vreg Vinp VR RV5 R2 R3 R4 RV3 S2 S1 1 0 1 0 10V from bus R1 R9 0 10V OSC S21 1 0 15V IC3 4 20mA generator Q1 Q2 Q3 R V2 RV1 SW1 SW1 SW1 VR _ _ _ V V...

Page 73: ...the control unit and will display actual course or set course dependent of operational mode When turning the course knob IC5 A and B will shape the pulses generated by the two opto couplers that are s...

Page 74: ...is the FU92 The designed is based on TAKE COMMAND pulses and IN COMMAND signals that makes it possible to use several units connected to the FUA9X There are four jumper switches for selection of funct...

Page 75: ...tching on transistor Q1 to energize the relay RL 1 The relay contact A switches TC to LO GND at the same time the IN CMD lamp LP will be switched on via the jumper switch S3 in pos 2 The dimmer contro...

Page 76: ...Robertson AP9 MK3 Autopilot 3 18 20169223D This page is intentionally left blank...

Page 77: ...ompass sin cos 2V 2 5V ref Gyro compass serial signal RGC11 and RGC12 proprietary sentences NMEA UART SKR80 82 Other formats require optional Gyro Interface Board Nav signal Format NMEA 0183 XTE APA A...

Page 78: ...1 Synchro 360 1 Autopilot excited synchro Stepper 6 step deg 24 70V 4 3 CD109 Course Detector Dimensions See Fig 4 2 Protection IP56 Ambient temperature storage 40 85 C operation 30 60 C Cable length...

Page 79: ...r lf x x heading hh checksum Standard configuration Robnet output Optional analogue output Sine cosine by plug in PCB Accuracy 1 25 degrees rms after calibration Repeatability 0 2 degrees rms Calibrat...

Page 80: ...on IP56 Mounting Deck or bulkhead Cable supplied 0 3 m 1 ft with Viking connector for Robertson autopilots Sine Cosine data and N2500 NMEA Interface 4 6 RFC35N NMEA Compass Dimensions See Fig 4 3 Supp...

Page 81: ...1 5 m 5 Mains voltage 24V DC 30 25 Alarm voltage 24V DC 20 Input signals Rudder Feedback Unit 3400 Hz 20Hz degree Steering Lever FU Current signal 0 1mA 45 NFU Switch contacts D90 Distribution Unit S...

Page 82: ...Robertson AP9 Mk3 Autopilot 4 6 20169223D 5 0 2 105 4 2 333 13 1 360 14 2 4 Fixing holes 8 0 3 340 13 4 290 11 4 320 12 6 300 11 8 Fig 4 4 D9X Distribution Unit Dimensions...

Page 83: ...20 Voltage output 0 18V DC 9V as midships reference Frequency output 3400Hz midships reference Port 20Hz degree Stbd 20Hz degree Capacity 5 indicators in parallel Rudder angle 45 Changeable to 60 70 o...

Page 84: ...nk dimensions 4 10 S9 Steering Lever Dimensions See Fig 4 7 Protection IP56 Ambient temperature 25 70 C Safe distance to compass 0 3 m Max inductive load 4A 24V DC 0 6A 110V DC 0 3A 220V DC 10A AC 137...

Page 85: ...ering Lever Dimensions See Fig 4 8 Protection IP56 Ambient temperature storage 25 70 C operation 10 55 C Safe distance to compass 0 3 m 144 5 67 68 2 68 76 3 00 137 5 40 144 5 67 30 1 18 Panel cut out...

Page 86: ...4A 24V DC 60mA 110V AC 25mA 220V AC Temperature range Storage 30 to 80 C Operation 10 to 55 C Environmental protection IP56 Safe distance to compass 0 5 m 1 6 ft Power consumption light 6 mA Cable 10...

Page 87: ...ductive load 4A 24V DC 60mA 110W AC 25mA 220V AC Fig 4 10 F1 2 Remote Control Dimensions 4 14 F200 40 Remote Control Dimensions See Fig 4 11 Protection IP56 Ambient temperature storage 25 70 C operati...

Page 88: ...gnal 0 1 1 1 mA or 10V Rudder angle 45 0 45 other angles as option Ambient temperature storage 25 70 C operation 10 55 C Protection IP56 Safe distance to magnetic compass 2 6 m 9ft Rudder Feedback Uni...

Page 89: ...cts up to 50 mm eg accidental touch by hands 1 Protected against vertically falling drops of water eg condensation 2 Protection against solid objects up to 12 mm eg fingers 2 Protected against direct...

Page 90: ...XXXXXX XXXX XX N XXXXX XX W XXX T XXX M XXX X N XXX CR LF BWC XXXXXX XXXX XX N XXXXX XX W XXX T XXX M XXX X N XXX CR LF BWW XXX T XXX M XXX XXX CR LF BOD XXX T XXX M XXX XXX CR LF HSC XXX T XXX M CR L...

Page 91: ...t to standard DIN dimensions for console mounting Dimensions for the panel cut out are shown on Fig 4 1 A fastening device for console mounting and a bracket for panel mounting are supplied with the e...

Page 92: ...equired to crimp the connector pins and sockets to the individual cable conductors Crimping tool Amp 58495 1 Extraction tool Amp 725840 Note Do not use other tools than those specified Fig 5 3 Connect...

Page 93: ...as good contact Apply a thin layer of pure Vaseline on the shell threads Screw the cover onto the shell until it makes good connection with the control unit cabinet Fasten the ferrite core as close to...

Page 94: ...ted but SW1 6 on the Interface Board must be set to ON position For connection to other types of gyros the AP9 MK3 Gyro Interface Board is required and switches on the Interface Board must be set to c...

Page 95: ...a vessel is S ing on northerly headings when at high latitudes The reason for this phenomena is that the earth s magnetic lines of flux are parallel to the earth s surface only at the equator and thus...

Page 96: ...ble is optional equipment The compass should be checked for free movement in the gimbals without stressing the detector cable The CD109 Course Detector is connected to J2 or J3 of the control unit and...

Page 97: ...mpass interface the Gyro Interface Board will be factory mounted Further more the Control Unit must be set up for the correct type of gyro correct phase and reference voltage and whether gyro signal i...

Page 98: ...e sure that the SW1 2 are correctly set before connecting the plug Ref page 5 58 Gyro compass step signal connections 3 4 5 6 7 J3 CONTROL UNIT S1 S2 S3 GYRO COMPASS 8 1A 1B 2A 2B 3A 3B COM Link in pl...

Page 99: ...B4 Fig 5 10 Sine cosine connection 2 1 J3 CONTROL UNIT RGC SIGNAL INTERFACE UNIT 3 4 OUT Lo OUT Hi TB3 Lo Hi SERIAL I P Fig 5 11 Serial line connection RGC12 Gyro compass connection to AP9 MK3 2 1 J3...

Page 100: ...30 cm out of the mounting location Repeat the movement but this time athwart ship If at all possible also move the compass in the vertical plane up and down As a thumb rule the compass reading should...

Page 101: ...VIN PINK VIN TX RX RX 6 5 4 3 2 1 1 1 2 2 3 4 RATE PCB SIN PCB MICRO CONTROLLER VIN PINK GND GREY SIN YELLOW COS BROWN VREF GREEN G R E Y G R E E N B R O W N Y E L L O W 12 13 3 6 9 14V GND SIN COS V...

Page 102: ...be placed as near the Control Unit as practicable It can also be mounted inside the console For AC mains connection an AC adapter rated at 24VDC 1 5A must be connected between the mains source and the...

Page 103: ...l Cabling Diagram and External Wiring Diagram section 8 Screen termination Terminate the feedback cable screen to ST6 on the Screen termination board Cable screen of cable from the control unit J1 sho...

Page 104: ...Robertson AP9 Mk3 Autopilot 5 14 20169223D Fig 5 16 Bus cable P N 23602857 connection...

Page 105: ...A nalogueB oard ispluggeddirectlyontoJ1of theA nalogueInterconnectionB oard Fig 5 17 AP9 MK3 D93 Dual Analogue PCB Interconnection 5 6 RF14XU Rudder Feedback Unit Mechanical mounting Before installati...

Page 106: ...dback unit has an external ground terminal an must have a proper ground connection to the hull The grounding wire should be as short as possible and at least 10 mm wide The RF14XU can be powered eithe...

Page 107: ...ormally delivered for 45 degrees rudder angle violet brown and pink leads are not connected For 60 degrees connect brown lead to terminal 10 for 70 degrees connect pink to terminal 10 and for 90 degre...

Page 108: ...DE NOTE 1 Brown lead normally connected to Move to to invert the rudder indicator deflection NOTE 2 Normally connected for 45 rudder angle violet brown and pink leads are not connected For 60 connect...

Page 109: ...on The extra AP9 MK3 Control Unit is connected to the main control unit according to the Dual Station Wiring Diagram Operating voltage and alarm voltage are supplied from the distribution unit The rem...

Page 110: ...o DUAL ST I P Lo DUAL ST I P Hi REMOTE DETECT POWER NEG RTN J P1 10 11 12 13 ALARM PWR Pos ALARM PWR POWER Pos 15V POWER Neg RTN TB7 3 TB7 2 TB7 1 TB7 4 J P1 10 J P1 11 J P1 12 J P1 13 4 3 2 1 D9X INT...

Page 111: ...arrange the mode lines for absolute control of the modes By one single ON OFF switch the autopilot can be connected to alter between NFU AUTO or FU AUTO as follows 1 2 MODE 1 NFU MODE 2 FU TB1 D9X IN...

Page 112: ...the Mode Selector Switch Example 1 2 MODE 1 NFU MODE 2 FU TB1 D9X INTERCONNECTION PCB AUTO NFU MODE SELECTOR 5 TB3 COMMON F200 40 Fig 5 23 F200 40 as Mode Selector Complete Mode Selections By using th...

Page 113: ...connection 5 10 S9 Steering Lever Mounting Refer to Fig 5 26 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 thro...

Page 114: ...NOTE 3 SAME AS NOTE 2 IF TB13 IS CONNECTED THE AUTOPILOT WILL CHANGE TO HELMSMAN MODE IF S9 STEERING LEVER IS USED NOTE 1 STRAPPING AT SOLID STATE BOARD SHOULD BE S4 S5 AND S6 S7 NOTE 2 IN THIS CONNEC...

Page 115: ...NECTION OF A4 ONLY IF AUTOPILOT SHOULD CHANGE TO HELMSMAN MODE WHEN USING S9 STEERING LEVER A1 A2 A7 A4 NOTE 2 TB13 1 TB13 2 TB13 4 TB13 3 D90 DISTRIBUTION UNIT SOLID STATE PCB S9 STEERING LEVER 1 2 T...

Page 116: ...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...

Page 117: ...on to D9X Note Remove jumper J1 in S35 when used with AP9 Mk3 S35 alternative connection 3 4 2 S35 4 13 5 J5 AP9 MK3 CONTROL UNIT PORT GND STBD 1 2 3 F1 2 4 13 5 J5 AP9 MK3 CONTROL UNIT PORT GND STBD...

Page 118: ...nnection 5 14 PANORAMA Mk2 Rudder Angle Indicator The PANORAMA Rudder Angle Indicator is designed for overhead mounting The splash proof plastic cabinet contains 3 identical scales to obtain accurate...

Page 119: ...degrees with the rudder amidships 4 Take the rudder from starboard hard over position to port hard over position and verify that the reading is correct eventually adjust the deflection potentiometer...

Page 120: ...the thruster ON OFF line J P4 Refer to Fig 5 37 1 2 3 4 3 1 4 2 11 13 J P4 J P2 1 2 3 4 ANALOG I P ANALOG I P GND VOLT O P CURRENT O P CURRENT O P VOLT O P TB4 TB9 D9X THRUSTER INTERFACE PCB AP9 MK3 M...

Page 121: ...is shown below 11 13 J P4 Open Normal parameter settings Parameter 1 Closed Parameter 2 AP9 MK3 CONTROL UNIT 5 16 Connection to Navigational Receiver The output from the navigational receiver is conn...

Page 122: ...compass by using the COMPASS SELECT button GYROADJUST will appear in the information display and the heading readout in the course display has to be matched to the gyro heading by means of the INCREAS...

Page 123: ...operation The second level is accessed by keeping the INFO button pressed while pressing and releasing the WEATHER button This INFO level contains functions and settings set during installation and se...

Page 124: ...status while the second loop the Service loop contains different selections for test purpose and operating condition The service loop also contains a Save Ideal function Always store the parameters wh...

Page 125: ...turn is made According to the turn rate formula above the turn rate control is activated when the course has changed by 50 min 4 9 10 2 degrees Example 2 Turnrate of 120 min has been set and a 90 cour...

Page 126: ...opriate limit by means of the INCREASE or DECREASE button Alarm is given if the difference between set course and main compass heading exceeds the limit See page 6 1 When the acoustic alarm sounds an...

Page 127: ...used in CTS mode e g satellite receivers In areas with poor reception and where the Cross Track Error XTE from the navigational receiver is unstable this filter averages out the values With a high set...

Page 128: ...e autopilot gyro is switched on The autopilot reading is aligned by using the INCREASE or DECREASE buttons On the same condition the autopilot will at switch on show GYRO ADJUST and the same procedure...

Page 129: ...ea trials these settings should not be altered Remember to store according to SAVE IDEAL on page 5 46 Return to LANGUAGE To enter the loop press INFO WEATHER release WEATHER release INFO Advance one s...

Page 130: ...sing Range 0 2 3 4 in 0 1 increments Minimum Rudder I I I I I MIN RUDD Some vessels may have a tendency of not responding to a small rudder deflection around midship position due to whirls disturbance...

Page 131: ...VTG sentence from the GPS is received the amount of rudder gain when running with low speed is adjusted by the speed sens Increase Decrease until best steering is obtained The amount of rudder will h...

Page 132: ...ate from set course before a thruster command is given Range OFF 32 Minimum Thrust I I I I I I MIN THRUST This parameter determines the amount of thrust to be provided when a thruster command is given...

Page 133: ...TE cts priority Ecdis NAVMODE CTS priority Ecdis xte NAVMODE Ecdis xte cts priority For details concerning the Nav Steering refer to page 2 15 NMEA output Applies both for Standard and Thruster mode S...

Page 134: ...se and storing of parameters Note Feedback Off set is possible in this mode see details The DEBUG loops are entered by pushing the hidden button and INFO Hidden button INFO button NAV NAV HELMS MAN AU...

Page 135: ...ASE RATE OF TURN Shows the turnrate of the vessel in degrees minute DEBUG MODE RuFEEDB P 0 5 DECREASE INCREASE To SERVICE Mode Continues on next page CENT SIN1 V Shows the reference voltage from compa...

Page 136: ...red by pressing the INFO button SERVICE MODE SELECT TEST INC INCREASE Returns to RUDDER SERVICE MODE YES PRESS INFO DECREASE INCREASE INFO SERVICE MODE ALL COMP DEC INCREASE SERVICE MODE SAVE IDEAL DE...

Page 137: ...e is for checking the Nav performance N Autopilot in NAV mode XTE ID for first figure XTE in meters If vessel is alongside and this value has big variations check GPS and DGPS P ID for second figure t...

Page 138: ...0 5 NAV FILTER Only NAV mode 1 1 2 5 NAV GAIN Only NAV mode 0 0 6 4 1 5 NAV TRIM Only NAV mode 50 1550 250 GYRO ADJUST Only Helmsman mode with gyro connected INFO loop no 2 Keep the INFO button presse...

Page 139: ...ef to the fig below For change of deflection make the connections in accordance to the following list Note Make sure that J1 5 FB LO is terminated at a GND point such as TB3 5 To check the autopilot f...

Page 140: ...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 positio...

Page 141: ...RV12 Repeat of adjustments may be necessary Dual Analogue PCB Rev D SW1 SW11 GAIN OFFSET Remarks Signal 1 2 3 4 centre point 0 10V 0 0 1 0 RV5 RV15 Span adj RV3 RV13 3V Required span set by RV5 RV15...

Page 142: ...nal for the thruster This may however vary from installation to installation and the check out of signal performance is made according to signal type ON OFF 10 analogue used As the parameters when usi...

Page 143: ...5 Channel 1 and 2 Gain reduction on input signal RV3 RV13 Channel 1 and 2 Input offset adjust RV4 RV14 Channel 1 and 2 Output offset adjust RV1 RV11 Channel 1 and 2 40mA output adjust RV2 RV12 Channel...

Page 144: ...z signal to autopilot S1 S2 S11 S12 Selection of input signal from bus or from external input TB21 RV5 RV15 Channel 1 and 2 Gain reduction on input signal RV3 RV13 Channel 1 and 2 Input offset adjust...

Page 145: ...S1 and S2 Safe relay controlled by NFU handle and autopilot Connection between S2 and S3 Safe relay ON Fig 5 45 D9X Solid State Board component layout LD1 Power ON LD3 Starboard command LD4 Port comma...

Page 146: ...D9X Thruster Interface board component layout DS1 15V DC Alarm supply DS1 15V DC Alarm supply F1 2 5A Quick 15V DC Main supply output 1 F2 2 5A Quick 15V DC Main supply RV13 Input offset adjust RV15...

Page 147: ...rameters for Thruster Function appears in INFO LOOP II when Thruster Function switch is set to THRUSTER Thruster Deadband The Deadband determines the amount of error signal in degrees before command i...

Page 148: ...at selection of 1 1 synchro either from the gyro or the autopilot and current phase and reference voltage This is done by means of two packages of DIP switches 8 switches each located on the back of t...

Page 149: ...1 8 7 6 5 4 3 2 1 Serial gyro 0 0 1 0 0 0 0 1 Stepper 6 steps degree 24 35 70V 0 0 0 0 0 0 1 1 Synchro 1 1 gyro ref voltage 0 0 0 1 0 0 0 1 Synchro 90 1 0 0 0 0 1 0 0 1 Synchro 360 1 0 0 0 0 0 1 0 1 R...

Page 150: ...ading enter the Debug Mode and check if the sine cosine voltage are normal eventually increase or decrease the distance between the compass card and the Course Detector The sine cosine voltage swing s...

Page 151: ...6 Zero setting may be adjusted by RV1 Note that for the FU92 two identical boards are mounted side by side Dual Station Configuration Verify that the remote unit is working properly by observing that...

Page 152: ...ssible and with as little rudder deflection as possible The following guide lines may be of use to adjust the parameters Steering on a fixed heading Before switching the autopilot to AUTO function set...

Page 153: ...m the display This value will be a good starting point for wanted operation and may be tried as the ROT parameter setting Service speed and speed sensitivity The service speed should be set to the ves...

Page 154: ...est result When passing through north for the 3rd time the course display shows 045 for a short moment less than a second 3 The heading sensor is now calibrated You may now perform the autopilot sea t...

Page 155: ...nimum of roll and acceleration will give the best result The heading sensor is now calibrated As there is no confirmation of the completed calibration you will have to verify the compass reading again...

Page 156: ...en Rudder Counter Rudder Course Rudder and Counter Rudder Counter Rudder HDG Degrees Heading HDG Degrees Heading Rudder No Counter Rudder Fig 5 48 Rudder Counter rudder Course relationship Minimum rud...

Page 157: ...ess INFO DISPLAY PART OF FRONT Note If DEBUG MODE 7 DEBUGAD F80 00 should occur press the hidden button one more time Press INCREASE 6 times until Rate of Turn appears shown as DEBUG MODE RATE OF TURN...

Page 158: ...ue 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 win...

Page 159: ...seconds IDEAL RECALLED The recall can be made in any operational mode Thruster Steering Azimuth Thruster with ON OFF valves When using an azimuth thruster for main propulsion use the same procedure as...

Page 160: ...djusted for different MINIMUM POWER under DEADBAND Enter the MIN THRUST value experienced from the manual operation of the thruster appr 30 Make a course change of appr 15 and observe how the applied...

Page 161: ...eceiver 3 Select AUTO steering and set the course selector to this course CTS 4 Let the autopilot steer the boat for a period of from 30 second to one minute to allow the receiver to settle on the new...

Page 162: ...a position out of the track line When in NAV mode the autopilot can correct the course selected in AUTO mode by up to 32 degrees Special feedback arrangement In some cases the standard RF14XU Rudder F...

Page 163: ...therwise the off course limit should be adjusted This fault warning may also appear due to intermittent fault on the compass signal open connection RUDDER FEEDBACK FAIL Indicates that the autopilot is...

Page 164: ...ection to solenoids or motor d Sticking solenoid valve SIMULATION DATA ERROR Rudder movement simulation failure NAVDATA NOT REC FAILURE Check that the nav receiver is turned on and set up properly see...

Page 165: ...sensor or wrong selection of sensor COMPASS SELECT FAIL No heading sensor connected COMPASS SELECT ONLY ON MAINCONT At sensor selection on remote AP9 MK3 The sensor selection should always be made fro...

Page 166: ...0V and reference signals are correct If not proceed to b b Check the cable and connector for open or intermittent connection If found OK proceed to c c Try a new CD109 6 3 FLUXGATE COMPASS a Enter the...

Page 167: ...e 10kHz feedback signal is present by measuring the frequency at TB2 1 2 Interconnection PCB Eventually check that the Thruster switch closes J4 11 to 13 Disconnect the analogue signal from dual analo...

Page 168: ...Robertson AP9 MK3 Autopilot 6 6 20169223D This page is intentionally left blank...

Page 169: ...Glass Info display 20168258 1 Display PC board 20168274 2 Front PC board 20168290 3 Interface PC board 20168316 4 AP9 MK2 Gyro Interface board 20169264 5 EPROM IC2 programmed 7 2 Distribution Unit 201...

Page 170: ...Robertson AP9 MK3 Autopilot 7 2 20169223D 44155232 Solid state relay 24V DC D90 44155265 Solid state relay 110V DC D91 44155240 Solid state relay 220V AC D92 Fig 7 1 AP9 Mk3 Control Unit Spare Parts...

Page 171: ...112126 3 Connector block AMP NO 206044 1 44107217 4 Cable clamp AMP NO 206070 1 20120739 5 Cable with plug 44112134 Pin contact AMP NO 163090 0 20120853 6 Plug with bracket for extension cable 4410686...

Page 172: ...ansmission link 22501654 RF14XU Rudder Feedback Unit 22500300 Shaft coupling 22500458 1 Gasket 22501605 2 Electronic XU drive module 44105120 3 Actuator 44105146 4 Limit switch 44118388 5 Potentiomete...

Page 173: ...sion link complete 44132306 1 Ball joint 8 mm stainless 44132322 2 Transmission rod M8x300 mm 44150225 3 Lock nut M8 Hex 22504021 4 Transmission lever 12 mm 44152676 5 Socket set screw M6x10 44151967...

Page 174: ...ng accessories 20171286 PC board ass y 44116754 LCD displays 4 digits 44115160 Light emitting diode SPR5531 D2 D3 20104220 Control knob assembly COURSE 20104253 Toothed wheel with shaft 44117224 Push...

Page 175: ...45 DEG 23603137 FU9X Handle ass y w actuat shaft 23600703 Handle 44155497 Handle Knob 23603061 FU9X Window X2 23603087 FU9X PCB ass y 23603129 FU9X Zero point bracket 44158442 Latching switch 4415845...

Page 176: ...Robertson AP9 MK3 Autopilot 7 8 20169223D This page is intentionally left blank...

Page 177: ...Fig 8 6 Screen Termination Fig 8 7 D9X S Series Distribution Units Optional version Fig 8 8 FUA9X Follow Up Amplifier N3 360308 Fig 8 9 D9X Power Supply N3 012812 Fig 8 10 D9X Interconnection Board N...

Page 178: ...2003 ULN2003 9 78LI2 AL GND MR851 RV1 27V D1 13 12 J1 10 11 POWER NEG POWER POS MODUS 1 NFU MODUS 2 FU FU I P RUDDER FB HI RUDDER FB LO STBD RELAY PORT RELAY SAFE RELAY ALARM OUT ALARM POWER POS ALARM...

Page 179: ...ERIAL O P B Also see J4 V 2 SIN 1 COS 1 SCREEN J2 3 1 2 14V CA324 14V CA324 14V CA324 SW2 5 SW2 1 SW2 6 SW2 2 SW2 7 SW2 3 IC27 LF351 300VDC IC10 14V D27 LM340 ULN2003 To J4 8 8V ULN2003 IC18B IN4148 D...

Page 180: ...ION 8V SERIAL I P HI V 2 SIN 2 COS 2 SCREEN J3 3 1 2 To J4 1 2 8V ULN2003 IC18C IN4148 D23 100 ohm 1W 14V IC1 78L08 D10 8V _ 300VDC _ 300VDC OPTOCOUPLER _ 300VDC IC17 D PC849 SERIAL I P LO 1A 1B 2A 2B...

Page 181: ...SERIAL INPUT 14V SERIAL O P A LM340 IN4148 D26 IC24 A IC25 5 IC28 VDC REMOTE DETECT 6 DUAL ST O P LO 7 PC849 IC17 B D20 IN4148 1K WATCH ALARM O P 8 DUAL ST O P HI See J2 8 Serial O P B NAV RECEIVER I...

Page 182: ...UXGATE SIN 6 7 8 V 2 10 9 11 AUTO ON OFF 12 14V 14V 13 GND IC24 C ULN2003 ANALOG GND ANALOG GND V 2 IC16 A PIO 4 5 4 7K 4 7K PORT REMOTE STBD REMOTE IC11 AD D18 6 8V D19 6 8V AW GND FLUXGATE COS IC12...

Page 183: ...N BOX D9X PCB S RF14XU GND SOLENOID II SOLENOID I 24VDC MAINS 24VDC ALARM RGC SIGN INTERFACE UNIT GYRO COMPASS SCREEN TERMINATION BOARD NOTE 2 NOTE If cables are more than 10 meters only the TX side s...

Page 184: ...Robertson AP9 MK3 Autopilot 8 8 20169223D Fig 8 7 D9X S Series Distribution Units Optional version...

Page 185: ...Drawings 20169223D 8 9 Fig 8 8 FU9X Circuit Diagram N3 360308C...

Page 186: ...Robertson AP9 MK3 Autopilot 8 10 20169223D Fig 8 9 D9X Power Supply Circuit Diagram Drw No N3 012812G...

Page 187: ...Drawings 20169223D 8 11 Fig 8 10 D9X Interconnection Board Circuit Diagram Drw No N3 012813B...

Page 188: ...Robertson AP9 MK3 Autopilot 8 12 20169223D Fig 8 11 D9X Solid State Board Universal Type Circuit Diagram Drw No N1 012815D...

Page 189: ...Drawings 20169223D 8 13 Fig 8 12 D9X Dual Analogue Board Circuit Diagram Drw No N1 012816E...

Page 190: ...Robertson AP9 MK3 Autopilot 8 14 20169223D Fig 8 13 D9X Thruster Interface Board Circuit Diagram Drw No N1 012818C...

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Page 193: ...23 follow up scale 5 42 FU A scale 2 12 G gyro adjust 5 38 gyro compass selection 5 58 gyro interface board 5 58 H heading display 2 15 heading sensors 1 6 heeling error 5 5 hidden button 5 44 I illu...

Page 194: ...feedback adjustment 5 32 alignment 5 49 installation 5 15 specifications 4 7 rudder limit 2 10 5 36 runtime 5 43 S save parameters 5 69 screen termination 5 3 sea trial 5 62 serial lines 1 9 serv spe...

Page 195: ...Appendix 20169223D 10 1 10 APPENDIX Appendix A Approvals...

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Page 201: ...vik Tel 354 552 2111 Fax 354 552 2115 ITALY Kongsberg Simrad Srl Via Carlo Veneziani 58 00148 Rome Tel 39 06 6557579 498 Fax 39 06 6557859 MALTA Medcomms Ltd 4 Msida Rd Gzira GZR03 Tel 356 335521 Fax...

Page 202: ...KA Choongang Dong Choong Ku Pusan Tel 82 51 462 3930 Fax 82 51 462 3089 Lucky Susan Co Ltd K P O Box 1666 Seoul Taesung B D 508 60 17 Taepyong Ro 1 Ka Chung Ku Seoul Tel 82 2 736 4328 Fax 82 2 739 568...

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