Simrad ROBERTSON AP45 Instruction Manual
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Simrad ROBERTSON AP45 Instruction Manual

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INSTRUCTION MANUAL
Robertson AP45
Autopilot
20220042/6/02

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Summary of Contents for Simrad ROBERTSON AP45

  • Page 1 INSTRUCTION MANUAL Robertson AP45 Autopilot 20220042/6/02...
  • Page 2 This page is intentionally left blank.
  • Page 3 The information contained within this document remains the sole property of Simrad Egersund AS. No part of this document may be copied or reproduced in any form or by any means, and the information contained within is not to be passed on to a third party, without the prior written consent of Simrad Egersund AS.
  • Page 4 Note on page 5-31 included. New distributor list. To assist us in making improvements to this manual, we would welcome comments and constructive criticisms. Please send all such comments, in writing to: MODIFICATION RECORD Robertson AP45 Autopilot Document revisions Written by Checked by Sign.
  • Page 5 Robertson AP45 Modification record An autopilot is a very useful navigational aid, but DOES NOT under any circumstance replace a human navigator. Do not use automatic steering when: In heavy traffic areas or in narrow waters In poor visibility or extreme sea conditions...
  • Page 6 Robertson AP45 Modification record Simrad Robertson AS Egersund - Norway...

  • Page 7: Table Of Contents

    Robertson AP45 Autopilot Table of contents TABLE OF CONTENTS GENERAL INFORMATION...1-1 Introduction ...1-1 System description...1-1 AP45 Control Unit...1-1 Heading Sensors ...1-1 Rudder Feedback Units ...1-2 Junction units...1-3 Optional equipment ...1-3 Remote Controls...1-3 Rudder Angle Indicators...1-4 OPERATION OF THE AUTOPILOT...2-1 General ...2-1 Front Panel ...2-1...
  • Page 8 Vessel's length ...6-4 Counter rudder...6-5 Rudder limit...6-5 Rudder deadband...6-5 NMEA-format ...6-5 Disengage of autotrim-function in WORK-mode ...6-5 Disengage of Off Course alarm in Work mode ...6-6 Sea Trial ...6-6 Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Table of contents...
  • Page 9 Robertson AP45 Autopilot Table of contents . 1-1 AP45 S . 2-1 AP45 C . 3-1 A . 3-2 P . 3-3 C . 3-4 RF45X . 3-5 B . 3-6 S . 3-7 S . 3-8 J45A . 4-1 AP45 C .
  • Page 10 ...8-11 IRCUIT DIAGRAM ...8-12 OMPONENT REFERENCE ...8-13 IRCUIT DIAGRAM OMPONENT REFERENCE ...8-15 IRCUIT DIAGRAM ...8-17 XPLODED VIEW Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Table of contents ...5-8 IRING ...5-9 ...5-10 ...5-11 ...5-11 ...5-12 IRING ...5-13 OUNTING ...5-21 (015936H)...5-22...

  • Page 11: General Information

    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.

  • Page 12: Rudder Feedback Units

    2 sets of limit switches. RF14XU can not drive the RI101 Rudder Angle Indicator, but all other types of Robertson indicators. Robertson AP45 Autopilot Simrad Robertson AS Egersund - Norway...

  • Page 13: Junction Units

    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 14: Rudder Angle Indicators

    The splash proof construction allows panel, bulkhead or bracket mounting in exposed locations, such as bridge wings as well as wheel house and engine room. RI35 is delivered with a 20 meter (65 feet) cable. Robertson AP45 Autopilot Simrad Robertson AS Egersund - Norway...

  • Page 15: Operation Of The Autopilot

    Robertson AP45 Autopilot Operation General 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.
  • Page 16 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 17: Parameter Setting

    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.

  • Page 18: Course Selection

    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. If the knob is not turned within 10 seconds, it has to be pressed again. Robertson AP45 Autopilot Simrad Robertson AS Egersund - Norway...

  • Page 19: Navigating With The Ap45

    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 WORK- mode however, the buttons are used for manual rudder trim, and course changes can therefore only be made by the course selector knob.

  • Page 20: Xte Mode

    Heading =100° ALARM ACCEPT CHANGE? RESET Y: RESET N: AUTO INFO DISPLAY Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot 04° XTE =R0.01NM NAVIGATION INFO DISPLAY W AYPO INT 3 New heading = 70° W AYPO INT 2 R ESET 10MIN CHG 30°...
  • Page 21 Robertson AP45 Autopilot Operation Example: 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 correction relative to initial set course. As...

  • Page 22: Steering By Bearing To Waypoint (Cts)

    10 degrees, the autopilot alarm is activated and the course change has to be acknowledged using the ALARM RESET button. A typical sailing situation is illustrated in figure below. Robertson AP45 Autopilot 08 MIN CHG:05° NAVIGATION Simrad Robertson AS...
  • Page 23 Robertson AP45 Autopilot Operation W AYPOINT 1 INFO DISPLAY COURSE DISPLAY RESET Waypoint 2 has been reached. Continue as follows: If the heading to next waypoint, showed on the heading display, is accepted, press RESET. If not, press AUTOPILOT mode and continue without Nav. Steering By pressing RESET, the new heading is automatically entered and the autopilot will turn the vessel towards the new heading.

  • Page 24: Remote Controls General

    AUTO by the AP45/F200 course selector or PORT/ STBD button on both Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot F200 Display H 080 Vessel’s heading F200 F ¯ 00 Amidships, no rudder command 4 port rudder é command 32 starboard rudder ù...

  • Page 25: S9 Steering Lever

    Robertson AP45 Autopilot Operation F200-40 with dodging Press MODE MODE MODE long press MODE short press MODE S9 Steering Lever The S9 steering lever is intended for use together with e.g. AP45 Autopilot. Several units can be connected in parallel, but only if configured as alternative 1 (see...
  • Page 26 Dodging made by WORK lever AUTO, S9 locked. WORK Return to previous course Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Operation AP45 Displays NON FOLLOW UP H 080 MANUAL NON FOLLOW UP H 080 MANUAL A 146 AUTOMATIC...
  • Page 27 Robertson AP45 Autopilot Operation Alternative 3 (R = 3K) S9 Lever Alternative 4 (R = 5,1K) S9 Lever AP45 Mode Function MANUAL S9 locked MANUAL NFU steering by moving lever to left or right AUTO, S9 locked WORK MANUAL NFU-steering by...

  • Page 28: Fu91 Follow Up Steering Lever

    Follow Up steering by moving FU91 lever to desired rudder angle as read on FU91 AUTO Automatic steering Note! Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Operation AP45 Displays NON FOLLOW UP H 085 MANUAL FOLLOW UP H 085 MANUAL...
  • Page 29 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.

  • Page 30: Fault Warnings

    (See “Type of Heading Sensor”, page 6-4). If the autopilot should lose or read erratic data stored in the memory, this alarm will be given, and the autopilot is simultaneously set to MANUAL-mode. Robertson AP45 Autopilot OFF COURSE RESET ALARM...
  • Page 31 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. “Watch alarm”, page 5-37. The watch alarm warning signal is repeated every four minutes as long as AP45 is in Auto, Work or Nav mode and is reset by pressing Alarm reset button.
  • Page 32 Page 2-18 Robertson AP45 Autopilot Operation Simrad Robertson AS Egersund - Norway...

  • Page 33: Design And Theory Of Operation

    Robertson AP45 Autopilot 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.

  • Page 34: Ap45 Control Unit

    These pulses are filtered through the R/C network and amplified before entering the A/D converter. Robertson AP45 Autopilot Design and theory of operation HEAD 2 (COS) HEAD 1 (SIN) Exitation 2.5V (Ref.)

  • Page 35: Rudder Feedback Units

    Robertson AP45 Autopilot Design and theory of operation Rudder Feedback The rudder feedback unit transmits rudder angle information to the control unit Units and rudder angle indicators. It is mounted close to the rudder stock and mechanically connected to the rudder tiller arm by a transmission link.

  • Page 36: Junction Units

    Relay K1 has a double function: Used as “safe relay”, breaking the solenoid supply when AP45 is switched off and starting the steering gear pump when AP45 is switched on (RPU1 and RPU3). Robertson AP45 Autopilot Design and theory of operation Fig. 3-5...
  • Page 37 Robertson AP45 Autopilot Design and theory of operation Fig. 3-6 Solenoids with positive common Fig. 3-7 Solenoids with negative common Simrad Robertson AS Egersund - Norway Page 3-5...

  • Page 38: J45A Electronic Junction Unit

    Connecting an external strap from terminal 2 to 4 will enable a “Soft start” function, which reduces the start current and is recommended for the most powerful drive units like RPU200, RPU300, HLD2000LD and MRD100. Robertson AP45 Autopilot Design and theory of operation Fig. 3-8...

  • Page 39: Technical Specifications

    Robertson AP45 Autopilot Technical specifications AP45 Control Unit Dimensions: ...See Fig. 4-1 Weight:...3.0 kg Protection:...IP43* Ambient temperature, Safe distance to magnetic comp.: ...0.3m Maximum current consumption :...0.6A Input signals: Rudder Feedback: ...3400 Hz, 20 Hz/deg. Magnetic, Fluxgate and Gyro compass: Nav.signal :...

  • Page 40: Cd109 Course Detector

    Ambient temperature, Cable length:...1 m storage: ...–40 - +85°C operation: ...–30 - +60°C 1000 (39.4") 35 (1.4") Fig. 4-2 CD109 Course detector Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Technical specifications 120° 120° 120° m in/m ax. 80-100 (3.2-4.3")

  • Page 41: Rfc35Ns Fluxgate Compass

    Robertson AP45 Autopilot Technical specifications RFC35NS Fluxgate Dimensions... See Fig. 4-3 compass Heading output: ... Serial and analogue Output format: ...NMEA183 10x/sec. and sine/cosine. NMEA data:...$IIHDM,x.x,m*hh<cr><If> Analogue data:...Sine/Cosine 2V, 2.5VDC reference. Accuracy: ...<1.25 rms Repeatability: ...<0.2 rms Calibration: ...Automatic Roll & Pitch: ... 35 Supply: ...10-29 VDC, 1 W...

  • Page 42: G40A Gyro Interface

    ... 0 - +55°C Fig. 4-4 G40A Gyro Interface - dimensions - Synchro signal, 1:1 - Low voltage, 11,6V L-L storage: ...–25 - +70°C operation: ... 0 - +55°C Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Technical specifications...

  • Page 43: Fi100-40 Fluxgate Interface

    Robertson AP45 Autopilot Technical specifications Dimensions:... See Fig. 4-5. FI100-40 Fluxgate Cable length: ... 2 m (with plug) Interface Ambient temperature, Input signal: ...sine/cosine Output signal:...sine/cosine ±2V DC at +2.5V reference Dimensions: ...See Fig. 4-6. RF45X Rudder Protection:...IP56 Feedback Unit Ambient temperature: ...–10 - +55°C...

  • Page 44: Rf14Xu Rudder Feedback Unit

    Limit switches: ...Adjustable from ±5 to ±160° (Frequency section 12-40V DC) Port: +20Hz/degree, stbd: -20Hz/degree 160 (6.3") 150 (5.9") 185 (7.3") Fig. 4-7 RF14XU Rudder Feedback unit - dimensions Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Technical specifications 40 (1.6") 120 (4.8")

  • Page 45: J45S Junction Unit

    Robertson AP45 Autopilot Technical specifications Dimensions:... See Fig. 4-8. J45S Junction Unit Protection: ... IP22 Ambient temperature, Safe distance to magnetic compass: ...1.5 m Supply voltage: ...12, 24, 32V DC ±20% Max. solenoid load:...3A J45A Junction Unit Dimensions: ...See Fig. 4-8.

  • Page 46: S9 Steering Lever

    ...–25 - +70°C operation: ...–10 - +55°C 144 (5.67") Panel cut-out:138x138 (5.44") FU91 Steering Lever - Dimensions Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Technical specifications 25mA/220V AC 70 (2.75") 78 (3.1") Fig. 4-9 68 (2.68") 76 (3.00")

  • Page 47: S35 Steering Lever

    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: Environmental protection:...IP56 Safe distance to compass: ...0.5 m (1,6 ft.) Power consumption (light):...6 mA...

  • Page 48: F1/2 Remote Control

    Cable length:... 7 m (21ft.) 25mA/220V AC 76 (3.0") Fig. 4-12 F1/2 Remote Control - Dimensions 72 (2.8") F200-40 Remote Control Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Technical specifications 65 (2.6") 5 (0.2") 46 (1.8") 30 (1.2") Fig. 4-13 Dimensions...

  • Page 49: Ri35 Rudder Angle Indicator

    Robertson AP45 Autopilot Technical specifications RI35 Rudder Angle Dimensions:... See Fig. 4-14. Indicator Weight: ... 1.0 kg Supply voltage:... 12/24V DC –25%/+30%, polarity independent Power consumption: ...Max 3 W Input signal: ...Frequency 3400 Hz (midship Accuracy:...±3° (Indicator alone) Temperature range: ...Storage: –30 C to +80 C Environmental protection:...IP56...

  • Page 50: Ri9 Rudder Angle Indicator

    ...–25 - +70°C operation: ...–10 - +55°C 144 (5.67") Panel cut-out:138x138 (5.44") Fig. 4-15 RI9 Rudder Angle Indicator - Dimensions Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Technical specifications current (0.1 - 1.1mA) RF45X, RF14XU, RF14XI. 57 (2.24") 65 (2.56")

  • Page 51: Installation

    Robertson AP45 Autopilot Installation Unpacking and Care should be taken when unpacking and handling the equipment. A visual handling 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.

  • Page 52: Connector Assemble

    The grounding wire should be as short as possible and at least 10 mm wide. Fig. 5-3 Control unit - connector mounting Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Installation Crimping tool : Amp 90277-1 Extraction tool: Amp 725840...
  • Page 53 Robertson AP45 Autopilot Page 5-3 Installation Fig. 5-4 AP45 External cabling diagram Simrad Robertson AS Egersund - Norway...

  • Page 54: Heading Sensors

    There is no patent cure for this problem, besides making a proper installation and compensation of the compass. CD109 Course Detector mounting Robertson AP45 Autopilot Simrad Robertson AS Egersund - Norway Installation...

  • Page 55: M Ounting

    Robertson AP45 Autopilot Installation The course detector is mounted on the ship's magnetic compass to transmit signal to the control unit. The mounting method will depend upon design. The distance between detector compass card depends upon momentum compass magnets. A distance...

  • Page 56: Rfc35Ns Fluxgate Compass

    RFC35NS is the TOP. Never mount it upside down! Level the sensor as close to horizontal as possible. Use the supplied mounting kit and drill holes through the centre of the slots. Note! from such meters), cables, drive Note! Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Installation...

  • Page 57: Connection

    Robertson AP45 Autopilot Installation Connection Calibration The calibration is carried out by using the “RFC250 procedure”: 1. Switch on the autopilot to supply power to RFC35NS. 2. Make two 360 degree turns to starboard within 5 minutes after switch on. Make sure the boat passes 3 times through North (see figure).

  • Page 58: Alignment

    FI100-40 is connected to J2 of the control unit according to Fig. 5-8. confirmation in the display if the AP45 has a software revision earlier than V1R3. AP45/FI100-40 Fluxgate Interface - Wiring Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Note! Fig. 5-8 Installation...

  • Page 59: G40A Gyro Interface Unit

    Robertson AP45 Autopilot Installation 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.
  • Page 60 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.

  • Page 61: G45 Gyro Interface Unit

    Robertson AP45 Autopilot Installation G45 Gyro Interface The G45 is required when a gyrocompass with 1:1 ratio synchro signal is Unit 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.

  • Page 62: Rgc Signal Interface Unit

    “RGC Interface” addendum in the RGC Gyrocompass manual. Fig. 5-13 G45 Input/output Fig. 5-14 AP45/RGC Signal Interface Unit - Wiring Note! Select “1:1 SYNCHRO” via the “INSTALLATION LOOP”. Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Installation...

  • Page 63: Rf45X Rudder Feedback Unit

    Robertson AP45 Autopilot Installation The RF45X is normally mounted with the RF45X Rudder shaft pointing upwards. It can, however, Feedback Unit also be mounted with the shaft pointing downwards if that appears to be more convenient. In case of an “upside-down” installation, the two plug-in straps on the component side of the PCB have to be “turned”...

  • Page 64: Rf14Xu Rudder Feedback Unit

    This will give a ratio 1:1 between the rudder angle and that of the feedback unit shaft. If the RF14XU is mounted with the shaft pointing upwards, the yellow and the blue lead to the potentiometer inside must be interchanged (See Fig. 5-20). Robertson AP45 Autopilot Note! Fig. 5-17 RF14XU - Mounting...

  • Page 65: Emplate S Cale 1:1

    Robertson AP45 Autopilot Page 5-15 Installation Fig. 5-18 RF45 Template Scale 1:1 Simrad Robertson AS Egersund - Norway...
  • Page 66 Page 5-16 Robertson AP45 Autopilot Installation Simrad Robertson AS Egersund - Norway...
  • Page 67 Robertson AP45 Autopilot Installation 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.
  • Page 68 White lead must remain connected. Fig. 5-20 RF14XU Internal wiring Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot R F14X U EL EC TR ONIC MOD ULE (VIE WED FROM BACK S IDE) BLUE (GND) YELLOW (+ 5V) GR EEN (WI PER) Installation POT .

  • Page 69: J45S Junction Unit

    Robertson AP45 Autopilot Installation 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.
  • Page 70 (Fig. 5-24), there shall be no strap between terminals B and C. Instead terminal B shall be connected to both terminal 13 and 14. (AWG10). The electronic supply cable should be 1,5 mm Note! - AWG10). - AWG14). Note! Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Installation...

  • Page 71: J45A Junction Unit

    Robertson AP45 Autopilot Installation J45A Junction Unit 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.
  • Page 72 Page 5-22 Robertson AP45 Autopilot Installation Fig. 5-23 AP45 Wiring diagram - basic system (015936H) Simrad Robertson AS Egersund - Norway...
  • Page 73 Robertson AP45 Autopilot Page 5-23 Installation Fig. 5-24 AP45 Wiring diagram - solenoids with positive common (015936H) Simrad Robertson AS Egersund - Norway...
  • Page 74 Page 5-24 Robertson AP45 Autopilot Installation Fig. 5-25 AP45 Wiring diagram - solenoids with negative common (015936H) Simrad Robertson AS Egersund - Norway...
  • Page 75 Robertson AP45 Autopilot Page 5-25 Installation Fig. 5-26 AP45/J45 Wiring diagram Simrad Robertson AS Egersund - Norway...

  • Page 76: Optional Equipment

    The diagram in the cover plate shows the terminal connections in the S9 (Fig. 5-30). For use together with AP45, four different operation alternatives can be selected by changing a resistor in S9. Robertson AP45 Autopilot Fig. 5-27 F200-40/AP45 - Wiring diagram Fig. 5-28...

  • Page 77: Ever - Internal Wiring

    Robertson AP45 Autopilot Installation The different alternatives are described on page 2-12, and are the result of connecting a resistor between terminals M and A3 in S9. If F200-40 is connected in combination with S9, only alternative 1 can be used.

  • Page 78: Ounting

    Electrical connection There is two alternatives of connecting FU91 to AP45; without mode switching or with mode switching (similar to S9) See page 2-14 for operation. Robertson AP45 Autopilot Fig. 5-31 FU91 Mounting Fig. 5-32 FU91 without mode switching...
  • Page 79 Robertson AP45 Autopilot Installation 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 R = 3.0K: Auto...

  • Page 80: F1/2 Remote Control

    This handheld remote control with 10 m (30 ft.) cable is connected to the control F1/2 Remote Control unit as shown in Fig. 5-35. Fig. 5-35 S35, F1/2 - AP45 - Wiring diagram Fig. 5-36 AP45 Wiring diagram - J3 w/multiple input Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Installation...

  • Page 81: Ri9 Rudder Angle Indicator

    Robertson AP45 Autopilot Installation RI9 Rudder Angle The RI9 is designed for bulkhead or panel mounting, and should be placed in a Indicator location in clear view of the helmsman. Two or more indicators may be connected in series with the rudder feedback unit.
  • Page 82 RI9 to show the same angle as the rudder is set to (or the same angle as shown on the autopilot display in “Debug” mode). Fig. 5-38 RI9 Input signal selection Note! Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Installation...

  • Page 83: Ri35 Rudder Angle Indicator

    Robertson AP45 Autopilot Installation RI35 Rudder Angle The RI35 is designed for flush, bulkhead or bracket mounting, and should be Indicator 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.

  • Page 84: Panel Mounting

    Assemble the complete bracket again and adjust the RI35 to best viewing angle and tighten up the mounting bracket bolts. Fig. 5-42 RI35 Bracket mounting Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Installation...

  • Page 85: Illumination

    Robertson AP45 Autopilot Installation 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.

  • Page 86: Connection To Navigation Receiver

    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.

  • Page 87: Watch Alarm

    Robertson AP45 Autopilot Installation The output from the navigational receiver is connected to AP45 J3 pin 9 and 10 (Ref. Fig. 5-44). 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.
  • Page 88 Page 5-38 Robertson AP45 Autopilot Installation Simrad Robertson AS Egersund - Norway...

  • Page 89: Start-Up Procedure/ Commissioning

    Robertson AP45 Autopilot Start-Up procedure / Commissioning 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 vessel's characteristics must be carried out according to the following procedure.

  • Page 90: Rudder Speed

    (see page 7-5), a warning will be given when stepping through the installation loop. The warning: H.O.-H.O. rudder angle in degrees H.O.-H.O. time in seconds DEBUG MODE COMP.SIN: 3.26V SPECIAL PARAMSET CHANGE?: +/- Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Start-Up procedure / Commissioning Note!

  • Page 91: Select Language

    Robertson AP45 Autopilot Start-Up procedure / Commissioning 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. changing the special value: Press the WEATHER button.

  • Page 92: Type Of Heading Sensor

    I I I I I I I LENGTH: 40-70FT. Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot FLU XG A TE C O M P AS S O FFSET B Y: 00 G Y R O A D JU ST...

  • Page 93: Counter Rudder

    Robertson AP45 Autopilot Start-Up procedure / Commissioning The COUNTER RUDDER serves two purposes, firstly to give a smooth transition Counter rudder 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.

  • Page 94: Disengage Of Off Course Alarm In Work Mode

    OFFC. ALARM OFF?: - Do not use the PORT and STBD buttons during steps 2-4 of the sea trial. Centre Rudder Yes: Press Inc Rudder Feedback Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Start-Up procedure / Commissioning Note! * centred *...
  • Page 95 Robertson AP45 Autopilot Start-Up procedure / Commissioning 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. 5. Engage the autotrim function and press the AUTO button. Demonstrate to the owner the effect of the operational controls i.e.
  • Page 96 Page 6-8 Robertson AP45 Autopilot Start-Up procedure / Commissioning Simrad Robertson AS Egersund - Norway...
  • Page 97 Robertson AP45 Autopilot Trouble shooting Fault warnings The following fault warnings may be shown on the Information Display: 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.
  • Page 98 Try another fluxgate compass. FI100-40 FLUXGATE INTERFACE a. Make sure the fluxgate compass is working properly by observing it’s repeater (if installed). If OK, proceed to "b". Robertson AP45 Autopilot NAVDATA NOT REC. CHANGE MODE POOR NAVDATA CHANGE MODE...
  • Page 99 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.
  • Page 100 180 210 S1-S3 = 0V at 0 and 180 degrees S2-S3 = 0V at 60 and 240 degrees S1-S2 = 0V at 120 and 300 degrees DATA FAILURE CHECK SETTINGS Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Trouble shooting...

  • Page 101: Debug/Adjust Mode

    This procedure is considered as a “Master reset” of the AP45 and you must therefore check all settings described in “Selection of parameter settings” page 6-2 or consult your nearest Simrad Robertson dealer. Debug/Adjust mode The Control Unit has a separate mode to control the content of the software addresses and the value of the variable parameters.
  • Page 102 1.5 sec. 96 sec. 2.0 sec. 96 sec. 2.5 sec. OFF = 0.0, LOW = 0.4, MED = 0.8, HIGH = 1.2 Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Trouble shooting Turn Rate of turn Initiate 240°/minute 210°/minute 180°/minute 150°/minute...
  • Page 103 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 ADJUST MODE C.RUDD., AUTO 0.4 ADJUST MODE C.RUDD., WORK 0.4...
  • Page 104 Sea Trial section, page 6-6, for details. Readout of software version (i.e. V1R4) and runtime of the control unit. DATA FAILURE! CHECK SETTINGS Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Trouble shooting RMB+ XTR+ Table 1 MANUAL Note!

  • Page 105: Spare Parts And Drawings

    Robertson AP45 Autopilot Spare parts and drawings AP45 Control Unit 20159240 20159224 20153060 20159653 20159323 20159281 20153086 20162533 20120622 20153037 20153151 44151702 20130696 20159265 44119220 44118800 44112233 20120580 20120572 44150779 20120556 20120564 44149508 20104212 20120630 20168415 44118958 44119626 44119964 44102655...
  • Page 106 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. Simrad Robertson AS Egersund - Norway...
  • Page 107 Robertson AP45 Autopilot Spare parts and drawings 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...
  • Page 108 Pin contact AMP NO 163090-0 Plug with bracket for extension cable Socket contact AMP NO 163088-2 Washer Screw M6x30 Washer M3 Screw M3x8 Cable clamp Fig. 8-3 CD109 - Spare parts Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Spare parts and drawings...

  • Page 109: G40A Gyro Interface

    Robertson AP45 Autopilot Spare parts and drawings G40A Gyro 20157202 Interface 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.
  • Page 110 Page 8-6 Robertson AP45 Autopilot Spare parts and drawings Fig. 8-5 G40A Circuit diagram Simrad Robertson AS Egersund - Norway...

  • Page 111: G45 Gyro Interface

    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...
  • Page 112 Page 8-8 Robertson AP45 Autopilot Spare parts and drawings Fig. 8-7 G45 Circuit diagram Simrad Robertson AS Egersund - Norway...

  • Page 113: Rf45X Rudder Feedback

    Robertson AP45 Autopilot Spare parts and drawings FI100-40 Fluxgate 20155008 Interface 20155206 20155404 20107017 20107025 RF45X Rudder 22011282 Feedback 22011290 22011183 22011217 22011266 RF14XU Rudder 22501647 Feedback Unit 22501654 22504005 44132306 22500300 22500458 22501605 44105120 44105146 4418388 44132033 22500284 22500276...

  • Page 114: J45S Junction Unit

    Transistor 2N6388, Q1,2,3 Diode LED Red SPR5531, D1,2 IC Optocoupler PC829, IC1 Fuse 2A/250V 5x20mm, F1 Heatzink insulator FOR Q1,2,3 Plug-in strap Fig. 8-9 J45S Component reference Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Spare parts and drawings...
  • Page 115 Robertson AP45 Autopilot Page 8-11 Spare parts and drawings Fig. 8-10 J45S Circuit diagram Simrad Robertson AS Egersund - Norway...

  • Page 116: J45A Junction Unit

    Zener diode BZX 61 C43, D4 Zener diode BZX 61 C12, D5 Transistor 2N2222A, T6 Transistor 1RF9521, T8 Zenerdiode BZW55B7V5, D13, D14 Fig. 8-11 J45A Component reference Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Spare parts and drawings...
  • Page 117 Robertson AP45 Autopilot Page 8-13 Spare parts and drawings Fig. 8-12 J45A Circuit diagram Simrad Robertson AS Egersund - Norway...

  • Page 118: F200-40 Remote Control

    Push button switch SW1, SW2, SW3 (MPD) Actuator for SW1, SW2, SW3 Gasket O-ring 3 mm Voltage regulator LM340 LAZ 5 IC1 F200 front panel (keypad) Fig. 8-13 F200-40 Component reference Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Spare parts and drawings...
  • Page 119 Robertson AP45 Autopilot Page 8-15 Spare parts and drawings Fig. 8-14 F200-40 Circuit diagram Simrad Robertson AS Egersund - Norway...

  • Page 120: S9 Steering Lever

    Lamp 14V/80mA Element Cable Gland PG16 MF Gasket, Neoprene Dia 3 mm, 560 mm Dimmer potentiometer, 2.2K RF100 potentiometer with leads FU9X cogwheel FU91/92 PTTC switch ass’y Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Spare parts and drawings...

  • Page 121: Ri9 Rudder Angle Indicator

    Robertson AP45 Autopilot Spare parts and drawings RI9 Rudder Angle 22015655 Indicator 22015663 22015662 22015671 22015028 44117687 44155620 44107423 44149995 44108496 22015606 22015721 22015697 22015705 RI35 Rudder Angle 22082929 Indicator 22083265 22083216 22083273 22083208 44164135 44140796 44141174 RI9 Rudder Angle Indicator...
  • Page 122 Page 8-18 Robertson AP45 Autopilot Spare parts and drawings Simrad Robertson AS Egersund - Norway...
  • Page 123 Tel.: +33 2 28 01 23 01 Tel.: +31 181 600234 Fax: +33 2 28 01 21 43 Fax: +31 181 626688 GERMANY CROATIA Simrad GmbH & Co. KG Almar d.o.o. Dithmarscher Strasse 13 Porec - Kamenarija 12 26723 Emden 52452 Funtana Tel.: +49 4921 96860...
  • Page 124 1712 Castelar Provincia de Buenos Aires Tel.: +54 11 4609 0007 Fax: +54 11 4609 0008 Simrad Robertson AS Egersund - Norway Robertson AP45 Autopilot Sales and service worldwide BRAZIL Demo Offshore Ltda Av. Marechal Camara 160 Sala 614, Centro Rio de Janeiro RJ-20020-080 Tel.: +55 21 2524 5171...

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