Simrad Robertson AP9 Mk3 Instruction Manual
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Simrad Robertson AP9 Mk3 Instruction Manual

Autopilot
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INSTRUCTION MANUAL
Robertson AP9 Mk3
Autopilot
20169223

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Storms
July 10, 2025

On switch ? I have the off switch, but i do not know how to turn it on

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Summary of Contents for Simrad Robertson AP9 Mk3

  • Page 1 INSTRUCTION MANUAL Robertson AP9 Mk3 Autopilot 20169223...
  • Page 2 NOTE! Simrad Robertson AS makes every effort to ensure that the information contained within this document is correct. However, our equipment is continuously being improved and updated, so we cannot assume liability for any errors which may occur. The information contained within this document remains the sole property of Simrad Robertson AS.
  • Page 3 Instruction Manual Instruction Manual The manual is intended as a reference guide for operating and correctly installing the AP9 Mk3 Autopilot. Great care has been paid to simplify operation and set-up. However, an autopilot is a complex electronic system; it is affected by sea conditions, speed of the vessel, hull shape and size.
  • Page 4 Robertson AP9 Mk3 Autopilot Document revisions Documentation Hardware/Software Project/Product department design Management Date Sign Date Sign Date Sign – 10.04.96 10.04.96 10.04.96 N.G. G.K. Th.H. 30.05.96 30.05.96 30.05.96 N.G. G.K. Th.H. 12.07.96 12.07.96 12.07.96 N.G. T.J. Th.H. 3.9.99 3.9.99 3.9.99 N.G.

  • Page 5: Table Of Contents

    Instruction Manual TABLE OF CONTENTS INTRODUCTION ......................1-1 General ......................1-1 MK3 System Layout....................1-1 Options available with the standard system ..........1-1 AP9 MK3 Standard System, On-Off Valves............1-3 AP9 MK3 Standard System, Dual analogue output ........1-4 AP9 MK3 with analogue thruster control ............1-5 Combinations of Heading Sensors ..............1-6 GYRO COMPASS....................1-6 FLUXGATE COMPASS..................1-8...
  • Page 6 Robertson AP9 Mk3 Autopilot General........................2-15 Steering by XTE to waypoint................2-16 Priority mode (APB sentence) .................2-18 Ecdis mode ( APB sentence) ................2-19 Remote Control ....................2-19 AP9 MK3 Dual Station ..................2-20 F200-40 Remote Control...................2-21 S9 Steering Lever (NFU) ..................2-22 FOLLOW-UP Steering Levers.................2-23 Fault Warnings ....................2-25...
  • Page 7 Instruction Manual 4.13 F1/2 Remote Control..................4-11 4.14 F200-40 Remote Control...................4-11 4.15 RI9 Rudder Angle Indicator ................4-12 4.16 IP protection ....................4-13 4.17 Specification of messages.................4-14 CTS steering .......................4-14 Bearing steering....................4-14 Priority (mixed) steering ..................4-14 Speed correction signal (VTG) ................4-14 INSTALLATION ......................5-1 Unpacking and handling ...................5-1 General ......................5-1...
  • Page 8 Robertson AP9 Mk3 Autopilot Mounting......................5-26 Electrical connection..................5-26 5.12 S35 connection to D9X..................5-27 S35 alternative connection ................5-27 5.13 RI9 Rudder Angle Indicator ................5-28 5.14 PANORAMA Mk2 Rudder Angle Indicator ..........5-28 Installation ......................5-28 5.15 Analogue ±10V or 4-20mA control signals ...........5-29 5.16 Connection to Navigational Receiver ............5-31...
  • Page 9 Instruction Manual THRUSTER INTERFACE PCB................6-5 SPARE PARTS ......................7-1 AP9 MK3 Control Unit..................7-1 Distribution Unit....................7-1 CD109 Course Detector ..................7-3 RF14XU Rudder Feedback Unit................7-4 RF Standard Transmission link.................7-5 F200-40 Remote Control..................7-6 S9 Steering Lever....................7-7 FU91 Steering Lever....................7-7 S35 NFU Steering Lever ..................7-7 Drawings ........................8-1 Index ..........................9-1 Appendix...
  • Page 10 Robertson AP9 Mk3 Autopilot . 3-16 FU91/92 S ............3-16 IMPLIFIED DIAGRAM . 4-1 AP9 MK3 C ..........4-1 ONTROL DIMENSIONS . 4-2 CD109 C ..........4-2 OURSE ETECTOR DIMENSIONS . 4-3 RFC35R R ..........4-3 OMPASS IMENSIONS . 4-4 D9X D ..........
  • Page 11 Instruction Manual . 5-43 D9X D . - C ) . 5-53 NALOGUE OARD COMPONENT LAYOUT . 5-44 D9X D . D - ) .. 5-54 NALOGUE OARD COMPONENT LAYOUT . 5-45 D9X S ......5-55 OLID TATE OARD COMPONENT LAYOUT .
  • Page 12 Robertson AP9 Mk3 Autopilot This page is intentionally left blank 20169223D...

  • Page 13: Introduction

    Introduction INTRODUCTION General To day 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 14: Fig. 1-1 Ap9 Mk3 System Layout

    Robertson AP9 MK3 Autopilot For operation, technical specifications, installation and spare parts, see the respective sections of this manual. Fig. 1-1 AP9 MK3 System layout 20169223D...

  • Page 15: Ap9 Mk3 Standard System, On-Off Valves

    If AC mains is used, the A P 9 M K II A U T O P I L O T system must also include an AC Power Adapter (Not supplied by Simrad Robertson AS) Where the system shall NAV.RECEIVER operate...

  • Page 16: Ap9 Mk3 Standard System, Dual Analogue Output

    Robertson AP9 MK3 Autopilot AP9 MK3 Standard System, Dual analogue output The dual analogue system consist of the following units (Ref. Fig. 1-3.): • AP9 MK3 Control Unit P/N 20169199 • Gyro Interface Board (Optional) P/N 20168316 • CD109 Magnetic Course Detector...

  • Page 17: Ap9 Mk3 With Analogue Thruster Control

    Introduction AP9 MK3 with analogue thruster control Ref. Fig. 1-4. The system consists of the following units: • AP9 MK3 Control Unit P/N 20169199 Optional Gyro Interface Board P/N 20168316 • CD109 Magnetic Course Detector (with tripod holder) P/N 20120861 •...

  • Page 18: Combinations Of Heading Sensors

    Robertson AP9 MK3 Autopilot Combinations of Heading Sensors Ref. Fig. 1-5. The AP9 MK3 Control Unit is designed to accept several types of heading sensors. The sensors can be divided in three groups: 1. Gyro Compass 2. Fluxgate Compass (Recommended as monitor compass only) 3.
  • Page 19 Introduction MAGNETIC COMPASS GYRO-COMPASS CD109 SYNCHRO MAGN. 90:1 SYNCHRO 360:1 SYNCHRO SYNCHRO GYRO MAGNETIC COMPASS SKR-82 GYRO INTERFACE BOARD CD109 SERIAL UART MAGN. NMEA SERIAL SERIAL TOKIMEC GYRO-COMPASS STEP STEP 6 STEP/DEGREE STEP AP9 MK3 CONTROL UNIT SERIAL RGC GYRO UART STEP INT.

  • Page 20: Fluxgate Compass

    Robertson AP9 MK3 Autopilot RGC Gyro with RGC Signal Interface Unit When using an RGC gyro together with the RGC Signal Interface, four options of connections are possible: 1. UART serial line, 20mA. (Identical to the SKR 82 serial line) 2.

  • Page 21: Dual Station

    Introduction Dual Station See Fig. 1-7 The AP9 MK3 Control Unit can also be used as a remote station, communicating with the main station by serial lines. The dual station system is designed to enable individual connections of NFU levers, F200-40 remote controls and mode selectors. This makes it possible to select mode and change parameters from the two stations individually.

  • Page 22: Fig. 1-7 Dual Station System

    Robertson AP9 MK3 Autopilot AP9 MK3 EXT. MODE SELECTOR REMOTE STATION (OPTION) NFU LEVER A P 9 M K II A U T O P IL O T F200-40 SEE NOTE FU9X COMMUNICATION LINES FOLLOW-UP AP9 MK3 EXT. MODE SELECTOR...

  • Page 23: Connection Of Steering Levers

    Introduction Connection of steering levers As shown on Fig. 1-8., a number of NFU levers and a single FU lever can be connected to the AP9 MK3 autopilot system. The S9 NFU lever combines an "IN - OUT" function with the normal PORT - STBD operation.

  • Page 24: Rudder Angle Indicators

    Robertson AP9 MK3 Autopilot 1.10 Rudder Angle Indicators PANORAMA NO.1 NO.2 NO.3 NO.4 24V DC INDICATOR SUPPLY 24V DC INDICATOR SUPPLY FREQ. 3400Hz +/-20Hz/DEGREE FEEDBACK TO AUTOPILOT RF14XU RUDDER +/-45/60/70/90 DEGREE Fig. 1-9 Rudder Angle Indicators Fig. 1-9 shows a typical Rudder Angle configuration. Number and type of indicators varies from ship to ship.

  • Page 25: Special Applications

    Introduction 1.11 Special Applications Example I: AP9 MK3 THRUSTER SELECTOR SWICH A P 9 M K II A U T O P IL O T C/O SIGNAL THRUSTER ELECTRONICS DISTRIBUTION UNIT MODE SOL. THR. +/-10V ANALOG STATE INT. (VIA THR.INT.) SOLENOID (ON/OFF) SIGNALS SOLENOID RF14XU...

  • Page 26: Example

    A special feedback arrangement is required to replace the standard RF14XU. It consists of a servo potentiometer and a voltage-to- frequency converter, to facilitate the installation of the mechanical and electrical part of the feedback system. Contact Simrad for further information 1-14...

  • Page 27: Example

    Introduction Example 3: THRUSTER SELECTOR AP9 MK3 (SPECIAL) A P 9 M K II A U T O P I L O T THRUSTER C/O SIGNAL THRUSTER ELECTRONICS DISTRIBUTION UNIT MODE DUAL THR. ANALOG INT. +/-10V C/O SIGNAL C/O SIGNAL +/-10V THRUSTER THRUSTER...
  • Page 28 Robertson AP9 MK3 Autopilot This page is intentionally left blank. 1-16 20169223D...

  • Page 29: Operation

    Operation OPERATION AUTOPILOT AP9 MK3 ALARM * * * * * * * RESET ILLUM INFO INCREASE HELMS- AUTO COMPASS SELECT COUNTER RUDDER WEATHER DECREASE PORT STBD RUDDER Mode selection Parameter setting Course selection Fig. 2-1 AP9 MK3 Front panel General AP9 MK3 autopilot is operated by means of keypad push buttons on the front panel.

  • Page 30: Mode Selection

    Robertson AP9 MK3 Autopilot Mode selection Together with the OFF-button and the 3 mode buttons, this section also contains an alarm buzzer and ALARM RESET-button. HELMSMAN (Power ON) The HELMSMAN button serves two purposes. It switches on the autopilot and selects manual steering mode. In this mode the course display gives a digital read-out of compass heading, while the vessel can be steered manually by helm or steering lever(s).

  • Page 31: Alarm

    Operation when the AP9 MK3 is switched off. If the OFF-button is released before two seconds have elapsed, the autopilot will continue to operate as before and the alarm signal is automatically reset. Rudder commands will stop as long as the OFF-button is pressed. All pre-set parameters in the autopilot are stored while the unit is switched off.

  • Page 32: Switch On

    Robertson AP9 MK3 Autopilot RUDDER, COUNTER RUDDER and WEATHER can be easily adjusted from the front panel. In addition the autotrim can also be adjusted, but should be permanently set during initial sea trials. The autotrim parameter is accessed using the INFO button.

  • Page 33: Helmsman

    Operation • Press INFO and keep it pressed. • Press WEATHER • Release WEATHER • Release INFO. The INFO display will show one of the following: ENGLISH, ESPANOL (Spanish), FRANCAIS (French) or NORSK (Norwegian) The language can now be selected and stored by pressing either INCREASE or DECREASE.

  • Page 34: Compass Select

    Robertson AP9 MK3 Autopilot • To adjust the illumination, first press the DIMMER button, than the INCREASE or DECREASE button. In the information display a number and a bargraph represent the brightness level. COMPASS SELECT The autopilot is capable of reading two heading sensors simultaneously: Main (steering) compass and monitor (comp.

  • Page 35: Weather

    Operation Examples of incorrect RUDDER settings: Course to steer Too little rudder Course to steer Too much rudder Fig. 2-2 Rudder settings A value which is too low gives relatively large and slow oscillations (s-ing) around set course, and several rudder commands are given in the same direction before the vessel is back on course.

  • Page 36: Counter Rudder

    Robertson AP9 MK3 Autopilot COUNTER RUDDER The COUNTER RUDDER serves two purposes, firstly to give a smooth transition to a new heading after a major course change has been made, and secondly to enable the autopilot to stabilize the vessel on a straight course.

  • Page 37: Info

    Operation INFO The INFO button is used to call up a number of parameters and other information. The INFO loops can be entered in any autopilot mode. No change will be made unless the INCREASE or DECREASE button is pressed. The parameters are divided in two loops, one for the often used parameters and one for seldom used parameters.
  • Page 38 Robertson AP9 MK3 Autopilot Operation, INFO loop 1 Press the INFO button. For adjustment of each parameter use INCREASE or DECREASE button. (First display readout depends on what has been selected by "Rate of turn (RATEoT) steering /Radius steering", see next parameter.)
  • Page 39 Operation Press INFO Only if NAV is selected and CTS is NOT selected Range: 1.1 - 2.5 IIIIIIIIIIIIIII Recommended: 1.1 NAV. FILTER Press Range: OFF - 3,2 INFO IIIIIIIIIIIIIII NAV. GAIN Recommended: 1.0 Press Range: 100s - 1600s INFO IIIIIIIIIIIIIII NAV.
  • Page 40 Robertson AP9 MK3 Autopilot Determines the deadband for the Press feedback loop (rudder hunting) INFO and also the heading sensitivity of the autopilot. DEADBAND 0.6 Range: 0,2° - 3,4° Recommended: 0,6° Press Determines the minimum amount INFO of rudder as first command.
  • Page 41 Operation Press Selects the Nav. mode function INFO NAVMODE=PRIORITY Range: Priority-XTE-CTS-ECDIS CHANGE? INC/DEC Recommended: Priority (unless ECDIS is used) Press Determines the NMEA output rate. INFO 1/SEC OUT FREQ. Range: 1/sec - 5/sec CHANGE? INC/DEC Recommended: Refer to equipment to be interfaced. Press Only shown if signal is present on sin/cos INFO...
  • Page 42 Robertson AP9 MK3 Autopilot Thruster Function IIIIII MIN RADIUS 0.05 Press Note: The thruster parameters only appear if J4, 11-13 "Thruster Ident" on the control INFO unit are connected (via a switch). Thruster deadband. INFO THRUSTER FUNC. Range: OFF - 32°...

  • Page 43: Course Selection

    Operation Course selection The course selector section on the autopilot consists of a bargraph display, a digital heading display, a course selector and two course adjustment buttons, PORT and STBD. The bargraph display operates in two modes, AUTOPILOT and NAVIGATION-mode, displaying in degrees the difference between actual vessel heading and course to steer.

  • Page 44: Steering By Xte To Waypoint

    Robertson AP9 MK3 Autopilot last update and the amount of course change. If a change of more than 10 degrees is commanded, the alarm will sound and the ALARM RESET button has to be pressed to acknowledge the course change. The plain CTS mode is rarely used today after the GPS has replaced the Transit system.
  • Page 45 Operation 2. Read the calculated bearing to waypoint from the Nav. receiver. 3. Set the course to the waypoint showed on the navigation receiver. Before going to step 4, ensure that the XTE is within 0.1 n.m. to avoid a hazardous course change when selecting NAV-mode. 4.

  • Page 46: Priority Mode (Apb Sentence)

    Robertson AP9 MK3 Autopilot Priority mode (APB sentence) NAVIGATING 05 XTE = R0.021N WAYPOINT 1 WAYPOINT 3 INFO DISPLAY L LEFT BEARING LINE R RIGHT 05° XTE= R0.02NM NAVIGATING 00 ON TRACK INFO DISPLAY WAYPOINT 2 NAV.RECEIVER ACCEPT CHANGE ALARM...

  • Page 47: Ecdis Mode ( Apb Sentence)

    Operation Ecdis mode ( APB sentence) GPS satellite NAVIGATING NAVIGATING 00° ON TRACK 04° XTE =R0.010N INFO DISPLAY INFO DISPLAY WAYPOINT 3 WAYPOINT 1 New heading = 70° Heading =100° WAYPOINT 2 ALARM ALARM SOUND FOR 4 SECONDS INFO DISPLAY The AP9 Mk3 uses the bearing waypoint –...

  • Page 48: Ap9 Mk3 Dual Station

    Robertson AP9 MK3 Autopilot AP9 MK3 Dual Station Transfer of command from one unit to the other unit is made by pressing the HELMSMAN button on the respective control unit. Change of steering mode is made either on the control unit mode buttons or by a separate mode selector.

  • Page 49: F200-40 Remote Control

    Operation F200-40 Remote Control The F200-40 hand held remote control makes it possible to remotely control the AP9 MK3 autopilot. F200 The following control functions are obtainable: • Display that shows operational mode and vessel heading or set course like the course display on the control unit. COURSE •...

  • Page 50: S9 Steering Lever (Nfu)

    Robertson AP9 MK3 Autopilot S9 Steering Lever (NFU) NFU (Non Follow Up) steering means the rudder will move for as long as the lever (tiller) is activated out from its spring-loaded centre position. In addition to the ordinary PORT and STARBOARD movement, the S9 also has an IN-OUT movement.

  • Page 51: Follow-Up Steering Levers

    Operation ALTERNATIVE 3 When autopilot is in AUTO, course change can be made by the S9 by repeated operations of the lever to one side or the other side. Every operation will provide one degree course change, to PORT or STARBOARD dependent of direction of operation.
  • Page 52 Robertson AP9 MK3 Autopilot COMBINATION OF S9/FU91 LEVERS A combined system of S9 (NFU) and FU91 (FU) may be configured as illustrated (simplified): AP9 MK 3 AUTOPILOT ALARM * * * * * * * RESET HELMS- AUTO COMPASS ILLUM...

  • Page 53: Fault Warnings

    Operation Fault Warnings A fault warning is given by an interrupted sound from the alarm buzzer. The INFO DISPLAY will show what type of alarm is present. The audible alarm is cancelled by pressing the Alarm Reset button. HEADING SENSOR WARNINGS The AP9 MK3 autopilot normally operates with two heading sensors connected.
  • Page 54 Robertson AP9 MK3 Autopilot HELMSMAN. This will automatically select the monitor compass as the MAIN compass. MAGN. COMP 1 FAIL PRESS ALARM Cancel alarm/select compass as described above. MAGN. COMP 2 FAIL PRESS ALARM Cancel alarm/select compass as described for MAGN. COMP 1 FAIL.
  • Page 55 Operation • SERIAL COMP. • SYNCHRO 1:1 GYRO • SYNC 90:1 GYRO • SYNC 360:1 GYRO INCR EASE • STEPPER GYRO Press • MAGN COMP 1 DECREASE • MAGN COMP 2 • FLUXG COMP The type of compass that will appear in the INFO display depends on the internal dip switch settings in the Control Unit.

  • Page 56: Other Fault Warnings

    Robertson AP9 MK3 Autopilot Compass selection can ONLY be made at the Main control unit, when in HELMSMAN mode. After repair/reconnection of sensors, the autopilot must be switched OFF - Note ! ON for master reset. OTHER FAULT WARNINGS The following warnings are given by the audible alarm, together...
  • Page 57 Operation RUDD LIM STOP AUTOPILOT If the autopilot is restricted by a low rudder limit, this text will be displayed. Press ALARM RESET This will switch on the simulated feedback signal shown in the INFO display as a continuous flashing text: * * * SIM * * * SERVICE IS REQUIRED BY AN AUTHORIZED DEALER In case rudder angle indicators are connected to the rudder feedback unit,...
  • Page 58 PRESS RESET This warning will occur every four minute when a Watch Alarm unit is connected (Not supplied by Simrad Robertson any longer). If the watch alarm should occur when a Watch Alarm Unit is not connected, use the following procedure to cancel the alarm: •...

  • Page 59: Design And Theory Of Operation

    Design and theory of operation DESIGN AND THEORY OF OPERATION General system description 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 60: Ap9 Mk3 Control Unit

    Robertson AP9 MK3 Autopilot In Robertson terminology this is called "setting parameters", and it will determine the performance of the autopilot. PROGRAM GYRO DRIVER COMPASS INTERFACE SOLENOID VALVES MAGNETIC RUDDER COMPASS FEEDBACK COURSE KEYPAD SELECTOR RUDDER DISPLAY Fig. 3-2 Processor controlled autopilot...

  • Page 61: Fig. 3-3 Ap9 Mk3 Electronic Boards

    Design and theory of operation AP9 M K3 AUTOPILOT ALARM RESET Key Board HELMS- AUTO COMPASS ILLUM IN FO IN CREASE SELECT COUNTER RU DD ER WEATHER DECREASE PORT STBD RUDDER Gyro Interface Board AUTOPILOT Synchro & Step Gyro MICROPR. Magnetic Compass PROM...

  • Page 62: Cd109 Course Detector

    Robertson AP9 MK3 Autopilot CD109 Course Detector CD109 is the magnetic compass sensor in moulded plastic. It is mounted to a vessel's magnetic compass to transfer the heading information to the control unit. It operates on the fluxgate-principle where the resultant of the compass magnetism and the magnetism excited in the coil by the autopilot, makes it possible to register the compass heading.

  • Page 63: Fig. 3-5 Ap9 Mk3 Course Handling

    Design and theory of operation 2. By the PORT and STBD one-degree-course change-buttons, also when operating in the AUTOPILOT mode 3. By navigation receiver in CTS or Mixed Nav. steering modes. During operation of the autopilot, only one compass (main compass or steering compass) will provide ship's heading reference for auto steering.

  • Page 64: Rf14Xu Rudder Feedback Unit

    Robertson AP9 MK3 Autopilot RF14XU Rudder Feedback Unit (For details, ref. installation) The RF14XU Rudder Feedback Unit consists of a glass-reinforced fire inhibiting polyester housing with a mounting plate of seawater resistant aluminium. Potentiometer, limit switches and an electronic drive module are also contained in the unit. The electronic drive module comprises a voltage section and a frequency section.

  • Page 65: D90 Series Distribution Unit

    Design and theory of operation D90 Series Distribution Unit This unit is the main interconnection unit. The 24V DC mains power, alarm power, solenoid drive, rudder feedback and external alarms are connected to this unit. The Distribution Unit always contains at least one Power Supply Board.

  • Page 66: Interconnection Board

    Robertson AP9 MK3 Autopilot DC voltage is coupled via the isolation transformer T1 to the rectifier diode D2. The filtered 15V DC voltage is regulated by the feedback line through the optocoupler to maintain isolation. The green LD1 indicates presents of voltage.

  • Page 67: Thruster Interface Board

    Design and theory of operation alarm voltage is regulated to 15V DC by the regulator Q2, and the LED LD1 indicates presents of voltage. During normal operation, the relay K1 will be energized, thus connecting the 15V regulated mains voltage as alarm supply. In the event of a mains power failure, the alarm voltage will be connected as supply via the deenergized K1 relay.

  • Page 68: Solid State Board

    Robertson AP9 MK3 Autopilot Provisions have been made for offset and level adjustments of the output signals by the SW1, containing four switches, and trim potentiometers RV13-14 and 15. The adjustment procedure is described under section Installation: Analogue signal, Rudder &...
  • Page 69 Design and theory of operation FUNCTIONAL DESCRIPTION The Q1 transistor functions as an ON-OFF switch, controlled by the "Safe Relay" signal from the control unit to the base. Provisions for independent ON-OFF switching is also made for by the jumper switch S1-S2-S3. When placing the jumper switch in pos. 2-3, the Q1 transistor will be switched ON.

  • Page 70: Fig. 3-12 Solid State Pcb - Connection Of Limit Switches

    Robertson AP9 MK3 Autopilot CONNECTION OF LIMIT SWITCHES AND SOLENOIDS SAFE RELAY IC4-A STBD CMD. IC4-B PORT CMD. TB12 TB15 TB14 TB16 LIMIT SWITCHES LIMIT SWITCHES (SOL. LOAD) (NO LOAD) SEE SEPARATE DETAIL ALT. I/II Fig. 3-12 Solid state PCB - connection of limit switches When the RF14XU limit switches are connected to the TB12, only control signals are switched.

  • Page 71: Dual Analogue Pcb

    Design and theory of operation DUAL ANALOGUE PCB The Dual Analogue PCB contains two identical circuits, each providing a galvanic isolated analogue voltage, ±10V, 0-30V or 4- 20mA current. There is also a 10 kHz oscillator for feedback signal to enable the ±10V signal from the control unit, jumpered in by S21 and S22 in pos.

  • Page 72: Fig. 3-14 Dual Analogue Pcb - Simplified Diagram

    Robertson AP9 MK3 Autopilot 10kHz Feedback hi Feedback lo +/-10V from IC21 Vinp. OSC. Vreg. Galvanic isolated +15V 0-10V 4-20mA generator Q1-Q2-Q3 SW1-1 CONV. R V2 TB21 DC/DC CONV. +/-10V +/-15V Ext. inp. V inp. V inp. Fig. 3-14 Dual Analogue PCB - Simplified diagram...

  • Page 73: F200-40 Remote Control

    Design and theory of operation F200-40 Remote Control This unit enable remote control of the AP9 MK3 Control unit. A simplified diagram is shown below: LCD1 COURSE KNOB DISPLAY OPTO COUPLERS IC5-A COURSE 1 CLOCK DATA IC5-B SPLIT ROTOR COURSE 2 REG.

  • Page 74: Fu91/92 Follow-Up Lever

    Robertson AP9 MK3 Autopilot FU91/92 Follow-Up Lever The FU91/92 FU lever has been designed for use primarily together with the FU9X follow-up amplifier. The construction is made such that either one single PCB, containing all the electronics, including the follow up potentiometer or two identical PCB's can be mounted and operated from one common FU-shaft.
  • Page 75 Design and theory of operation TB1-1: Power pos (10-15VDC) TB1-2: Power RTN TB1-3: TC (Take Command) signal TB1-4: IC (In Command) signal (Enable) TB1-5: FU (Follow-up) signal 0-1mA When pushing the PTTC button, the flip-flop circuit IC5 is switched via the IC4, thus switching on transistor Q1 to energize the relay RL- 1.
  • Page 76 Robertson AP9 MK3 Autopilot This page is intentionally left blank. 3-18 20169223D...

  • Page 77: Technical Specifications

    Technical Specifications TECHNICAL SPECIFICATIONS AP9 MK3 Control Unit Dimensions ......See Fig. 4-1. Weight ........3.0 kg Protection ........ IP43 (Refer to page 4-13.) Ambient temperature,... storage: –25 - +70°C operation: 0 - +55°C Safe distance to compass: ..0.3m Max.

  • Page 78: Ap9 Mk3 Gyro Interface Board

    Robertson AP9 Mk3 Autopilot AP9 MK3 Gyro Interface Board Input signals: Synchro 1:1 Synchro 90:1 Synchro 360:1 Autopilot excited synchro Stepper 6 step/deg, 24-70V CD109 Course Detector Dimensions : ....See Fig. 4-2. Protection : ....IP56 Ambient temperature, storage:..–40 - +85°C operation: –30 - +60°C...

  • Page 79: Rfc35R Rate Compass

    Technical Specifications RFC35R Rate Compass Dimensions: ......See Fig. 4-3 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: ..

  • Page 80: Rfc35Ns Fluxgate Compass

    Robertson AP9 Mk3 Autopilot RFC35NS Fluxgate Compass Dimensions: ......See Fig. 4-3 Heading output:..... Serial and analogue Output format: ....... NMEA183 10x/sec. and sine/cosine. NMEA data:......$IIHDM,x.x,m*hh<cr><If>x.x=heading, hh = checksum Analogue data: ....... Sine/Cosine ±2V, 2.5VDC reference. Accuracy: ........ <1.25° rms Repeatability:......

  • Page 81: Distribution Unit

    Technical Specifications 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 Stowe Dataline proprietary sentences Distribution Unit Dimensions: ......See Fig. 4-4. Protection: ....... IP22 Weight: ........3,5 kg Ambient temperature, storage: ......

  • Page 82: Fig . 4-4 D9X D

    Robertson AP9 Mk3 Autopilot 340 (13.4") 320 (12.6") 105 (4.2") 5 (0.2") 290 (11.4") 4 Fixing holes Ø8 (0.3") Fig. 4-4 D9X Distribution Unit, Dimensions 20169223D...

  • Page 83: Rf14Xu Rudder Feedback Unit

    Technical Specifications RF14XU Rudder Feedback Unit Dimensions: See Fig. 4-5. Protection: IP56 Ambient temperature: –10 - +55°C Operating voltage: 24VDC +30/–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 °...

  • Page 84: Rf Standard Transmission Link

    Robertson AP9 Mk3 Autopilot RF Standard Transmission Link Fig. 4-6 RF Standard Transmission Link - 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.

  • Page 85: Fu91 Steering Lever

    Technical Specifications 4.11 FU91 Steering 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") Panel cut-out:138x138 (5.44") 76 (3.00") Fig.

  • Page 86: S35 Steering Lever

    Robertson AP9 Mk3 Autopilot 4.12 S35 Steering Lever Dimensions: ......See Fig. 4-9. Weight: ........1.4 kg (inclusive cable) Max. inductive load:....4A/24V DC, 60mA/110V AC, 25mA/220V AC Temperature range: ....Storage: –30 to 80° C Operation: –10 to 55° C.

  • Page 87: F1/2 Remote Control

    Technical Specifications 4.13 F1/2 Remote Control Dimensions: ......See Fig. 4-10 Protection: ....... IP56 Cable length:......10 meters (30 ft.) Max. inductive 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.

  • Page 88: Ri9 Rudder Angle Indicator

    Robertson AP9 Mk3 Autopilot 4.15 RI9 Rudder Angle Indicator Dimensions: ......See Fig. 4-12. Supply voltage:....... 24/32V DC ±20% Illumination: ......Maximum 80 mA Input signal:......0.1 -1.1 mA or ±10V Rudder angle: ......45°-0-45° (other angles as option) Ambient temperature, storage:....

  • Page 89: Ip Protection

    Technical Specifications 4.16 IP protection Each part of a Robertson autopilot system has got a two digits IP protection code. The IP rating system provides a means of classifying the degrees of protection from dust, water and impact afforded by electrical equipment and enclosures.

  • Page 90: Specification Of Messages

    Robertson AP9 Mk3 Autopilot 4.17 Specification of messages Data that are used are underlined. Which steering mode to be used depends on the received messages as follows. CTS steering $--XTE,A/V,A/V,X.XX,L/R,N[CR][LF] Bearing steering $--BWR,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][LF] Priority (mixed) steering (cross-track with automatic new bearing at waypoints) $--APA,A/V,A/V,X.XX,L/R,N,A,A,XXX,M/T,XXX[CR][LF]...

  • Page 91: Installation

    Installation INSTALLATION Unpacking and handling Care should be taken when unpacking and handling the equipment. A visual 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. General When installing the units, particular attention being given to the operator's need for ease of access.

  • Page 92: Connector Assembly

    Robertson AP9 Mk3 Autopilot Fig. 5-2 Control unit - bracket mounting Connector assembly The cable conductors are connected to the connector block according to the connection lists drw. no. N4-016896. The following tools are required to crimp the connector pins and sockets to the individual...

  • Page 93: Screen Termination

    Installation Screen termination Strip about 1 cm (0.4") of the cable's insulation and pull the screen backwards to cover the insulation. Screw the connector block onto the actual control unit socket. Screw the connector shell onto the connector block. Fix the cable screen to the shell by a wire strap and tighten well to make sure the screen has good contact.

  • Page 94: Heading Sensors

    Robertson AP9 Mk3 Autopilot Heading sensors In the case of dual station system, the heading sensor shall be connected Note ! only to the main control unit. General The AP9 MK3 is capable of reading most types of AP9 MK3 heading reference sensors.
  • Page 95 Installation magnetic influences such as the engines, cables, transmitter antennas or other electromagnetic objects. The compass must be adjusted. Note ! Heeling error Heeling error may be observed when the boat is rolling and pitching, causing an unstable compass card. This can be adjusted for by using a "heeling magnet", placed vertically below or above the exact centre of the compass.

  • Page 96: Cd109 Course Detector Mounting

    Robertson AP9 Mk3 Autopilot CD109 Course Detector mounting course detector mounted on the ship's magnetic compass transmit compass signal to the control unit. The mounting method will depend upon the compass design. distance between course detector and the compass card depends upon the magnetic momentum of the compass card magnets.

  • Page 97: Gyro Compass

    Installation monitored by the electronics and shown in plane text on the display. Refer to the Detailed Debug list, page 5-45 The routine will monitor the signals on both course detectors if two magnetic compasses are connected. Gyro Compass The AP9 MK3 will normally interface to the repeater signals of a gyrocompass.
  • Page 98 5REHUWVRQ $3 0N $XWRSLORW Gyro compass synchro signal connections: GYRO COMPASS CONTROL UNIT )LJ  6\QFKUR VLJQDO FRQQHFWLRQ Caution ! Make sure that the SW1/2 are correctly set before connecting the plug. Ref. page 5-58. Gyro compass step signal connections: GYRO COMPASS CONTROL UNIT Link...

  • Page 99: Rgc12 Serial Line Connection

    Installation RGC50/10/11 Gyro compass connection to AP9 MK3 RGC SIGNAL CONTROL UNIT INTERFACE UNIT +12V +12V Fig. 5-10 Sine/cosine connection RGC SIGNAL CONTROL UNIT INTERFACE UNIT OUT Lo SERIAL I/P OUT Hi Fig. 5-11 Serial line connection RGC12 Gyro compass connection to AP9 MK3 RGC12 CONTROL UNIT CONTROL BOX...

  • Page 100: Rfc35Ns Fluxgate Compass

    Robertson AP9 Mk3 Autopilot RFC35NS Fluxgate Compass For initial installation of the compass, the desired mounting location should be checked for unseen items which may cause compass error. This is done easily by a (small) hand held magnetic compass, provided it has a visible card with markings, to detect magnetic interference.

  • Page 101: Fig . 5-13 Rfc35

    ,QVWDOODWLRQ Electrical connection AP9 MK3 RFC35NS SIN PCB RATE PCB AP9 MK3 ROBNET NMEA EXT.COMP CONTROL NMEA OUTPUT TO NMEA UNIT "listener" VIN+ (PINK) +14V GND (GREY) MICRO-CONTROLLER SIN (YELLOW) COS (BROWN) VREF (GREEN) )LJ  5)&16 ZLULQJ WR $3 0.  '...

  • Page 102: Rfc35N Nmea Compass

    Robertson AP9 Mk3 Autopilot RFC35N NMEA Compass Mounting See RFC35NS Electrical connection DISTRIBUTION UNIT INTERCONNECTION NMEA PCB NMEA ROBNET EXT.COMP BOARD 15V RTN GREY +15V PINK BROWN SERIAL I/P HI WHITE SERIAL I/P LO GREEN AP9MK3 Note! YELLOW CONTROL UNIT Fig.

  • Page 103: Mounting

    Electrical connections The DC unit has power input for 24V DC. For AC mains connection an AC Adapter (not Simrad Robertson supply) must be connected between the mains source and the Distribution Unit. For electrical connections refer to External Cabling Diagram and External Wiring Diagram, section 8.

  • Page 104: Fig . 5-16 B

    Robertson AP9 Mk3 Autopilot Fig. 5-16 Bus cable (P/N 23602857) connection 5-14 20169223D...

  • Page 105: Adjustments

    Installation Adjustments Normally no adjustment is necessary in the Distribution Unit. However, if the unit includes the Dual Analogue Board or the Thruster Interface Board, these boards must be set up during installation in accordance with the set up procedure on page 5-50. AP9 MK3 ANALOGUE MAIN CONTROL...

  • Page 106: Electrical Installation

    Robertson AP9 Mk3 Autopilot If the RF14XU is mounted with the shaft pointing upwards, the yellow and Note ! the blue lead to the potentiometer inside must be interchanged (See Fig. 5-20). Fig. 5-18 RF14XU - Mounting Electrical installation The cables are carried through cable glands. If required, to avoid any...

  • Page 107: Scaling Of Rudder Angle

    Installation may occur between the autopilot feedback midposition reference and that of the rudder angle indicator(s). Cable screen Fig. 5-19 Screen termination Scaling of rudder angle The RF14XU is normally 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 degrees, connect the violet lead to terminal 10.

  • Page 108: Fig

    Robertson AP9 Mk3 Autopilot VIOLET R F14X U EL EC TR ONIC MOD ULE B R O W N (VIE WED FROM BACK S IDE) P I N K N OT E 2 BLUE (GND) YELLOW (+ 5V) POT .

  • Page 109: Final Check

    Installation Final check After installation, the cable glands must be sealed with silicon to prevent water from seeping in. Also apply silicon grease to the gasket between the bottom and top cover. On the inside of the feedback unit cover, a piece of moisture protecting sponge is attached.
  • Page 110 Robertson AP9 Mk3 Autopilot AP9 MK3 AP9 MK3 REMOTE CONTROL MAIN CONTROL UNIT UNIT J/P4 J/P4 J/P4-1 J/P4-8 DUAL ST. I/P Hi DUAL ST. O/P Hi J/P4-6 J/P4-2 DUAL ST. I/P Lo DUAL ST. O/P Lo REMOTE DETECT J/P4-2 J/P4-6 DUAL ST.

  • Page 111: Mode Selection (External Mode Selector)

    Installation Mode selection (External mode selector) (For connection diagram of optional equipment, refer to section 8.) The mode selector lines from the AP9 MK3 Control Unit J1 are marked as: A: Modus 1 NFU (J1-1) B: Modus 2 FU (J1-2) Whenever one of the mode lines is connected to common (J1-13), the selected mode will be entered.

  • Page 112: F200-40 And Mode Selection

    Robertson AP9 Mk3 Autopilot F200-40 and Mode Selection To allow the F200-40 to control the modes of the AP9 MK3, no links in connection with NFU-AUTO or FU-AUTO must be present. It is therefore required to disconnect the links by adding an extra function to the Mode Selector Switch.

  • Page 113: F200-40 Remote Control

    Installation F200-40 Remote Control This unit is fixed to a mounting bracket, which is secured by four screws. F200-40 is connected to J5 on the control unit according to Fig. 5-25 J/P5 F200-40 AP9 MK3 REMOTE MAIN CONTROL CONTROL UNIT Fig.

  • Page 114: Electrical Connection

    Robertson AP9 Mk3 Autopilot Fig. 5-27 Fig. 5-28 S9 Steering Lever, S9 Steering Lever, Internal wiring panel mounting Electrical connection (Refer to page 1-11 for options). Connection to the D9X Distribution Unit is in accordance with Fig. 5-29 and Fig. 5-30 for priority and non-priority connection respectively.
  • Page 115 Installation D90 DISTRIBUTION UNIT NOTE 1: SOLID STATE PCB STEERING LEVER THE S9 STEERING LEVER AND AUTOPILOT WILL HAVE THE SAME PRIORITY USING THIS CONNECTION. TB13 TB13-1 TB-A1 PORT TB13-2 TB-A2 NOTE 2: STBD CONNECTION OF A4 ONLY IF TB-A7 AUTOPILOT SHOULD CHANGE MODE 1 NFU TO HELMSMAN MODE WHEN...

  • Page 116: Fu9X Follow Up Steering Lever

    Robertson AP9 Mk3 Autopilot 5.11 FU9X Follow up Steering Lever Mounting Refer to Fig. 5-31. 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 through them. Direct contact between FU9X and a steel bulkhead is then avoided and corrosion is prevented.

  • Page 117: Fig . 5-33 S35

    Installation 5.12 S35 connection to D9X The unit is bulkhead mounted by two screws. For cable connection see Fig. 5-33 and Fig. 5-34. Note that the port and stbd. switches are determined by the position of the lever, i.e. whether it is pointing up or down.

  • Page 118: Fig . 5-35 Ri9

    Robertson AP9 Mk3 Autopilot 5.13 RI9 Rudder Angle Indicator The RI9 can be bulkhead or panel mounted in accordance with Fig. 5-26 or Fig. 5-27. It should be located in clear view of the helmsman. Two or more indicators may be connected in parallel to the rudder feedback unit.

  • Page 119: Fig . 5-36 P

    Installation RF14XU PANORAMA Mk2 DIMMER 820R (x21) 220nF/63V 50K0 45VDC S10V 10 9 24V DC Fig. 5-36 Panorama connection The electrical wiring between the PANORAMA Rudder Angle Indicator and the RF14XU Rudder Feedback Unit is shown in Fig. 5-36. The wiring should be a 4-core cable, preferably an armoured cable of approved type, and minimum 4x0,75 sq.mm.(AWG18).

  • Page 120: Fig

    Robertson AP9 Mk3 Autopilot To enable the thruster interface, the standard Interconnection Board (part no. 20125027) is replaced by the Thruster Interface Board (part no. 20125017). This board will provide either one ±10V analogue signal or one 4-20 mA current signal, generated from the control unit via the Thruster Interface Board.

  • Page 121: Fig . 5-38 N

    Installation gain. With MIN. THRUST, the gain of the analogue signal equals the RUDDER setting. By this combination it is possible to operate the rudder with one set of parameters and at the same time have different settings of the above mentioned parameters. Whenever the parameters are set or changed, they are stored.

  • Page 122: Start-Up And Commissioning

    Robertson AP9 Mk3 Autopilot 5.17 Start-Up and commissioning After finishing the installation and interconnection of all units, check that correct power and polarity is supplied to the distribution unit. A green light emitting diode on the Power Supply Board indicates that power is supplied to the control unit.

  • Page 123: Selection Of Parameter Settings

    Installation d. Adjust for approx. zero rudder angle (less than 0.6 degrees) by turning the shaft of the feedback unit after it has been loosened from the lever. Secure the lever after completion of adjustment. e. Turn the rudder to 5° starboard and check that the information display reads S05.

  • Page 124: Fig . 5-39 I

    Robertson AP9 Mk3 Autopilot The second loop contains parameter setting, entered during initialization. It also includes software version and runtime in AUTO/NAV mode. The Debug loops are also divided in two loops and are intended for service purpose. The first loop contains information of signal status while the second loop, the Service loop, contains different selections for test purpose and operating condition.
  • Page 125 Installation Detailed description Information loop 1 (INFO I) This loop is entered by pressing the INFO button. The parameter are as follows (First display readout depends on what has been selected by “Rate of turn (RATEoT) steering/Radius steering”, see page 2-10): Turnrate I I I I I I I I TURNRATE...
  • Page 126 Robertson AP9 Mk3 Autopilot Rudder limit I I I I I I I I I I RUDDERLIM There are two settings of the Rudder Limit. Rudder Limit in INFO LOOP 1 Max. Rudder Limit in INFO LOOP 2 The value of rudder limit in Info Loop 1 determines the maximum amount of rudder that can be ordered from the autopilot during ON- Course steering and can therefore be set to a small level (5-10°).
  • Page 127 Installation The effect is selectable in steps by the Increase/Decrease buttons. OFF indicates that there is no trim effect. The effect increases gradually when higher number is selected. The AUTOTRIM parameter is reset every time the AUTOPILOT button is pressed and when a course change greater than 10° is made by the course selector.
  • Page 128 Robertson AP9 Mk3 Autopilot This adjustment is for XTE navigation only, and not used in CTS mode (e.g. satellite receivers). The NAV. TRIM parameter compensates for a constant offset from the track line, caused by wind and current conditions. This function gives a course to steer offset based upon the average track offset.

  • Page 129: Fig . 5-40 I

    Installation INFO loop II To access this level, keep the INFO button pressed while pressing and releasing the WEATHER button and thereafter the INFO button. The settings in INFO-loop II are intended to be used to adapt the control Note ! logic of AP9 MK3 to the characteristics of the particular vessel on which it is installed.
  • Page 130 Robertson AP9 Mk3 Autopilot Language * * * * * * * * * ENGLISH The readout on the Information Display is available in four languages: English, French, Spanish and Norwegian. To select desired language press the INCREASE button. Rudder deadband...
  • Page 131 Installation Service Speed I I I I I I SERV. SP. The software includes a variable rudder gain, controlled by the VTG input signal from the GPS. The service speed is used to reference the scaling of the rudder gain set by the SPEED SENS. Note that the software will read the VTG speed sentence from the GPS in all modes, (not only NAV).
  • Page 132 Robertson AP9 Mk3 Autopilot When “THRUSTER” is selected, the following applies. If “THRUSTER” is Note ! not selected, continue to “FU/A SCALE”. THRUSTER FUNCT. THRUSTER FUNCT. ONLY THRUSTER RUDDER & THRUSTER These parameters determines how the combination of rudder and thruster is selected.
  • Page 133 Installation Maximum Rudder Limitation I I I I I I MAX RUDD. LIM. This rudder limit is absolute and will limit the rudder deflection to the set value for all rudder commands including FU-steering. Navigational steering (Applies both for "Standard" and "Thruster" mode). The Navigation Steering Mode can be selected between the following possibilities by the INCREASE/DECREASE button.

  • Page 134: Fig . 5-41 "H

    Robertson AP9 Mk3 Autopilot Debug Loops To aid service and operation, a number of information are available under the DEBUG loop. The DEBUG is divided in three loops: 1. DEBUG AD (F800 [001]) This loop is for factory service purpose only. It contains addresses and values in hexadecimal figures.
  • Page 135 Installation Detailed debug list DECREASE RUDDER FEEDBACK DEBUG MODE Shows the rudder angle with P (Port) or RuFEEDB P 0.5° S (Stbd), degrees and tenth's. INCREASE DECREASE RUDDCOM DEBUG MODE Shows the commanded rudder with P or S RUDDCOM P 0.5° and degrees/tenth's.
  • Page 136 Robertson AP9 Mk3 Autopilot DECREASE COMP2 SIN (V) DEBUG MODE Shows the sine voltage from compass 2 COMP2 SIN X.XXV with exitation pulse applied. INCREASE DECREASE CENT. COS2 (V) DEBUG MODE Shows the reference voltage from compass 2 CENT. COS2 X.XXV...
  • Page 137 Installation When NAV mode has been selected, the following display picture will be Note ! shown instead of AUTOTRIM. * NAV MODE ONLY N XTE, P, I, X.X m This display picture is for checking the P 0.6 Nav. performance. N = Autopilot in NAV mode.
  • Page 138 Robertson AP9 Mk3 Autopilot Parameter settings Push buttons Range Recommended Seatrial Final setting setting RUDDER OFF - 3.3 WEATHER OFF - 8° COUNTER RUDDER OFF - 8 COMPASS SELECT INFO loop no. 1: Press the INFO button TURNRATE/RADIUS 1-360/0,1-10 nm.

  • Page 139: Dockside Alignment/Test

    Installation 5.19 Dockside Alignment/test General Prior to sea-trial, the system shall be "Dock-tested" for alignment and pre-setting of parameters. It is recommended that the following general procedure be followed. RF14XU Feedback unit (ON-OFF valves) Make sure that the RF14XU Feedback unit is configured for the correct rudder deflection direction and ratio (±45°...

  • Page 140: Rudder Angle Indicators

    Robertson AP9 Mk3 Autopilot • Set Autotrim to OFF • Set Rudder Limit to 30° • Select AUTOPILOT mode and make a 10 degree Port (Stbd) course change. Verify (by reading the rudder stock scale) that the rudder moves to 10 degrees Port (Stbd). Reset the rudder limit to 25° and verify that the rudder responds correctly.

  • Page 141: Fig . 5-10 S

    Installation Dual Analogue PCB up to Rev. C and Thruster Interface PCB SW1/SW11 Signal 1 2 3 4 GAIN OFFSET Remarks SW1/SW11 0±10V 0 0 1 0 RV5/RV15 RV3/RV13 Required span Span adj. (±3V) RV5/RV15 (4-10V). Offset set by RV3/RV13. SW1/SW11 X ±Y (volt) 0 1 0 1 RV5/RV15...

  • Page 142: Deflection Test (Rudder Or Azimuth Thruster Propulsion)

    Robertson AP9 Mk3 Autopilot Deflection test (Rudder or azimuth thruster propulsion) To check the deflection of the rudder/thruster, set the main controls as follows: • Counter Rudder • Rudder Maximum (3,2) • Weather Parameter via INFO I: • Autotrim • Rudder Limit 20°...

  • Page 143: Fig . 5-43 D9X D

    Installation S1, S2, S11, S12 Selection of input signal from bus or from external input TB21 S21, S22 Pos. 0: Rudder feedback RV1, RV11 signal to autopilot (Channel 1 and 2) Pos. 1: 40mA output 10kHz signal to adjust autopilot RV2, RV12 RV5, RV15 (Channel 1 and...

  • Page 144: Fig . 5-44 D9X D

    Robertson AP9 Mk3 Autopilot S21, S22 Pos. 0: Rudder feedback signal to autopilot Pos. 1: 10kHz signal to autopilot RV3, RV13 (Channel 1 and 2) Input offset adjust S1, S2, RV5, RV15 S11, S12 (Channel 1 and 2) Selection of...

  • Page 145: Fig . 5-45 D9X S

    Installation S1-S3 No strap connections: Safe relay controlled by autopilot Connection between S1 and S2: Safe relay controlled by NFU- handle and autopilot Connection between S2 and S3: Safe relay ON Power ON Current limiter ON Starboard command Safe relay Port command Current...

  • Page 146: Fig . 5-46 D9X T

    Robertson AP9 Mk3 Autopilot Pos. 0: 10kHz signal to AP9 MK3 (analogue rudder) Pos. 1: Rudder Feedback to AP9 MK3 RV11 4mA output adjust 15V DC Alarm 15V DC Alarm supply supply RV12 20mA output adjust Selection of 2.5A Quick...

  • Page 147: Tunnel Thruster Function

    Installation Tunnel Thruster function The operation of tunnel thruster used +10V maintaining the heading Appr. 8V with nearly no speed. Linear function The typical tunnel thruster characteristic illustrated by the following 100% Thrust graph: 100% The illustration shows that in order to obtain 50% thrust, the control signal must be nearly 8V (appr.

  • Page 148: Fig . 5-47 G

    Robertson AP9 Mk3 Autopilot Minimum Thrust & Thruster deadband This example shows how the control signal will appear for +10V (100%) a combination of deadband and minimum thrust. The control signal will stay at zero until the heading error Min. Thrust 20% exceeds 2 degrees.
  • Page 149 Installation To open the Control unit, remove the four flat-head screws on the backside, and gently pull the two halves apart. Be aware that the internal PCB's are interconnected by plugs, thus care must be shown when putting the two halves together again. Make sure that the internal dip switches, SW1-2 are correctly set according to the list below.

  • Page 150: Magnetic Compass (Cd109) Adjustments

    Robertson AP9 Mk3 Autopilot Magnetic Compass (CD109) adjustments The CD109 Course Detector is normally mounted underneath the magnetic compass. To check and calibrate the course detector, do as follows: • Make sure that the CD109 is connected. • Select HELMSMAN mode •...

  • Page 151: Follow-Up Levers

    Installation B. Other Fluxgate manufacturer, alignment. When an interface unit is used to connect a Non Robertson fluxgate to the AP9 MK3, the autopilot heading is adjusted by the "FLUXGATE OFFSET" parameter. C. RGC Interface Unit When interfacing the RGC sine/cosine signals, make sure that the Fluxgate parameter is set to 0 (zero) offset.

  • Page 152: Sea Trial

    Robertson AP9 Mk3 Autopilot 5.20 Sea Trial The purpose of the sea-trial is to test the steering characteristics of the vessel during manoeuvring and cruising and adjust the autopilot parameters for optimum steering performance. The steering characteristic varies from vessel to vessel, due to hull construction, speed, rudder type/size etc.
  • Page 153 Installation Thruster function (Only when Thruster is selected) Only thruster Selected according to the Only rudder relevant combination Thruster and rudder FU/A scale 45° (or appropriate) Max. Rudder Lim. Full rudder deflection – 2 or 3 degrees. Nav. mode XTE (or relevant mode) NMEA output Select appropriate output.

  • Page 154: Rfc35Ns Fluxgate Compass Calibration And Alignment

    Robertson AP9 Mk3 Autopilot RFC35NS Fluxgate Compass calibration and alignment Calibration The calibration of the heading sensor must be carried out during sea trials at very low speed. The sea state must be calm. 1. Switch on the autopilot by selecting HELMSMAN to provide mains to the heading sensor.

  • Page 155: Rfc35N Nmea And Rfc35R Compass Calibration And Alignment

    Installation RFC35N NMEA and RFC35R Compass calibration and alignment Calibration: As AP9 Mk3 only can ‘listen’ not ‘talk’ to the compass on NMEA data (calibration start and confirmation) the RFC35N and RFC35R have to be calibrated the following way: • Switch the compass off/on using the circuit breaker or the separate switch.

  • Page 156: Fig . 5-48 R

    Robertson AP9 Mk3 Autopilot On course steering When in open water, switch the autopilot for AUTO function. Observe the rudder commands and rudder amount required to maintain the selected heading. Minimize the Weather and Counter Rudder as much as possible for optimum steering performance with minimum rudder commands and rudder amount.

  • Page 157: Course Changes

    Installation additional rudder commands to the same side will cause "normal" rudder response. Example for 5° min. rudder. 5° 5° DEADSONE RUDDER INDICATOR Course Changes When making course changes, the Rate of Turn parameter is enabled and will control the turn. In order to select the proper Rate of Turn parameter value, the following procedure can be used.
  • Page 158 Robertson AP9 Mk3 Autopilot • Adjust the Rudder for best ON-Course steering. • Make a small course change and observe how the Counter rudder function behaves. Adjust the amount for best performance. • Make course changes of 20° or more. Fine adjust the performance by the Rudder and Counter Rudder for best possible result.

  • Page 159: Save Parameters

    Installation Save Parameters Store the parameter using the Debug Service Mode “SAVE IDEAL”. To do Note ! this, proceed as follows: DEBUG MODE Enter DEBUG (Hidden button - INFO) RUDDER -------- > SERVICE MODE < Press DECREASE YES: PRESS INFO >...
  • Page 160 Robertson AP9 Mk3 Autopilot Tunnel Thruster (±10V analogue signal) The tunnel thruster is primarily used to maintain a set heading at zero or very low speed. Operate the thruster by hand to get a "feeling" of how much power is required to maintain the heading and make small corrections.

  • Page 161: Navigational Steering Test

    Installation Navigational Steering test Navigational steering must only be used in open waters. Note ! Do the following check out before using navigational steering: • The autosteering must be tested and found satisfactory. • Any difference between the autopilot's magnetic compass course (course sensor) and the course displayed on the Nav.

  • Page 162: Fig . 5-49 S

    Robertson AP9 Mk3 Autopilot On arrival at a waypoint, the autopilot course is locked to its last value. The alarm is then activated and the AP9 MK3 shows WAYPOINT ARRIVAL or NAVDATA INVALID. (This assumes that the receiver either gives an alarm signal or ceases data transmission near destinations.

  • Page 163: Trouble Shooting

    Trouble shooting TROUBLE SHOOTING Fault warnings The following fault warnings may be shown on the information display: OUT OF COURSE RESET ALARM 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 164 Robertson AP9 MK3 Autopilot NO RUDDER RESPONSE (May be disabled in Thruster steering) If a rudder command is not executed, or the rudder moves in wrong direction, this message will be shown on the display. The reason can be a malfunction of the steering gear, or simply that the steering gear is not switched on.
  • Page 165 Trouble shooting SERIAL COMPASS FAIL SELECT COMPASS STEP SIGNAL FAIL SELECT COMPASS SYNCHRO SIGNAL FAIL (only 1:1) SELECT COMPASS MAGN. COMP. 1 FAIL SELECT COMPASS MAGN. COMP. 2 FAIL SELECT COMPASS FLUXCOMP. FAIL SELECT COMPASS One of these alarms will be given when the autopilot is unable to detect a proper signal from the selected heading sensor.

  • Page 166: Cd109 Course Detector

    Robertson AP9 MK3 Autopilot WATCH ALARM PRESS RESET If a WA9 Watch Alarm (not in production any longer) is connected to the Control Unit J4, an internal watch alarm timer is enabled. The watch alarm warning signal is repeated every four minutes and must be reset within one minute to avoid energizing the externally connected main alarm (if any).

  • Page 167: Thruster Interface Pcb

    Trouble shooting • Check fuses F1/F2 • Change PCB MALFUNCTION OF THE D93/D94 • Check that the ±10V is present at the input terminals TB4-3/4 (Interconnection PCB) • If not, check that the 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.
  • Page 168 Robertson AP9 MK3 Autopilot This page is intentionally left blank. 20169223D...

  • Page 169: Spare Parts

    Spare parts SPARE PARTS AP9 MK3 Control Unit Part no. Pos.Description 20169199 AP9 MK3 Control Unit (Complete without Gyro Interface Board) 20169207 AP9 MK3 Control Unit (without mounting accessories) 20120994 Mounting kit 20169330 EMC kit Type 9 20169256 AP9 MK3 Front housing ass'y (without Display Board) 20168332 Front panel (keypad)

  • Page 170: Ap9 Mk3 Control Unit

    Robertson AP9 MK3 Autopilot 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 20169223D...

  • Page 171: Cd109 - Spare Parts

    Spare parts CD109 Course Detector 20120861 CD109 Course Detector with holder 20120721 CD109 Course Detector 20331997 Holder for Course Detector 44112126 Connector block AMP NO 206044-1 44107217 Cable clamp AMP NO 206070-1 20120739 Cable with plug 44112134 Pin contact AMP NO 163090-0 20120853 Plug with bracket for extension cable 44106862...

  • Page 172: Rf14Xu - Spare Parts

    Robertson AP9 MK3 Autopilot RF14XU Rudder Feedback Unit 22501647 RF14XU Rudder Feedback. Unit w/RF standard transmission link 22501654 RF14XU Rudder Feedback Unit 22500300 Shaft coupling 22500458 Gasket 22501605 Electronic XU drive module 44105120 Actuator 44105146 Limit switch 44118388 Potentiometer 5 Kohm...

  • Page 173: Rf Standard Transmission Link

    Spare parts RF Standard Transmission link 22504005 Transmission link complete 44132306 Ball joint, 8 mm stainless 44132322 Transmission rod M8x300 mm 44150225 Lock nut M8 (Hex) 22504021 Transmission lever Ø12 mm 44152676 Socket set screw M6x10 44151967 Washer M8 22504054 Joint nut M8 (Hex) Fig.

  • Page 174: F200-40 Component Reference

    Robertson AP9 MK3 Autopilot F200-40 Remote Control 20171377 F200-40 Remote Control w/mounting accessories 20171385 F200-40 Remote Control 20156410 Cable (7m) with AMP-plug 20103859 Mounting accessories 20171286 PC-board ass’y 44116754 LCD displays 4 digits 44115160 Light emitting diode SPR5531 D2, D3...

  • Page 175: S9 Steering Lever

    Spare parts S9 Steering Lever 23601800 S9 Non Follow Up steering lever 23601859 Lever with actuator shaft 44125631 Cable gland PG16 44190114 Gasket O-ring 3mm 0.6m 23601875 Coil spring 44153872 Steel ball 0.5 mm 23601834 Centring spring 44125599 Microswitch V-15-1A5 44116812 Diode 1N4006 FU91 Steering Lever...
  • Page 176 Robertson AP9 MK3 Autopilot This page is intentionally left blank. 20169223D...

  • Page 177: Fig . 8-1 J1 - I

    Drawings DRAWINGS Fig. 8-1 J1 - Input/Output signal references Fig. 8-2 J2 - Input/Output signal references Fig. 8-3 J3 - Input/Output signal references Fig. 8-4 J4 - Input/Output signal references Fig. 8-5 J5 - Input/Output signal references Fig. 8-6 Screen Termination Fig.
  • Page 178 Robertson AP9 MK3 Autopilot AP9 MK3 +14V MODUS 1 NFU OPTO COUPLER MODUS 2 FU OPTO COUPLER FU I/P CONV. RUDDER FB HI OPTO COUPLER RUDDER FB LO STBD RELAY ULN2003 PORT RELAY ULN2003 SAFE RELAY ULN2003 ALARM OUT ULN2003...

  • Page 179: Drawings

    Drawings AP9 MK3 LF351 ANALOG OUTP. HI IC27 ANALOG OUTP. LO +14V SYNCHRO S1 CA324 SW2-5 SW2-1 +14V SYNCHRO S2 CA324 SW2-6 SW2-2 +14V 300VDC SYNCHRO S3 CA324 SW2-3 SW2-7 +14V F1=0,5A IC10 SW1-7 IC10 REF HI R1 CONVERTER SW2-8 SW2-4 REF LO R2 +14V...
  • Page 180 Robertson AP9 MK3 Autopilot AP9 MK3 PC849 SERIAL I/P HI OPTOCOUPLER SERIAL I/P LO IC17-D J4, 1-2 WO6F 300VDC STEPPER 300VDC WO6F WO6F 300VDC SIN 2 COS 2 78L08 +14V IN4148 EXITATION ULN2003 SCREEN 100 ohm 1W IC18C Fig. 8-3...
  • Page 181 Drawings AP9 MK3 SERIAL I/P HI See J3 1/2 (SERIAL INPUT) SERIAL I/P LO +14V LM340 IC25 IC24-A SERIAL O/P A IN4148 ULN2003 IC17-A WATCH ALARM O/P HI PC849 2N2222 IN4148 REMOTE DETECT IC28 DUAL ST. O/P LO IC17-B WATCH ALARM O/P PC849 IN4148 DUAL ST.
  • Page 182 Robertson AP9 MK3 Autopilot AP9 MK3 IC12 CLOCK (OUT) DATA (OUT) 4.7K FLUXGATE SIN 6.8V PORT REMOTE IC11 STBD REMOTE AW. GND 6.8V FLUXGATE COS 4.7K IC16-A COURSE 1 74MC86 IC16-B COURSE 2 74MC86 ANALOG GND ANALOG GND IC24-C Fuse AUTO "ON/OFF"...
  • Page 183 Drawings Fig. 8-6 Screen Termination 20169223D...
  • Page 184 Robertson AP9 MK3 Autopilot Fig. 8-7 D9X/S Series Distribution Units (Optional version) 20169223D...

  • Page 185: Fu9X - Circuit Diagram

    Drawings Fig. 8-8 FU9X - Circuit Diagram (N3-360308C) 20169223D...
  • Page 186 Robertson AP9 MK3 Autopilot Fig. 8-9 D9X Power Supply - Circuit Diagram (Drw. No. N3-012812G) 8-10 20169223D...
  • Page 187 Drawings Fig. 8-10 D9X Interconnection Board – Circuit Diagram (Drw. No. N3-012813B) 8-11 20169223D...
  • Page 188 Robertson AP9 MK3 Autopilot Fig. 8-11 D9X Solid State Board, Universal Type – Circuit Diagram Drw. No. N1-012815D 8-12 20169223D...

  • Page 189: Fig . 8-12 D9X D

    Drawings Fig. 8-12 D9X Dual Analogue Board – Circuit Diagram (Drw. No. N1-012816E) 8-13 20169223D...
  • Page 190 Robertson AP9 MK3 Autopilot Fig. 8-13 D9X Thruster Interface Board – Circuit Diagram (Drw. No. N1-012818C) 8-14 20169223D...

  • Page 193: Index

    Appendix INDEX alarm, 2-25 heading display, 2-15 analogue signal, 5-50 heading sensors, 1-6 analogue thruster control, 1-5 heeling error, 5-5 autotrim, 2-10, 5-36 hidden button, 5-44 bargraph display, 2-15 illumination, 2-5 bearing waypoint-waypoint, 2- info, 2-9 info loop 1, 2-10, 5-35 bus cable, 5-13 info loop 2, 2-11 compass...
  • Page 194 Robertson AP9 MK3 Autopilot sea trial, 5-62 serial lines, 1-9 radius, 2-10 serv. speed, 2-12 radius steering, 2-10 service mode, 5-44 rate of steering, 2-10 software version, 2-13, 5-43 recall parameters, 5-69 speed sens, 2-12 Remote Controls, 2-19 steering levers, 1-11...

  • Page 195: Appendix

    Appendix APPENDIX Appendix A: Approvals 10-1 20169223D...

  • Page 201: Sales And Service Worldwide

    Distributor List SALES AND SERVICE WORLDWIDE ( 000929) EUROPA GERMANY NORWAY SWITZERLAND Simrad GmbH & Co. KG Simrad AS Marine Parts AUSTRIA Dithmarscher Strasse 13 Joh. Berentsensvei 109 Heimgartner Allroundmarin 26723 Emden P.O. Box 53, Laksevåg Pfäffikerstr. 6 Griesfeldstrasse 1 Tel.: +49 4921 96860...

  • Page 202: Fig . 5-29 P

    Robertson AP9 MK3 Autopilot UNITED ARAB Jason Electronics Pte Ltd. JAPAN CHILE EMIRATES Blk 194 Pandan Loop Shipmate Japan Co. Ltd. Simrad S.A. Maritronics #06-05 Ohsanbashi Bldg., 3 Providencia 1100 P.O. Box 6488 1-1 Kaigan-Dori Naka-Ku Torre C.Dpto. 404 Pantech Industrial...

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