Simrad ROBERTSON AP45 manual NMEA-format, Disengage of autotrim-function in WORK-mode

Robertson AP45 Autopilot	Page 6-5
Start-Up procedure / Commissioning

Counter rudder

Rudder limit

Rudder deadband

The COUNTER RUDDER serves two purposes, firstly to give a smooth transition to the new heading after a major course change has been made, and secondly to enable the autopilot to stabilise the vessel on a straight course.

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COUNT.RUDD.:LOW

The COUNTER RUDDER can be set to one of four values: OFF, LOW, MEDIUM and HIGH. The best setting can only be found during a sea trial. Initial setting should be LOW.

The value of the RUDDER LIMIT determines the maximum rudder movement in degrees from midship position. The range is ±5° to ±55°. The adjustment is in steps of 5 degrees, using the + or - button.

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RUDD. LIM.: 15°

The RUDDER LIMIT should always be set approximately 5° less than the maximum rudder angle to avoid damage on the steering gear.

Rudder limit also applies when hand-steering is made by FU-steering levers.

A deadband in the rudder control loop is necessary to filter out noise generated by vibration. A narrow deadband may cause the rudder to hunt, a wide deadband will create inaccurate steering.

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DEADBAND 1.0°

	The rudder deadband can be adjusted in steps of 0.1° from 0.2-1.6°. Adjust the
	deadband when the vessel is tied dockside. Find the lowest possible value that will
	prevent the rudder from hunting. Adjust by means of the + or - button. Counter
	Rudder should be off during this test.
NMEA-format	The AP45 Control Unit can be connected to navigation receivers with NMEA 0180
	and/or NMEA 0183 output signal format. NMEA 0183 is the factory hardware set
	up. If NMEA 0180 is required, contact your local dealer for details on how to
	reconfigure the internal connections on Main PCB.
		NMEA0183-FORMAT
		NMEA0180: -

Disengage of autotrim-function in WORK-mode

Refer to the nav. receiver manual and select the correct format by pressing the + or - button.

WORK: AUTOTRIM

AUTOTRIM OFF?:-

In some occasions, e.g. at pair trawling, it is necessary to disengage the autotrim function in WORK-mode. This is done by pressing the DECREASE (-) button.

To engage the autotrim function, press the INCREASE (+) button.

Simrad Robertson AS

Egersund - Norway