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Robertson AP9 Mk3 Autopilot
Rudder limit
There are two settings of the Rudder Limit.
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°). This
limitation will be disregarded when a course change is made. The
rudder may instead travel to a maximum limit, set by the Rudder
Limit function in INFO Loop 2.
Range:
Off Course limit
The range for the Off Course limit is 3 to 35 degrees from set course.
From 3-10 degrees the adjustments are in steps of one degree, and
from 10-35 degrees in steps of 5. Adjust for appropriate limit by
means of the INCREASE or DECREASE button. Alarm is given if the
difference between set course and main compass heading exceeds the
limit. See page 6-1.
When the acoustic alarm sounds, an alarm message readout is given
in the information display. (OUT OF COURSE, ). The acoustic alarm
is cancelled by pressing the ALARM RESET button.
The off course alarm will not be reactivated until the vessel's heading has re-
Note !
entered the range set for the OFFCOURSE LIMIT. If the acoustic alarm is
not cancelled, it will stop sounding when the vessel's heading returns to a
point within the set range of the OFFCOURSE LIMIT.
Range:
Autotrim
When the vessel has a constant heading error, due to external forces
such as wind and current, the AUTOTRIM function takes account for
this by building up a constant rudder offset.
The time factor when the AUTOTRIM parameter is adjusted, is the
time it takes to build up the rudder offset.
5-36
I I I I I I I I I I
RUDDERLIM
1.
Rudder Limit in INFO LOOP 1
2.
Max. Rudder Limit in INFO LOOP 2
1 – 85°
I I I I I I
OFF COURSE
3°-10° in 1° increments
10° - 35° in 5° increments
I I I I I I
AUTOTRIM
20169223D
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