Fig . 5-49 S - Simrad Robertson AP9 Mk3 Instruction Manual

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. See instruction manual for the receiver).
The boat normally follows the track line with a deviation of ±0.02 -
0.03 n.m., higher deviations can temporarily occur due to change of
current, wind and speed or at start up from a position out of the track
line.
When in NAV mode, the autopilot can correct the course selected in
AUTO mode by up to ±32 degrees.
Special feedback arrangement
In some cases the standard RF14XU Rudder Feedback Unit does not
fit into the rudder or thruster system. Instead, a separate 2k linear
potentiometer, preferably a servo type, can be used together with a
separate voltage to frequency converter. As converter the standard
Freq. & Voltage Gen. in the RF14XU can be used, connected as shown
below.
The two 5k trim-potentiometers must be adjusted to provide correct
feedback angle. (Compare true angle and autopilot display using
"Debug Rudder".)
5-72
5k
2k
5k
Special feedback arrangement
Blue
Freq. &
Green
Voltage Gen.
Yellow
Fig. 5-49
X
Output
U
20169223D