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Robertson AP45 Autopilot
Start-Up procedure / Commissioning
Simrad Robertson AS
Egersund - Norway
Page 6-1
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.
Turn on the autopilot by pressing the MANUAL button. The Information Display
shows MANUAL and software version for two-three seconds after turn on:
Then the display will show:
The Rudder Feedback Unit must be adjusted to zero when the rudder is in
midposition. This is done by using the DEBUG mode, which enables the rudder
angle to be shown digitally on the Information Display. Use the following
procedure:
a. Move the rudder to centre position.
b. Select MANUAL-mode on the Control Unit.
c. Select DEBUG-mode by pressing the hidden DEBUG button (just above the
INCREASE-button) and then the WEATHER-button. The Information Display
now shows (example):
S = starboard, P = port
d. Adjust for approx. zero rudder angle (less than 1.0 degree) by turning the shaft
of the feedback unit after it has been loosened from the lever. Secure the lever
after completion of adjustment.
e. Take the rudder 5 degrees to starboard and verify that the feedback signal is in
phase by reading S05° on the information display. Repeat by taking the rudder
5 degrees to port. The display should now read P05°.
Final setting of dynamic zero position is made (via the Debug mode) under Sea
Trial. Ref. page 6-6.
Press the MANUAL button and set the RUDDER value to 1.0. Take the rudder
approximately 5 degrees to port or starboard using the helm or a NFU control.
Press the AUTO button and verify that the rudder returns to amidships position.
If the rudder moves in opposite direction, press the MANUAL button to stop the
rudder. Interchange the wires to the solenoids or motor and repeat the procedure.
Power ON
PROGRAM V_R_
MANUAL
NON FOLLOW UP
MANUAL
Rudder Feedback
Adjustment
DEBUG MODE
RUDD.ANG: S02.2°
Direction of Rudder
Movement