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Table of contents for the manual
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INSTRUCTION MANUAL Robertson AP45 Autopilot 20220042/6/02[...]
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NOTE! S imrad Egersund AS ma k es every effort to ensure that the information contained within this document is correct. However, our eq uipment is continuously being improved and updated, so we cannot assume liab ility for any errors which may occur. The information contained within this document remains the sole property of S imrad Egersund A S .[...]
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Robertson AP45 Modificati on record Simrad Robe rtson AS Egersund - Norway MODIFICATION RECORD Robertson AP45 Autopilot Document revisions Rev. Writ t en by Checked by Approved by Date Si gn. Date Sign. Dat e Sign. January 1996 08.01.96 N.G. 08.01.96 I.K. 08.01.96 Th.H. Septembe r 1997 08.09.97 N.G. 08.09.97 I.K. 08.09.97 Th.H. Octobe r 1998 01.10.[...]
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Robertson AP45 Modificati on record Simrad Robe rtson AS Egersund - Norway IMPORTANT ! A n autop ilot is a very useful nav igational aid , but DOES N OT unde r any circumstance replace a human navigator. Do not use aut omatic s teering when: • In heavy traffic areas or in narrow waters • In poor visibility or e xtreme se a conditio ns • When [...]
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Robertson AP45 Modificati on record Simrad Robe rtson AS Egersund - Norway[...]
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Robertson AP45 Autopilot Table of content s Simrad Robe rtson AS Egersund - Norway Page I TABLE OF CONTENTS 1. GENERAL IN FORMATION.................................................. 1-1 Introduction ................................................................................................................... 1-1 Sys tem des cription ..........[...]
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Page II Robertson AP45 Autopilot Table of content s Simrad Robe rtson AS Egersund - Norway RI9 Rudder A ngl e Indicator ........................................................................................ 4-12 5. INSTALLATIO N ..................................................................... 5-1 Unpackin g and han dling ....................[...]
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Robertson AP45 Autopilot Table of content s Simrad Robe rtson AS Egersund - Norway Page III 7. TROUBLE SHOOT ING ......................................................... 7-1 Fault w arning s ...............................................................................................................7- 1 Debug/A djust m ode ......................[...]
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Page IV Robertson AP45 Autopilot Table of content s Simrad Robe rtson AS Egersund - Norway F IG . 5-8 AP45/FI100-40 F LUXGAT E I NT ERFACE - W IRING .........................................5-8 F IG . 5-9 G40A G YRO I N TERFACE C ONNEC TIONS ........................................................ 5-9 F IG . 5-10 G40A PC- BOARD - S WITCH LOCATI ON [...]
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Robertson AP45 Autopilot General Information Simrad Robe rtson AS Egersund - Norway Page 1-1 1. GENERAL INFORMATION Today Simrad man ufactur e a comp lete ran ge o f autop ilots for all ty pes of v essels, from leisure boats up to advan ced ste ering systems f or me rchan t marine vessels. Our factory for thes e products – b randed Robertson – [...]
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Page 1-2 Robertson AP45 Autopilot General Information Simrad Robe rtson AS Egersund - Norway 1. Magnetic co mpass with CD109 Co urse De tector 2. RFC35NS Fluxg ate compass* 3. Gyroco mpass (using o ptional G40A o r G45 Interface Unit) *) For o ther type s of Fluxg ate Compass th e FI100-40 Fluxg ate Interface must be used. CD109 Course Detecto r CD[...]
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Robertson AP45 Autopilot General Information Simrad Robe rtson AS Egersund - Norway Page 1-3 Except for a bigger cabinet, the J45S and the J45A junctio n units d escribed in this manual are identical to the pre vious ve rsions, J200S-40 and J101A-40 respectively. J45S Junction unit The J45S Junction Unit will operate continuously running hydraulic [...]
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Page 1-4 Robertson AP45 Autopilot General Information Simrad Robe rtson AS Egersund - Norway RI9 Rudder Angle Indicator RI9 is an analogu e indicator showing the rudder p osition at an gles up to 45 degrees on each s ide of midship pos ition. The scal ing is 2 degrees pr. divi s ion. The scale illu mination is adj ustable by a kn ob on th e fron t.[...]
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Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway Page 2-1 2. OPERATION OF THE AUTOPILOT Fig. 2-1 AP45 Control Unit - front panel AP45 autopilo t is oper ated by me ans of key pad pu sh buttons o n the front pane l. To facilitate op eration , the butto ns are marked w ith te xt and symbols. The buttons are backlighted , act[...]
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Page 2-2 Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway Any diffe re nc e betw ee n cou rse to stee r and the v esse l's actu al he adin g will th en be shown as a bargraph i n the Informati on Displa y. One bar equa ls one degree. Rudder commands are indicated by an arrow in the lower left or right corner of the in[...]
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Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway Page 2-3 ALARM The acou stic alarm is reset by pr essing the red alarm push button. Alarm messag es shown on the infor mation d isplay are describe d und er “Fault warnings”, pag e 2-16. General The middle s ection of the AP4 5 control unit contains 4 push butt ons and a[...]
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Page 2-4 Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway These butto ns are used to alter var ious settin gs. Each tim e one button is p ressed , the value show n on the Inf ormation Disp lay, will increase (+) or d ecrease (— ) by one u nit. The v alue is also sh own as a gr aphical bar. If a button is pr essed for mor[...]
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Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway Page 2-5 The PORT and STBD push buttons ar e fo r mino r cour se adju stments, p resse d once gives a one degree cours e change in the appropriate direction. In WO RK- mode however, the buttons are used for manual rudder trim, and course changes can therefore onl y be made b[...]
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Page 2-6 Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway WA Y P OI N T 1 WA Y P OI N T 2 WAY POI N T 3 N ew head i ng = 70° H e adi ng =100° IN F O D IS P L A Y 00° O N TR ACK NAVI GA TI ON IN F O D IS P L A Y 04° XTE =R0. 01NM N A V I G A T IO N XTE ALARM ACCEPT CHANGE? Y: RESET N: AUT O I NFO DI SPLAY RESET 10M IN C[...]
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Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway Page 2-7 Example: R indicate s that the v essel is loc ated to th e right o f the be aring lin e, and L indicates to the lef t of the be aring line . 05° is the number of degrees course correction relati ve to initial set course. As the vess el approaches t he bearing line,[...]
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Page 2-8 Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway For some navi gational receivers, bea ring to a waypoi nt or course to steer is used as the stee ring inf ormation. If a satellite n avigator is use d, it should have compass and log in put to ensu re proper dead reckoning b etween each fix. 1. Set the navi gation r[...]
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Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway Page 2-9 WAY P OI N T 1 WA Y P O I N T 2 WAY P OI N T 3 Upda t e Up da t e Up da t e ALARM ACCEPT CHANGE? Y: RESET N: AUTO INF O D ISP LA Y RESET 15M I N CH G 00 ° NAVI GATI ON RE SE T Head i ng : 100° Dr i f t NEW HDG 65 ° HDG= 7 0 ° T ra n s it s a te llite s 08M I N C[...]
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Page 2-10 Robertson AP45 Autopil ot Operatio n Simrad Robe rtson AS Egersund - Norway The di fferent types of Remot e Controls that ca n be connected to AP45 , have different way of opera tion, depending on t he system confi guration. The F200-40 han d held re mote con trol makes it possible to rem otely co ntrol th e AP45 autopilo t. The followi n[...]
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Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway Page 2-11 F200-40 with d odging Press AP45 Mode Function AP45 Display F200 D isplay MANUA L NFU steerin g by F200 PORT/STBD push buttons NON FOLLOW UP MANUA L H 080 Vessel’s he ading MODE MANUAL Follo w-Up steerin g by F200 course selecto r F200 FOLL OW U P MANUA L F ¯ 00[...]
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Page 2-12 Robertson AP45 Autopil ot Operatio n Simrad Robe rtson AS Egersund - Norway Alternat ive operation. The S 9 can be configured i n four alternat ives. At del ivery from Roberts on the S9 is conne cted for alternative 1. If alternative 2, 3 or 4 is to be u sed, S9 has to be modified according to the chapter “S9 S t eering Lever”, page 5[...]
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Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway Page 2-13 Alternative 3 (R = 3K) S9 Lever AP45 Mode Function AP45 Displays IN MANUAL S9 locked NON FOLLOW UP MANUAL H 080 OUT MANUAL NFU steering b y moving lever to left or righ t NON FOLL OW UP MANUAL H 080 IN AUTO, WORK S9 loc ked AUTOMATIC A 146 OUT MANUAL NFU-steeri ng [...]
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Page 2-14 Robertson AP45 Autopil ot Operatio n Simrad Robe rtson AS Egersund - Norway Operation The FU91 is activ ated by o peratin g the p ush to take com mand (PTTC) button. Wh en in “COMMAND”, th e button light is switch ed on and the autopilo t INFO display will show : Rudder commands are made by sett ing the lever to the requi red rudder a[...]
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Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway Page 2-15 Multiple FU 91 installation The operatio n of e ach lever is id entical to abo ve descrip tion of a sin gle leve r. Activating o ne FU91 w ill deactivate th e one that was pre viously active. FU91 and S9 co nnected to the same autopilot It is recommen ded no t to h[...]
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Page 2-16 Robertson AP45 Autopil ot Operatio n Simrad Robe rtson AS Egersund - Norway The fo llowing f ault warning s may be show n on the Information Display: OFF COURS E RE SET A LARM Course de viation is greate r than sele cted off course alarm limit. Pre ss the Alarm button to cance l the alarm. The alarm is au tomatically reset w hen th e vess[...]
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Robertson AP45 Autopilot Operatio n Simrad Robe rtson AS Egersund - Norway Page 2-17 A selectio n of stan dard settin gs is then automatica lly ente red into the me mory . The stand ard setting s will make the autopilo t steer, bu t not to its be st performance on all ves sels. They s h ould therefore be checked (S ee “Select ion of parame ter se[...]
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Page 2-18 Robertson AP45 Autopil ot Operatio n Simrad Robe rtson AS Egersund - Norway .[...]
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Robertson AP45 Autopilot Design and theory of operation Simrad Robe rtson AS Egersund - Norway Page 3-1 3. DESIGN AND THEORY OF OPERATION An autopilot is an apparatus that controls the rudder of a vessel in order to maintain a sele cted head ing. There are diff erent design principle s for such an ap paratus, but the y all basically operate as show[...]
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Page 3-2 Robertson AP45 Autopilot Design and theory of operation Simrad Robe rtson AS Egersund - Norway In order to stop t he rudder movement, a feedba ck signal is produced from the feed back unit. The feedback sig nal will be co mpared with the compass sig nal and when there is a balan ce betwe en the two, the sole noid will be de- energ ised. Th[...]
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Robertson AP45 Autopilot Design and theory of operation Simrad Robe rtson AS Egersund - Norway Page 3-3 The rudder feedback unit trans mits rudder angle information to the cont rol unit and rudder angle indicat ors. It is mounted clos e to the rudder stock and mechanically co nnected to the rudd er tiller arm by a transmissio n link. The RF45X cont[...]
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Page 3-4 Robertson AP45 Autopilot Design and theory of operation Simrad Robe rtson AS Egersund - Norway RF14X U is equipped with t wo sets of l imit s witches. One s et can be connect ed in series with the autopil ot solid s tate s witch, the ot her can be incorporat ed in an independent hand s teering sys tem, if required. The J45S Junc tion Unit [...]
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Robertson AP45 Autopilot Design and theory of operation Simrad Robe rtson AS Egersund - Norway Page 3-5 Fig. 3-6 Soleno ids wi th positi ve com m on Fig. 3-7 Solenoids with negat ive common[...]
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Page 3-6 Robertson AP45 Autopilot Design and theory of operation Simrad Robe rtson AS Egersund - Norway The J45A ope rates reve rsible hydr aulic powe r units with variable sp eed control (RPU80, RPU160, RPU200 an d HLD2000) and reversible e lectro me chanical powe r units (MRD100). Th e unit con sists of a printed circuit board w ith termin al blo[...]
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Robertson AP45 Autopilot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Page 4-1 4. TECHNICAL SPECIFICATIONS Dimensions: ................................................See Fig. 4-1 Weight: ........................................................3.0 kg Protection : ...................................................IP43* Ambient t[...]
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Page 4-2 Robertson AP45 Autopilot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Dimensions: ................................................See Fig. 4-2 Protection: ...................................................IP56 Ambient tempe rature, storag e: ............–40 - +85°C operatio n: ........–30 - +60°C Cable length: ..[...]
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Robertson AP45 Autopilot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Page 4-3 Dimensions ............. See Fig. 4-3 Heading output: ..... Serial and analogue Output fo rmat: .......NMEA183 10x/se c. and sine/cosine. NMEA data: ............$IIHDM,x.x,m* hh<cr><If> x.x=heading, hh = check sum Analogue data: ........Si[...]
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Page 4-4 Robertson AP45 Autopilot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Dimensions: ................................................See Fig. 4-4 Signals in ....................................................- 6 step/degree with positive o r negative commo n - Synch ro signal, 90:1 o r 360:1, gyro excitate d - SKR80/82 cu[...]
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Robertson AP45 Autopilot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Page 4-5 Dimensions: ................................................ See Fig. 4-5. Cable length: .............................................. 2 m (w ith plug) Ambient tempe rature, storag e: ............ –25 - +70°C operatio n: .......–10 - +55° C Inp[...]
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Page 4-6 Robertson AP45 Autopilot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Dimensions: ................................................See Fig. 4-7. Protection: ...................................................IP56 Ambient tempe rature: ...............................–10 - +55° C Operating voltage: .....................[...]
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Robertson AP45 Autopilot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Page 4-7 Dimensions: ................................................ See Fig. 4-8. Protection: .................................................. IP22 Ambient tempe rature, storag e: ............ –25 - +70°C operatio n: ........0 - +55° C Safe distance to[...]
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Page 4-8 Robertson AP45 Autopilot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Dimensions: ................................................ See Fig. 4-9. Protection: .................................................. IP56 Ambient tempe rature: ............................... –25 - +70° C Safe distance to mag netic compass: ..[...]
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Robertson AP45 Autopilot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Page 4-9 Dimensions: .............................. See Fig. 4-11. Weight: .................................... 1.4 kg (inclusive cable) Max. inductive load: .................4A/24V DC, 60mA/110V AC, 25mA/220V AC Temperature range: .................Storage : ?[...]
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Page 4-10 Robertson AP45 Autopil ot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Dimensions: ................................................See Fig. 4-12 Protection: ...................................................IP56 Cable length: ...............................................10 meters (30 ft.) Max. inductive load: ......[...]
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Robertson AP45 Autopilot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Page 4-11 Dimensions: .............................. See Fig. 4-14. Weight: ..................................... 1.0 kg Supply vo ltage: ......................... 12/24V DC –25%/+30%, po larity indepe ndent Power consumptio n: .................Max 3 W Input[...]
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Page 4-12 Robertson AP45 Autopil ot Technical spec ifications Simrad Robe rtson AS Egersund - Norway Dimensions: ................................................ See Fig. 4-15. Supply voltage :........................................... 24/32V DC ±20% Current consumption:................................ Maximum 100 mA Input signal: ...............[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-1 5. INSTALLATION Care should b e taken when unpack ing and handling t he equipment. A visual inspecti on shoul d be ma de to check t hat the eq uipment has not been damaged during shipment and that all components and parts are pres ent according to the packing lis[...]
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Page 5-2 Robertson AP45 Autopilot Installat ion Simrad Robe rtson AS Egersund - Norway The cable conductors are connected t o the connector block according to separate connection diagrams . The following tools are required to crimp the connect or pins and socke ts to the ind ividual cable conduc tors. Crimping t ool : Amp 90277-1 Extraction tool: A[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-3 Fig. 5-4 AP45 External cabling d iagram[...]
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Page 5-4 Robertson AP45 Autopilot Installat ion Simrad Robe rtson AS Egersund - Norway AP45 is desi gned for connection to one compass only. However, a combination of two comp asses are po ssible as CD109 and Fluxgate /Gyro has separate inpu t pins in the J2 Compass connector. T his means you can combine a magnetic compass with eit her a fluxgate- [...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-5 The cours e detector is mounted on the s hip's magnetic compass to transmit a headin g signal to th e con trol unit. T he mounting method w ill depe nd upon the compass design. The di stance between the course detector and the compass card depends upon the m[...]
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Page 5-6 Robertson AP45 Autopilot Installat ion Simrad Robe rtson AS Egersund - Norway FWD The RFC35NS ( part no. 22083596) su bstitutes the Ro bertson RFC250 Flux gate comp ass. It comes with a “p igtail” cable th at matches th e Viking c onne ctor o n the RFC250 (extensio n) Cable part no. 20183554. The intern al connectio n of the “pigtail[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-7 Fig. 5-6 AP45/RFC35NS - connect ion J1 NM EA J2 RO BN ET J3 EX T.C OMP VIN- WHITE (VIN+) RX+ RX- 65 4 3 2 1 1 12 2 3 4 NMEA /R A TE PC B SI N PC B B L A C K G R E E N + R E D V I O L E T Y E L L O W Cabl e 22083 661 BRO WN (T X-) BL UE ( TX+ ) 0,5 m Original RFC2[...]
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Page 5-8 Robertson AP45 Autopilot Installat ion Simrad Robe rtson AS Egersund - Norway confirmatio n in the d isplay if the AP45 has a software revisio n earlie r than V1R3. Carry out the calibra tion procedure, then steer t he boat on a k nown heading or bearing. Slightly turn th e headin g sensor u ntil the corre ct heading readout is displa yed.[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-9 The G40A is requi red when a Gyro Compass with geared s ynchro or stepper signal output is connect ed to AP45 . The unit s hall be mount ed not more than two meters from the AP45 control unit . This i s to avoid vol tage drop and reduce interference via the inter[...]
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Page 5-10 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway Fig. 5-10 G40A PC-board - Swit ch location Power turn-on After p ower turn-o n, ve rify that th e LED D 8 is lit. Th is indic ates th at the regulate d 5V is OK. If step-s ignals a re connected, the L ED’s D1, D2 and D3 should not be lit. If they are, pull ou[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-11 The G45 i s required when a gyrocompass wi th 1:1 ra tio synchro signal is connected to AP45. There is separate terminals for high vo ltage ( 80V L-L) an d low voltag e (11,6V L- L) synchro i nput. Input terminal s not used s hould be short ci rcuited as shown i[...]
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Page 5-12 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway Fig. 5-13 G45 In pu t/output (Part of RGC Gyrocompass delivery) The RGC Signal Interface Unit is desi gned to generate headi ng signals of different formats whe n conne cted to e ither RGC50, RG C10 or RGC11. The heading signal used by AP 45 is the sine/c osine[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-13 The RF45X is no rmally mounte d with the shaft point ing upwa rds. It can, however, also be mo unted with the shaft po inting downw ards if that app ears to be mo re convenient. NOTE! In case of an “upside-down” installation, the two plug-in straps on the co[...]
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Page 5-14 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway manually h. o. - h. o. a nd mak e sure t he t rans mi s si on li nk i s moving freely i n b oth directions. Electrical connection The cabl e should be connected t o the junction uni t according t o F ig. 5-23 - Fig. 5-26. W hen splicing cable i n the junction b[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-15 Fig. 5-18 RF45 Template Scale 1:1[...]
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Page 5-16 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-17 Electrical installation Electrical conn ection is sho wn in Fig. 5- 21. The cables are carrie d through cable glands and co nnected to the terminal bo ard. If require d, to avoid any mechanical damage, th e cables s hould be run in a condui t between the rudder [...]
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Page 5-18 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway VIOLE T BROWN PINK BLACK RED WHI TE WHI TE BLACK RED BLUE (GND) YE LLOW (+5V) GR EEN ( WI PER) NO TE 1 NO TE 2 98 1 0 7 6 5 RF1 4XU E LECTRO NIC M O DUL E (VI EWED FROM BACK SIDE) NO TE 1: B row n l ead no rmall y con nect ed t o . Mo ve to to i n ve r t th e r[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-19 On the ins ide of the feedbac k unit cover, a piece of moist ure protecting sponge is atta ched. The sponge produces a corrosion prevent ive gas, and to increas e the efficiency of the ga s the cover must be kept ti ght. Fig. 5-21 RF14XU/J45S - Wir ing The junct[...]
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Page 5-20 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway The un it has sep arate main s supply for th e auto pilot el ectron ics and th e p ower unit (motor/ solenoids ). This reduces the int erference to the autopilot elect ronics caused by t he motor switchi ng. The power unit supply cable (mains suppl y) should be[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-21 The junction uni t is made for b ulkhead mounti ng and secured by two screws. To minimis e length of power ca bles (thus avoi ding voltage drop), it shoul d be centrally locate d betwe en mains pan el and po wer unit. The unit has separ ate mains supply for auto[...]
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Page 5-22 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway Fig. 5-23 AP45 Wiring diagr am - basic system (015936H)[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-23 Fig. 5-24 AP45 Wiring diagram - sol enoids with posit ive common (015936H)[...]
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Page 5-24 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway Fig. 5-25 AP45 Wiring diagram - sol enoids with negative c ommon (015936H)[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-25 Fig. 5-26 AP45/J45 Wiring diagram[...]
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Page 5-26 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway This unit is fix ed to a mou nting bracket, which is secured by fo ur screw s. F200-40 is connected to J3 on the control unit according to Fig. 5-27. Fig. 5-27 F200-40/AP45 - Wiring diagram Mounting (Fig. 5-28) Fig. 5-28 S9 Mounting For bulk head mounting, use [...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-27 The diff erent altern atives are de scribed on page 2-12, an d are the re sult of connecting a resist or between terminals M and A3 in S9. Alternative 1: No re sistor mounted . Alternative 2: 1.0 K ohm (1/4W, 5 %) Alternative 3: 3.0 K ohm (1/4W, 5 %) Alternative[...]
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Page 5-28 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway Mounting Fig. 5-31 FU91 Mounting For bulk head mounting, use the 8 b ushings encl osed with the unit. T hese are placed two and two against each ot her and the screws are put th rough them. Direct contact betwee n FU 91 and a ste el bu lkhe ad is th e n av oid [...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-29 Fig. 5-33 FU91 with mode swit ching The two diode s (1N4002 or similar) an d the resisto r can be mounted eithe r in the AP45 J3 connecto r or in the FU91 terminal bo ard. By givin g resistor R diff erent values, fo llowing mo de chang es are possible : R = 1.0K[...]
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Page 5-30 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway The unit i s mounted to b ulkhead or panel by two screws from the front. The cable is conn ected to the j unction unit acco rding to Fig. 5-35. In terchan ge the p ort an d stbd wire s to the screw te rminals in the ju nction unit if nece ssary to make the dire[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-31 The RI9 is de signed f or bulkhead or pane l mounting, and should be p laced in a location i n clear view of t h e hel msman. Two or more indicators may be connected in s eries with the rudder feedback unit. Note! If more than one rudder angle indicator is conne[...]
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Page 5-32 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway Fig. 5-38 RI9 Input signal sel ection Note! When changing from voltage to current signal (or vice versa), the indicator may have to be recalibrated. In this case, or if the Gain and Offset trimpot’s for other reasons are maladjusted, the following calibration[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-33 The RI35 is de signed f or flush, bulkh ead or bracke t mounting , and sh ould be positi oned in a locati on in clear view of t he helmsma n. When the mount ing location is determined, the cables shoul d be connected to RI3 5 before the unit is mounted. Maximum [...]
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Page 5-34 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway Panel mounting • Make a panel cut-out of 126 x 102 mm. • Use the supplied fastening device to secure the unit to the panel. See Fig. 5-41 Fig. 5-41 Panel mounting Bracket mounting • Mount two of the bracket halves to the RI35. • Temporarily bolt togethe[...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-35 Illumination The scale is illu minated by in ternal LED’s. Th e illumination is turned o n and adjust ed i n three st eps by the front panel key pad. Zero adjus t Follow the instruct ions on page 6-1 to zero adjust t he rudder feedback. Note! There may be a di[...]
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Page 5-36 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway The AP45 is pre set to accept sig nals of NMEA 0183 fo rmat. For 180/182 format, please co ntact your Simrad Robertson d ealer. Correct NMEA format, baud rate and current loop polarity are found in the navigati on receiver manual. For olde r AP45’s with s.n. [...]
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Robertson AP45 Autopilot Installatio n Simrad Robe rtson AS Egersund - Norway Page 5-37 The output from the navigat ional receiver i s connected to AP 45 J3 pi n 9 and 10 (Ref. Fig . 5-44). Fig. 5-44 AP45/Navigation receiver - Wiring AP45 is originally de sig ne d f or co nn ectio n to an ex te rnal w atch alarm o f ty pe WA9 which is no longe r av[...]
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Page 5-38 Robertson AP45 Autopil ot Installat ion Simrad Robe rtson AS Egersund - Norway[...]
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Robertson AP45 Autopilot Start-Up procedure / Commissioning Simrad Robe rtson AS Egersund - Norway Page 6-1 6. START-UP PROCEDURE/ COMMISSIONING After finishing the installat ion and interconnecting all units, check that correct power and polarit y is suppli ed to the junction uni t . See page 5-1 9 and 5-21. Alignme nt and adaptation of the autop [...]
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Page 6-2 Robertson AP45 Autopilot Start-Up procedure / Commissioning Simrad Robe rtson AS Egersund - Norway The rudder speed is a contribut ing factor to autopilot performance. For t he majorit y of vessels a rudder speed of 5-8 degrees pr. second is preferable (equals to 11-18 second s h.o-h. o. time fo r ± 45 ° rudder travel). The rudder speed [...]
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Robertson AP45 Autopilot Start-Up procedure / Commissioning Simrad Robe rtson AS Egersund - Norway Page 6-3 will be sho wn in the in formation displa y instea d of each parameter that has got a spec ial value. This is done to avo id that the parame ters are re-sele cted by a mistake . To cont inue without furt her changing the s pecial value: Pres [...]
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Page 6-4 Robertson AP45 Autopilot Start-Up procedure / Commissioning Simrad Robe rtson AS Egersund - Norway AP45 ha s been set up for magnetic compas s from factory (Defa ult set ting). If connected to a fl uxga te or a gyro compas s - or a combina tion of magneti c and gyro compass, the actu al compass to be used as head ing refe rence mu st be se[...]
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Robertson AP45 Autopilot Start-Up procedure / Commissioning Simrad Robe rtson AS Egersund - Norway Page 6-5 The COUNTE R RUDDER serves two purposes , first ly to give a s mooth transiti on to the n ew head ing after a maj or course chang e has been made, and se condly to enable th e autop ilot to stabilise th e vesse l on a straigh t course . The C[...]
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Page 6-6 Robertson AP45 Autopilot Start-Up procedure / Commissioning Simrad Robe rtson AS Egersund - Norway In some oc casions, e.g . at ver y low sp eed , it may also be wante d to dise ngage the Off course alarm in Work mode. This is done by pressing the DECREASE (-) button. The purpose of t he sea tri al is to verify tha t the AP 45 has b een pr[...]
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Robertson AP45 Autopilot Start-Up procedure / Commissioning Simrad Robe rtson AS Egersund - Norway Page 6-7 4. Make several major course changes to test the effect of the different COUNTER RUDDER se ttings. Ref er to th e figur es below to find the best se tting. New c ou r s e New c ou r s e New c ou r s e Count er r u dder s et t i n g t oo l ow,[...]
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Page 6-8 Robertson AP45 Autopilot Start-Up procedure / Commissioning Simrad Robe rtson AS Egersund - Norway[...]
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Robertson AP45 Autopilot Trouble shooting Simrad Robe rtson AS Egersund - Norway Page 7-1 7. TROUBLE SHOOTING The fo llowing f ault warning s may be show n on the Information Display: Course dev iation gre ater than sele cted of f course alarm limit. The alarm is automatically re set whe n the ve ssel is back within the limit or can celled by press[...]
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Page 7-2 Robertson AP45 Autopilot Trouble shooting Simrad Robe rtson AS Egersund - Norway Check tha t the nav. recei ver is turned on and s e t up properly (s ee manual). Poor reception condi t ions or improper s et-up of nav. receiver. Wrong NMEA -format select ed on autopilot or transmi tted by nav. recei ver. All th ree messages indicat e proble[...]
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Robertson AP45 Autopilot Trouble shooting Simrad Robe rtson AS Egersund - Norway Page 7-3 b. Enter the DEBUG- mode (see pag e 7-5) and verify th at the sine an d cosine signals varies with the headin g betwee n appro x. 0.5 and 4.5 vo lts. If not, proc eed to "c". c. Check all con nections be tween the flux gate compass an d the FI100 u n[...]
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Page 7-4 Robertson AP45 Autopilot Trouble shooting Simrad Robe rtson AS Egersund - Norway G45 GYRO INTERFACE Readjust ing procedure of 2,5V reference vol tage (VR4 ) in case of extension of autopilo t interconn ection cable: 1. Discon nect S1-S2- S3 inputs. 2. Enter De bug mode in AP45. (See page 7-5). 3. Step through t he loop until you find “ F[...]
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Robertson AP45 Autopilot Trouble shooting Simrad Robe rtson AS Egersund - Norway Page 7-5 Factory setting s: LANGUAGE: ENGLISH COMPASS: MAGN. COMPASS OFF COURSE LI M.: 20° LENGTH: 40-70 ft COUNTER RUDDER: LOW RUDDER LIMIT: 30° DEADBAND: 1.0° DIMMER 4 NMEA-FORMAT: 0183 AUTOTRIM IN WORK: ON OFF COURSE ALARM IN WORK: ON Front Controls: RUDDER: 1.0 [...]
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Page 7-6 Robertson AP45 Autopilot Trouble shooting Simrad Robe rtson AS Egersund - Norway Step th rough t he loop by press ing the WEATHE R button. Display t ext Explanation Measured rudder a ngle in degrees. S = Starboard, P = po rt. Rudder co mmand from autopilot. S = Starbo ard, P = port. Comp ass heading Measured turn rate in ° /min Measured s[...]
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Robertson AP45 Autopilot Trouble shooting Simrad Robe rtson AS Egersund - Norway Page 7-7 Procee ding thro ugh the DEBUG-mo de yo u will get acce ss to the adjustable parameters: Adjustment of pa rameters is ma de by the + or - b utton. Val ues shown bel ow are just exa m ples. Display t ext Explanation Counter Rudder magnitude in AUTO- and NAV-mod[...]
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Page 7-8 Robertson AP45 Autopilot Trouble shooting Simrad Robe rtson AS Egersund - Norway The AP45 is as a stand ard set up w ith the NMEA 0183 CTS& XTE mode. P r i o r i t y1 2 345 6 7 8 Mixed mode (CTS+XTE) APB APA XTE+ BWW RMB+ BWW XTR+ BWW XTE mod e APB APA XTE RMB XTR CTS mode APB APA RMB BWC BWR BOD HSC BWW Table 1 NMEA 0183 Sentenc e pri[...]
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Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Page 8-1 8. SPARE PARTS AND DRAWINGS 20159240 AP45 Control Un it w/installation acce ssories 20159224 AP45 Control Un it 20153060 Installation acce ssories 20159653 EMC kit type 45 20159323 AP45 board w/d isplay board assy. 20159281 1 AP45 board assy. 20153086[...]
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Page 8-2 Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Fig. 8-1 AP45 Exploded view Note! Pos. 3 (N40 Na v. Interface board ) is onl y for Main PCB with s.n. belo w 4000.[...]
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Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Page 8-3 Fig. 8-2 AP45 Signal reference J1 1 N.C. 2 Watch alarm sense 3 +12V out 4 Rudder HI 5 Rudder LO 6 Port relay 7 Stbd relay 8 Power ( safe) relay 9 Watch/External alarm 10 Watch alarm reset 11 Power ste ering 12 +12V supply 13 GND 14 Screen J2 1 GND 2 N[...]
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Page 8-4 Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway 20120861 CD109 Course Detecto r with ho lder 20120721 1 CD109 Cour se Dete ctor 20331997 2 Holder fo r Course D etector 44112126 3 Conne ctor block AMP N O 206044-1 44107217 4 Cable clamp AMP NO 206070-1 20120739 5 Cable with p lug 44112134 Pin contac[...]
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Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Page 8-5 20157202 G40A Gyro In terface Un it 20157228 G40A PC-board assy. 44103638 Fuse 0.5A/250V 5x20mm F1 44122406 Trim pot. multiturn 10K VR1 44123792 Capacitor (tantalum d rop) 1mF/35V C5, C6, C7 44111409 Capacitor 4.7mF/35V C18, C20, C37 44116812 Diode 1N[...]
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Page 8-6 Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Fig. 8-5 G40A Circuit diagram[...]
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Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Page 8-7 20158200 G 45 Gyro Inte rface (1:1 SYNC) 20158226 G45 PCB ass'y 20158283 G 45 Cable w/ plu g 20158242 G 45 Coil, L2 20158259 G 45 Filter, L4 44157287 Trimp otmeter VR3 44158319 Capacitor EL 470MFD 63V, C3 44158327 Cap acitor EL. 470MF 63V, C21 44[...]
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Page 8-8 Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Fig. 8-7 G45 Circuit diagram[...]
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Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Page 8-9 20155008 FI100-40/VDO Flux gate Interf ace 20155206 FI100-40/Marinex Flu xgate Inte rface 20155404 FI100-40/ Brooks & Gatehou se Fluxgate Interface 20107017 FI100-40 PC-board co mplete 20107025 Cable for VDO connectio n w/VDO plu g 22011282 RF45X [...]
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Page 8-10 Robertson AP45 Autopil ot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway 21102579 J45S Junction Unit 21102827 PC-board comp lete 21100144 Relay socke t complete, K 1 44155539 Relay 12V/40A 1 po le 44133684 Line filte r 250V/3A, FL1 44110989 Capacitor 22mF/20V, C11, C12 44111177 Capacitor 220mF 40V C4 44104123 Diode MR851[...]
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Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Page 8-11 Fig. 8-10 J45S Circuit diagram[...]
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Page 8-12 Robertson AP45 Autopil ot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway 21102611 J45A Junction Unit 21099981 J101A-40 Junctio n Unit 21099908 J45A PCB ass'y 44115434 Trans. BDW94A Darling ton, T2 44114734 Relay 12V, RL1 44114874 Transistor BUZ 14 MOS 50V 39A, T1 44103091 Transistor 2N 6388, T5 44112233 Voltage re g[...]
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Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Page 8-13 Fig. 8-12 J45A Circuit diagram[...]
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Page 8-14 Robertson AP45 Autopil ot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway 20171377 F200-40 Remote Control w/mou nting accesso ries 20171385 F200-40 Remote Control 20156410 Cable (7m) w ith AMP-plug 20103859 Mounting accessories 20171286 PC-board ass’y 44116754 LCD display s 4 digits 44115160 Light em itting diod e SPR55[...]
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Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Page 8-15 Fig. 8-14 F200-40 Circuit d iagram[...]
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Page 8-16 Robertson AP45 Autopil ot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway 23601800 S9 Non Fo llow Up steering lever 23601859 Lever w ith actuator sh aft 44125631 Cable gland PG16 44190114 Gasket O-rin g 3mm 0.6m 23601875 Coil spring 44153872 Steel ball 0.5 mm 23601834 Centring sp ring 44125599 Microswitch V-15- 1A5 441168[...]
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Robertson AP45 Autopilot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway Page 8-17 22015655 RI9 Rudder Ang le Indicator 22015663 Mountin g kit 22015662 1 Printe d Circuit Board Assy ( PCB) 22015671 2 I nstrument 22015028 3 Wind ow 44117687 4 Ligh t Bulb 12V 40mA 44155620 5 Po tentiome ter, 2.2K 44107423 6 N ut Cover 44149995 7 D im[...]
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Page 8-18 Robertson AP45 Autopil ot Spare parts and drawi ngs Simrad Robe rtson AS Egersund - Norway[...]
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Robertson AP45 Autopilot Sales a nd serv i ce worldw ide Simrad Robe rtson AS Egersund - Norway Page 9-1 9. Sales and se rvic e worldwide (150502) EUROPE AUSTRIA Allroundm arin Griesfeldstr asse 1 A- 2351 Vienn a Tel.: +43 2236 646 760 Fax: +43 2236 63135 BENELUX Benne x Holl and B V P O Box 587 3200 AM S pijkeni sse Tel.: +31 181 600234 Fax: +31 1[...]
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Page 9-2 Robertson AP45 Autopilot Sales a nd serv i ce worldw ide Simrad Robe rtson AS Egersund - Norway SOUTH AFRICA Marine R adio Acou stic Devices P O Box 12076 N1 City 7463 Edgem ead 7441 Tel.: +27 21 559 4003 Fax: +27 21 559 2752 MIDDLE EAST ISRAEL YAMIT Ltd. P O Box 6158 61061 Tel-A viv Tel.: +972 3 5271 778 Fax: +972 3 5271 772 UNITED ARAB E[...]