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Page 6-2 Robertson AP45 Autopilot
Start-Up procedure / Commissioning
Simrad Robertson AS
Egersund - Norway
The rudder speed is a contributing factor to autopilot performance.
For the majority of vessels a rudder speed of 5-8 degrees pr. second is preferable
(equals to 11-18 seconds h.o-h.o. time for ±45° rudder travel).
The rudder speed can easily be calculated by the following equation:
H.O.-H.O. rudder angle in degrees
H.O.-H.O. time in seconds
If a Robertson power unit has been installed, the speed can be adjusted in two
ways dependant on the type of unit.
1. Reversible units using the J45A Junction Unit:
By adjustment of the RV1 potentiometer.
2. Continuously running pump units (RPU-3):
By selection between two speeds on the motor.
If a non-Robertson power unit has been installed, consult the supplier or
manufacturer.
Note!
If the rudder speed can not be set within the recommended limits, perform the sea
trial before any further steps are taken. Some vessels may steer satisfactory even
with a rudder speed exceeding the recommended limits.
• Select DEBUG-mode by pressing the hidden DEBUG button (just above the
INCREASE-button) and then the WEATHER-button until the Information
Display shows compass signal level:
Turn the compass slowly 360° around. The signal level should vary between 0.5
and 4.5V. Adjustment of signal level can only be done by adjusting the distance
between the compass card and the course detector.
• Select MANUAL-mode. Loosen the fastening screw and turn the course
detector by hand until the display readout corresponds with the compass.
• On some installations a heading error may occur in certain compass quadrants.
Turn the course detector so that the error is distributed through 360°.
• Fasten screw and finally check the readout on different headings.
To adapt the autopilot to the vessel's characteristics and the mechanical
installations, some parameters must be set. An installation programme loop is
available for this purpose. The loop is accessed by pressing the RUDDER and
WEATHER buttons simultaneously. To step through the loop, press the
WEATHER button, and to change the different parameters, use the + and -
buttons. Refer to Fig. 6-1.
If any of the factory set parameters has been changed under Debug Adjust mode
(see page 7-5), a warning will be given when stepping through the installation
loop. The warning:
Rudder speed
Course Detector
Alignment
DEBUG MODE
COMP.SIN: 3.26V
Selection of
parameter settings
SPECIAL PARAMSET
CHANGE?: +/-