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Related Manuals for Kongsberg Simrad Robertson RFC35
Summary of Contents for Kongsberg Simrad Robertson RFC35
- Page 1 Robertson Autopilot Compass...
- Page 2 This page is intentionally left blank...
- Page 3 Instruction Manual Instruction Manual This manual is intended as a reference guide for choosing the correct type of compass for autopilot installations. It describes the different RFC35 compass versions; how to install, connect and calibrate them. How to convert a standard RFC35 into a Rate, NMEA and Sine/Cosine type compass is also described in this manual.
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Page 4: Document Revisions
Robertson Autopilot Compass Document revisions Documentation Hardware/Software Project/Product department design Management Date Sign Date Sign Date Sign 04.09.98 N.G. 04.09.98 I.K. 04.09.98 Th.H. 27.11.98 27.11.98 27.11.98 Document history Rev. A First edition Rev. B Section 7.5: Added input data for RFC35N. Distributor list updated. 20220653B... -
Page 5: Table Of Contents
Instruction Manual Contents INTRODUCTION....................5 COMPASS TYPES....................6 2.1 Magnetic compass ..................6 2.2 Fluxgate compass................... 6 2.3 Rate compass (RFC35R) ................7 2.4 RFC35R performance diagram..............8 2.5 Gyro compass....................8 2.6 Compass type selection guide ..............9 RFC35, DESCRIPTION OF MODELS .............. 10 3.1 RFC35 Fluxgate compass ................ - Page 6 Robertson Autopilot Compass RFC35N as RFC300 substitution.............. 29 5.4 RFC35R + SIN PCB ..................31 Connection to AP45 and AP9MKII ............31 Connection to AP200 and AP2500............32 Calibration ....................32 5.5 RFC35NS Compass (NMEA+SIN) as RFC250 substitution ....33 Calibration ....................
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Page 7: Introduction
Instruction Manual INTRODUCTION The compass or heading sensor is the most vital component in an autopilot system. Therefore, great care should be taken when choosing compass type and finding a good mounting location. Not only should the compass be of good quality, it is even more important that a good mounting location is found. -
Page 8: Compass Types
Robertson Autopilot Compass COMPASS TYPES Magnetic compass The conventional liquid filled magnetic compass with external gimbals is the typical autopilot compass for smaller fishing boats and work boats up to approx. 70ft. The compass card is supported by the fluid and provided it is compensated by qualified personnel, it is a fairly stable and very reliable heading reference for the autopilot, even in rough seas. -
Page 9: Rate Compass (Rfc35R)
Instruction Manual resulting effect. A lot of attention has been paid to reduce this effect when designing the RFC35 Fluxgate compass and it has proven to be successful. The optimum performance is accomplished with the RFC35R which is a rate sensor stabilized fluxgate compass. -
Page 10: Rfc35R Performance Diagram
Robertson Autopilot Compass RFC35R performance diagram Measurements made at open sea in a 33-ft. powerboat. The ideal reference shown on the graph is performed by the Robertson SKR-82 Gyrocompass. SKR82 gyrocompas RFC35Rate compass Fluxgate Time Gyro compass A gyro compass does not use the Earth’s magnetic field to seek North, thus being unaffected by the magnetic conditions onboard. -
Page 11: Compass Type Selection Guide
Instruction Manual Compass type selection guide Boat type Leisure, Leisure; Work/Fishing Work/Fishing Compass Power Sail up to 60 ft above 60 ft Magnetic 2 (1)* Fluxgate Rate 1 (2)* Lowest number gives the highest recommendation. * If steel hull 20220653B... -
Page 12: Rfc35, Description Of Models
Robertson Autopilot Compass RFC35, DESCRIPTION OF MODELS The first RFC35 Fluxgate Compass was made in 1994 for the AP300X series of autopilots. It is today used with all “X-series” autopilots (all autopilots using J3XX Junction units. The following Robertson autopilots use the RFC35 Fluxgate Compass: AP300CX, AP300PX AP300DLX, AP3000, AP3000X, AP11, AP35, AP20, AP22. -
Page 13: Rfc35N Nmea Compass
Instruction Manual Pulse Filter with DECODER Offset conv. Smoothing (0,6 - 0,75) (Gating) adjust Pwr. sec. Supply (Multiplexer) Excitation 2,5 kHz Figure 3-1 RFC35 Block diagram RFC35N NMEA Compass The RFC35N is based on the standard RFC35, with a plug-in NMEA PCB incorporated. -
Page 14: Rfc35R Ratecompass
Robertson Autopilot Compass RFC35N can be expanded with an optional plug-in SIN PCB to provide an analogue sin/cosine signal to other autopilots as AP200 and AP45 e.t.c. See RFC35NS description, section 3.4. RFC35R Ratecompass RFC35R is also based on the standard RFC35 Fluxgate compass, with a plug-in Rate PCB incorporated. - Page 15 Instruction Manual The reduced response from the Flux heading is compensated for by the Rate sensor. The Rate sensor is very sensitive to any movement (turn) in the horizontal plane, but almost insensitive to roll and pitch. As the Rate heading is a relative angle it has to be coupled to the Flux heading.
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Page 16: Rfc35Ns (Rfc35N + Sin)
Robertson Autopilot Compass RFC35NS (RFC35N + SIN) By adding the optional Sin PCB to a RFC35N compass you will get additional analogue Sine/Cosine heading output. The signal is according to the Robertson standard; ±2V with 2.5V reference which makes the compass compatible with RFC250 (NMEA + Sin/Cosine output). -
Page 17: Micro-Controller Chip
Instruction Manual Micro-controller chip The Rate or NMEA PCB must have a chip marked V1R3 (or higher) in order to work with the SIN PCB. A V1R3 chip was supplied with the SIN PCB for a limited period time. needed, ordered from your... -
Page 18: Location And Installation
Robertson Autopilot Compass LOCATION AND INSTALLATION Inspection of mounting area The area around which the compass will be mounted should be inspected for one or more of the following items: - Vertical or horizontal soft iron rod(s) - Channel or angle iron. - Throttle and clutch control push-pull cables. -
Page 19: Northerly / Southerly Turning Error
Instruction Manual approximately 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 not vary more than 5 degrees from the initial reading during this test. - Page 20 Robertson Autopilot Compass “Another problem that arise as a result of magnetic dip* and increases with latitude, is what is commonly called the Northerly turning error in the Northern Hemisphere and Southerly turning error in the Southern Hemisphere. It is also accentuated by banking of turns in high speed craft.
- Page 21 Instruction Manual Hence, the horizontal component is decreasing while the vertical component is increasing. The angle between the tangent to the field lines and the tangent to earth’s surface gives the magnetic dip angle, i.e. the dip angle is 0 degrees at equator and 90 degrees at the poles. In Egersund, Norway (latitude 58 deg.
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Page 22: Wiring & Calibration
Robertson Autopilot Compass WIRING & CALIBRATION RFC35 Fluxgate Compass Connection to X-series autopilots J3XX JUN CTIO N UN IT RFC 35 FLU XG ATE CO M PASS Figure 5-1 RFC35 wiring JU N C TIO N U N IT RFC 35 FLU XG ATE M A IN P C B CO M P AS S... -
Page 23: Rfc35R Rate Compass
Instruction Manual Calibration data, including any heading offset, is stored in the J3XX (EEprom) and will be deleted by a “Master Reset” in the autopilot. RFC35R Rate Compass After turn on the Rate compass will stabilize in less than 30 Note ! seconds, but it will need another 10 minutes to get the full effect of the rate sensor. -
Page 24: Alternative Connection To Junction Unit
Robertson Autopilot Compass Alternative connection to junction unit J3X X JU NC TIO N U NIT RFC35R FLU XG ATE CO M PA SS NMEA ROBNET EXT.COMP JUNCTION UNIT MAIN PCB RFC35R RATE Bn Wht COMPASS Robnet Figure 5-4 Alternative connection to J3XX Robnet terminal The Robnet connector on the compass cable is removed and the wires are connected in parallel with the ones going to the control unit. -
Page 25: Connection To Ap11
Instruction Manual Connection to AP11 AP 11 J3X X CO N TRO L JU NC TIO N U NIT UN IT RFC35R FLUXG ATE CO M PA SS ALTERNATIVE CONNECTION MAIN CONTROL UNIT J3000X/J300X JUNCT ION UNIT R E A R S ID E RFC35R M A IN P C B RATE COMPASS... -
Page 26: Compass Set-Up And Calibration
Robertson Autopilot Compass Compass set-up and calibration As the X-family of autopilots have default setting to read a standard RFC35 there may be a “Compass failure” alarm when the Rate compass is connected. To make the autopilot read the RFC35R, do as follows: For AP20, AP22, AP35: •... -
Page 27: Connection To Ap3000 And Ap3000X
Instruction Manual Connection to AP3000 and AP3000X NMEA ROBNET EXT.COMP JUNCTION UNIT MAIN PCB RFC35R FLUXGATE Heading Sensor COMPASS Robnet NON POLARIZED (COLOUR INDEPENDENT) Figure 5-6 RFC35R connection to AP3000 and AP3000X autopilots As AP3000 and AP3000X are not prepared for reading of compass data via Robnet, the only way is to use the 2-wire PWM output. -
Page 28: Rfc35N Nmea Compass
Robertson Autopilot Compass RFC35N NMEA Compass Connection to IS11/Compass & Helm instruments IS11 INSTRUMENT RFC35N JUNCTION BOX 12V ONLY! Figure 5-7 RFC35N/IS11 wiring principle IS11 NMEA PCB ROBNET NMEA EXT.COMP HELM/COMPASS 12V SUPPLY (From circuit breaker or via separate switch) Standard Interconnection Dataline... -
Page 29: Connection To Is11/Dataline Databox
Instruction Manual • Begin turning the boat to port or starboard • Start (new) calibration by again pressing both buttons simultaneously. The display will show “ HdGr ” (r=running) • When the calibration is completed, after approximately 1¼ turns, it will be confirmed in the display as “ HdGc ” •... -
Page 30: Connection To Other Equipment
Robertson Autopilot Compass Connection to other equipment NMEA PCB ROBNET NMEA EXT.COMP GREY SUPPLY (From circuit breaker or via a separate switch) PINK +12/24V GREEN NMEA IN (CALIBRATION) * YELLOW BROWN NMEA OUT (HEADING) WHITE Figure 5-10 RFC35N Connection to other equipment Cable colour code * RX+ (Yellow) and RX–... -
Page 31: Rfc35N As Rfc300 Substitution
Instruction Manual starboard within 5 minutes from turn on. Make sure the boat passes 3 times through North (see figure) in smooth and slow turns. A minimum 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 against one or more known headings. - Page 32 Robertson Autopilot Compass NMEA PCB ROBNET NMEA EXT.COMP MICRO-CONTROLLER Colour code in brackets ( ) is for moulded type connector only. Removable connector Moulded connector Solder type Figure 5-11 RFC35N as RFC300 substitution Calibration Automatic calibration is activated from AP300 “Seatrial” menu and RFC35N needs only 1¼...
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Page 33: Rfc35R + Sin Pcb
Instruction Manual RFC35R + SIN PCB Connection to AP45 and AP9MKII AP45 RFC35R+SIN Figure 5-12 RFC35R + SIN PCB connection to AP45/AP9MKII SIN PCB RATE PCB ROBNET NMEA EXT.COMP AP45 AP9MKII CONTROL CONTROL NMEA OUTPUT TO NMEA UNIT UNIT "listener" VIN+ (PINK) +12V OUT +14V... -
Page 34: Connection To Ap200 And Ap2500
Robertson Autopilot Compass Connection to AP200 and AP2500 RFC35R+SIN PCB AP2500 (AP200) To J12 SIN PCB RATE PCB ROBNET NMEA EXT.COMP NMEA OUTPUT TO NMEA "listener" NOTE! MICRO-CONTROLLER Cable 20183554 J12 Viking connector pin no. 2 TMC type * 8 2,5V ref. 9 +12V 10 Gnd 11 Cos... -
Page 35: Rfc35Ns Compass (Nmea+Sin) As Rfc250 Substitution
Instruction Manual 2. Make two 360 degrees turns to starboard within 5 minutes after switch on. Make sure the boat passes 3 times through North (see figure). Ensure smooth and slow movements. A minimum of roll and acceleration will give the best result. As soon as north is passed for the 3rd time, there will be a confirmation in the autopilot display (see below). -
Page 36: Calibration
Robertson Autopilot Compass AP2500 RFC35NS (AP200) Figure 5-15 RFC35NS connection to autopilot SIN PCB NMEA/RATE PCB ROBNET NMEA EXT.COMP 5 4 3 0,5 m Cable 22083661 Original RFC250 cable (Part no. 20183554) RFC35NS Figure 5-16 RFC35NS as RFC250 substitution; internal connections The optional SIN PCB can not be used with a standard RFC35 - Note ! only with RFC35N or RFC35R. - Page 37 Instruction Manual J3XX RA DAR RFC35R/N JUNCTION UNIT REPEATERS RATE COMPASS 2-WIRE NMEA (X10) 10-40V SUPPLY (From circuit breaker or via separate switch) RATE/NMEA PCB ROBNET NMEA EXT.COMP GREY (VIN-) PINK (VIN+) BROWN (TX-) WHITE (TX+) GREEN (RX-) Note 2 YELLOW (RX+) JUNCTION UNIT MAIN PCB...
- Page 38 Robertson Autopilot Compass Calibration Perform calibration as for a RFC35N compass “Connection to other equipment” described in section 5.3, and continue with the normal compass calibration activated from the sea trial menu in the autopilot. 20220653B...
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Page 39: Rfc35 Models, Application Chart
Instruction Manual RFC35 MODELS, APPLICATION CHART Autopilot AP3000X AP35 AP300 DATALINE AP1000 AP40 AP9MKII model AP3000 AP300X pilot AP100 AP45 AP9 MK3 Signal AP20/22 AP200 type AP11 AP2500 RFC35 2-wire ⊗ ⊗ ⊗ ⊗ ⊗ RFC35N 2-wire ⊗ ⊗ ⊗ ⊗... -
Page 40: Technical Specifications
Robertson Autopilot Compass TECHNICAL SPECIFICATIONS RFC35 Fluxgate Compass Dimensions: ........See Figure 7-1 Weight: ..........0,9 kg (2,0 lbs) Supply and output: ....... Polarity independent 2-wire supply with superimposed pulse width modulation Automatic Performance: Calibration: ......Automatically activated by control head Gain compensation: .... -
Page 41: Rfc35R Rate Compass
Instruction Manual RFC35R Rate Compass Dimensions: ........See Figure 7-1 Weight: ..........0,9 kg (2,0 lbs) Supply: ..........10-29VDC, 1 watt Heading output:......Serial, rate sensor stabilized Output format:......Serial, Robnet bus for Robertson autopilots or NMEA 0183 10x/sec. NMEA heading: ......$IIHDM,x.x,M*hh<cr><lf> x.x=heading, hh=checksum Standard configuration: ....Robnet output Optional analogue output:..Sine/cosine by plug-in PCB Accuracy:........<1.25 degrees rms (after calibration) Repeatability:........<0.2 degrees rms... -
Page 42: Optional Sin Pcb
Robertson Autopilot Compass NMEA0183 input data: Calibration start command:...$PSTOC<cr><lf> Heading offset adjust: ....$PSTOK,,,nnn,<cr><lf> nnn = offset adjust angle 0 – 360 degree. PSTOK and PSTOC are proprietary NMEA sentences. Accuracy:........<1.25 degrees rms (after calibration) Repeatability:........<0.2 degrees rms Calibration: ........Automatic Roll/Pitch:........± 35 degrees Cable supplied:......15 m (49 ft) TP shielded Temperature range: Operation: ......0 to +55 °C (+32 to + 130 °F) - Page 43 Instruction Manual Optional analogue output:..Sine/cosine by plug-in PCB Accuracy:........<1.25 degrees rms (after calibration) Repeatability:........<0.2 degrees rms Calibration: ........Automatic Roll/Pitch:........± 35 degrees Cable supplied:......0.3 m (1 ft) with 7-pin Viking connector Temperature range: Operation: ......0 to +55 °C (+32 to + 130 °F) Storage: .......–30 to +80 °C (–22 to +176 °F) Environmental Protection: ..IP56 Mounting: ........Deck or bulkhead...
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Page 44: Addendum
Robertson Autopilot Compass ADDENDUM RFC35 Models, internal Power Distribution MAIN PCB SYS+ Q301 Q102 J300X RATE/NMEA PCB J1 (NMEA) 0,9A V2,5+ J2 (Robnet) J3 (Ext. comp.) CD35 10 ohm SIN PCB Figure 8-1 RFC35R/N/Sin Internal Power distribution Simplified diagram 20220653B... -
Page 45: Using Rfc200/Rfc200B Cable With Rfc35R+Sin Or Rfc35Ns Compasses
Instruction Manual Using RFC200/RFC200B cable with RFC35R+SIN or RFC35NS compasses RFC35R+SIN SIN PCB RATE PCB ROBNET NMEA EXT.COMP J12 plug MICRO-CONTROLLER RFC200 or RFC200B cable Normally the "Wht's Blk" wire is not connected in this cable. To use with above compass you must terminate "Wht's Blk"... - Page 46 183001 Murmansk P O Box 12076 N1 ITALY Tel: +7 51 295 10038 FINLAND City 7463 Kongsberg Simrad Srl. Fax: +7 51 295 10038 AT - Marine OY Edgemead 7441 Via Carlo Veneziani, 58 Kutojantie 1 Tel: +27 21 559 4003...
- Page 47 Fax: +47 51 46 20 01 ASIA Choongang-Dong CHILE www.simrad.com Choong-Ku, Pusan Simrad S.A. SINGAPORE Tel.: +82 51 462 3930 Providencia 1100 Kongsberg Simrad Pte. Fax: +82 51 462 3089 Torre C.Dpto. 404 Ltd. Providencia 29 International Business NORTH Santiago Park AMERICA...
- Page 48 Robertson Autopilot Compass 20220653B...
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