Manual AP2000

Doc. no.
: CN-0193-C 20220554C
Autopilot AP2000
Track Pilot
Instruction Manual
Department/Author
______________________
Approved by:
_______________________
2001 KONGSBERG MARITIME SHIP SYSTEMS AS

All rights reserved
No part of this work covered by the copyright
hereon may be reproduced or otherwise copied
without prior permission from
KONGSBERG MARITIME SHIP SYSTEMS AS
Autopilot AP2000 Track Pilot
Doc. no.: CN-0193-C 20220554C
II
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Jon Selvaag
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Doc. no.: CN-0193-C 20220554C
III
Instruction Manual
This manual is common for two autopilot models designated Robertson
AP9 Adaptive and Kongsberg Norcontrol AP2000 Track Pilot. The
only difference between the two is the front panel of the control units.
Unless otherwise specified in this manual the term autopilot or
autopilot system is synonymous with both models.
The manual is intended as a reference guide for operating and
correctly installing the autopilot.
Great care has been paid to simplify operation and set-up. However,
an autopilot is a complex electronic system; it is affected by sea
conditions, speed of the vessel, hull shape and size.
Please take time to read this manual to get a thorough understanding of
the operation and system components and their relationship to a
complete autopilot system.
Other documentation materials that are provided with your system
include a warranty card. This must be filled in by the authorized dealer
that performed the installation and mailed in to activate the warranty.
Doc. no.: CN-0193-C 20220554C
IV
Document revisions
Documentation
department
Hardware/Software
design
Project/Product
Management
Rev
Date
Sign
Date
Sign
Date
Sign
19.02.96
N.G.
19.02.96
G.K.
19.02.96
Th.H.
10.06.97
N.G.
10.06.97
G.K.
10.06.97
G.H.R.
08.05.98
N.G.
08.05.98
N.M.N.
08.05.98
Th.H.
07.06.01
Document history
Rev.
First edition
Rev. A
Reorganised section 2 Operation. New dimensional drawing of control unit. Due to

modified PCBs instructions for ferrite core mounting are omitted. New component
layout and set-up procedure for Dual Analogue Board included. New Main
Computer MC100 included.
Rev. B
All references are independent of model name/number. Theory of traditional

navigator control added. Section 2 Operation reorganized according to new
software release. Updated list serial input/output channels. Drawing of RF Standard
Transmission Link included. Revision on Connection list (3) page 7-7. Included
circuit diagrams for D9X and MC9/MC100. Previous appendixes C, D and E
removed. New appendix C: UX Converter Unit included.
Rev. C
Manual updated to software version V1R7. Sec. 1.3.1, 2.6.4: Description added for
use of speed log and effect if log is lost in ANTS control mode. Sec. 1.3.2:
Description added for effect if main steering compass is lost during turning. Sec.
2.3.3, 2.6.5: Description of rudder limit function during turning added. Sec. 2.3.5,
2.5.4: Dockside set-up for water and ground log filter added. Sec. 2.5.4: Comment
added for turn radius override in ANTS mode. Added note for cable 17 on
Connection list N4-016896C/7)
Doc. no.: CN-0193-C 20220554C
Contents
1
GENERAL INFORMATION .................................................................................1-1

1.1
Introduction.................................................................................................... 1-1
1.2
System description.......................................................................................... 1-1

1.2.1
Control Unit ..................................................................................... 1-2
1.2.2
Main Computer ................................................................................ 1-2
1.2.3
Heading Sensors .............................................................................. 1-3
1.2.4
RF14XU Rudder Feedback Unit........................................................ 1-5
1.2.5
D9X Distribution units....................................................................... 1-5
1.2.6
Hand controls (optional) .................................................................... 1-5
1.2.7
Options available with the standard system......................................... 1-6
1.2.8
Standard System, On-Off Solenoid Valves ......................................... 1-6
1.2.9
Standard System, Analogue output..................................................... 1-8
1.3
Theory of operation ........................................................................................ 1-9

1.3.1
Adaptive autopilot............................................................................. 1-9
1.3.2
Turning procedures......................................................................... 1-10
1.3.3
ANTS-navigator control.................................................................. 1-11
1.3.4
Traditional navigator control............................................................ 1-14
AUTOPILOT OPERATION ..................................................................................2-1

2.1
Quick reference ............................................................................................. 2-1
2.1.1
Control Unit layout ........................................................................... 2-1
2.1.2
Info display and keyboard ................................................................. 2-1
2.1.3
Course display.................................................................................. 2-2
2.1.4
External mode selector ..................................................................... 2-2
2.1.5
Immediate course change ................................................................. 2-2
2.1.6
Pre-set turn procedure...................................................................... 2-3
2.1.7
Abort turn........................................................................................ 2-3
2.1.8
Back to MAIN panel......................................................................... 2-3
2.1.9
Muting and viewing alarms................................................................ 2-3
2.1.10 Illumination setting............................................................................ 2-4
2.1.11 Remote course setting ...................................................................... 2-4
2.1.12 Entering navigator mode ................................................................... 2-4
2.1.13 Off-track command.......................................................................... 2-6
2.1.14 Turn off procedure ........................................................................... 2-6
2.2
Control unit operation...................................................................................... 2-6

2.2.1
Start up messages ............................................................................ 2-6
2.2.2
Main panel....................................................................................... 2-7
2.2.3
Main panel in automatic modes.......................................................... 2-7
2.2.4
Main panel in manual modes ............................................................. 2-8
2.2.5
Immediate turn panel........................................................................ 2-8
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2.2.6
2.2.7
2.2.8
2.2.9
2.2.10
2.2.11
2.2.12
2.2.13
2.2.14
2.2.15
Preset panels ................................................................................... 2-9

Turn preset panel............................................................................. 2-9
Off track preset panel..................................................................... 2-10
Info panels ..................................................................................... 2-11
Info alarm panel .......................................................................... 2-11
Info select panel .......................................................................... 2-12
Info adjust panel .......................................................................... 2-12
Alarm panel
.......................................................................... 2-13
Illumination adjust panel.................................................................. 2-13
Compass select panel..................................................................... 2-14
2.3
Setting up the Autopilot ................................................................................. 2-15

2.3.1
Adjustable parameters .................................................................... 2-15
2.3.2
Accessing and adjusting the parameters........................................... 2-15
2.3.3
User setup ..................................................................................... 2-16
2.3.4
Seatrial setup ................................................................................. 2-16
2.3.5
Dockside setup............................................................................... 2-17
2.3.6
Master setup/Master reset.............................................................. 2-19
2.3.7
Service setup ................................................................................. 2-19
2.4
Dockside preparations................................................................................... 2-21

2.4.1
First startup.................................................................................... 2-21
2.4.2
Autopilot test setup......................................................................... 2-22
2.5
Sea trial procedure ......................................................................... 2-23

Automatic steering ......................................................................... 2-23
Navigator control............................................................................ 2-24
Save settings .................................................................................. 2-24
Table of settings ............................................................................. 2-25
2.5.1
2.5.2
2.5.3
2.5.4
2.6
VI
User Troubleshooting.................................................................................... 2-27

2.6.1
Basic troubleshooting...................................................................... 2-27
2.6.2
Failure messages and warnings ....................................................... 2-27
2.6.3
Control unit messages..................................................................... 2-27
2.6.4
Failure Messages ........................................................................... 2-28
2.6.5
Warning Messages......................................................................... 2-30
2.6.6
Control system performance ........................................................... 2-31
2.6.7
Course keeper................................................................................ 2-31
2.6.8
Turning performance ...................................................................... 2-32
2.6.9
Navigator control............................................................................ 2-32
TECHNICAL SPECIFICATIONS.........................................................................3-1
3.1
Control Unit ................................................................................................... 3-1
3.2
AP9MKII Gyro Interface PCB ....................................................................... 3-2
3.3
CD109 Course Detector ................................................................................. 3-3
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VII
3.4
Main Computer .............................................................................................. 3-4

3.4.1
MC100 Main Computer .................................................................... 3-4
3.4.2
MC9 Main Computer........................................................................ 3-5
3.5
Distribution Unit ............................................................................................. 3-6
3.6
RF14XU Rudder Feedback Unit ...................................................................... 3-8
3.7
RF Standard Transmission Link....................................................................... 3-9
INSTALLATION ....................................................................................................4-1
4.1
General.......................................................................................................... 4-1
4.1.1
Unpacking and handling .................................................................... 4-1
4.2
Control Unit ................................................................................................... 4-1
4.3
Heading sensors ............................................................................................. 4-4

4.3.1
General............................................................................................ 4-4
4.3.2
Gyro Compass ................................................................................. 4-4
4.3.3
Magnetic compass............................................................................ 4-7
4.3.4
RGC Signal Interface Unit .............................................................. 4-10
4.4
D90/D91/D92/D93 Distribution Unit .............................................................. 4-11
4.5
RF14XU Rudder Feedback Unit .................................................................... 4-17
4.6
MC100 Main Computer ................................................................................ 4-21
4.7
Mode Selection............................................................................................. 4-25

4.7.1
Mode selection options.................................................................... 4-25
Maintenance ............................................................................................................5-1
5.1
Upgrading the autopilot software ..................................................................... 5-1
5.1.1
MC100 Main Computer .................................................................... 5-1
5.1.2
MC9 Main Computer........................................................................ 5-2
5.2
Parameter backup and restore......................................................................... 5-2
5.3
Cleaning......................................................................................................... 5-3
5.3.1
Control Unit ..................................................................................... 5-3
5.3.2
MC100 Main Computer .................................................................... 5-3
SPARE PARTS........................................................................................................6-1
6.1
Control Unit ................................................................................................... 6-1
6.2
D9X Distribution unit ...................................................................................... 6-1
6.3
MC100 Main Computer .................................................................................. 6-2
6.4
MC9 Main Computer...................................................................................... 6-2
6.5
CD109 Course Detector ................................................................................. 6-3
6.6
RF14XU Rudder Feedback Unit ...................................................................... 6-4
6.7
RF Standard Transmission link......................................................................... 6-5
DRAWINGS ............................................................................................................7-1
APPENDIX A: D93 with four analogue output signals.........................................A-1
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VIII
APPENDIX B: Extended use of mode selection..................................................B-1

APPENDIX C: UX Converter Unit.......................................................................C-1
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IX
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1
1.1
1-1
GENERAL INFORMATION
Introduction
Simrad Robertson AS is a sister company of Kongsberg Norcontrol
AS and both companies belong to the Kongsberg Group.
The adaptive autopilot described in this manual is made by Simrad
Robertson AS and is available in two versions:
AP9 Adaptive Autopilot is the model under Robertson label, whilst
AP2000 Track Pilot is the model used by Kongsberg Norcontrol in
their integrated bridge system.
Simrad Robertson AS is located in Egersund on the southwest coast of
Norway. The company's involvement in autopilots started in 1953 with
equipment for the North Sea fishing fleet. Since then Robertson has
developed a complete range of autopilots, for all types of vessels, from
pleasure boats up to advanced steering systems for merchant marine
vessels.
The autopilot described in this document is based on the current AP9
MK3 hardware, but incorporates a main computer with sophisticated
software for adaptive automatic steering which significantly enhances
the performance of the autopilot. The adaptive software is particularly
an advantage when the autopilot becomes an integrated part of an
ANTS system (Automatic Navigation and Tracking System).
1.2
System description
The standard autopilot system consists of the following units (refer to
Fig. 1-1):
Control Unit with accessories
Main Computer
Heading sensor(s)
Rudder Feedback Unit with transmission link
Distribution Unit
Doc. no.: CN-0193-C 20220554C
1-2
Fig. 1-1 Basic System
1.2.1 Control Unit

All settings and operation of the autopilot take place on the control unit.
In addition to push buttons it has three LCD-displays and a rotary
course selector knob on the front panel. The control unit is made of
seawater resistant aluminium and has a polyester coating to protect it
against the environment. Connection to other system components are
by high quality connectors to facilitate reliability and easy maintenance.
1.2.2 Main Computer

The Main Computer will run the steering algorithms and interface to
optional units (remote autopilot station(s), route planning systems,
navigators, serial output gyrocompass and speed log.
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1-3
1.2.3 Heading Sensors

Ref. to Fig. 1-2.
The Control Unit is designed to accept several types of heading
sensors (compasses). The sensors can be divided in three groups:
Gyrocompass
Magnetic Compass (Back-up compass)
Fluxgate Compass (Optional back-up compass)
The terms main compass and monitor compass are used in this
document. The main (steering) compass should be a gyro, whilst the
monitor (back-up) compass can be a second gyro, a magnetic compass
or a fluxgate compass.
MAGNETIC COMPASS
GYRO-COMPASS
CD109
J2
MAGN.
SYNCHRO
SYNCHRO
SYNCHRO
1:1
90:1
360:1
MAGNETIC COMPASS
GYRO
INTERFACE
BOARD
GYRO-COMPASS
CD109
J3
MAGN.
STEP
STEP
STEP
STEP
6 STEP/DEGREE
RGC GYROCOMPASS
Robertson
RGC50
RGC10
RGC11
CONTROL UNIT
J5
1:1 400Hz SYNCHRO
RGC50/10
RGC
INT.FACE
SIN/COS
SIN/COS
FLUXGATE COMPASS
SIN/
COS
Ch7
SERIAL RS422
RGC11
NMEA
NOTE:
THE GYRO MODULE CAN NOT ACCEPT

TWO SYNCHRO OR TWO STEP SIGNAL INPUTS
SIMULTANEOUSLY, ONLY ONE OF EACH.
Fig. 1-2 Heading Sensors
MAIN COMPUTER
SERIAL
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1-4
GYRO COMPASS:
Gyrocompass with serial output is connected to the Main Computer.
Gyrocompass with SYNCHRO (internal or external excitation) or
STEP signal is connected to the Control Unit that must be equipped
with the Gyro Interface Board. See table below. For further
information, see technical specifications, section 3.
Caution !
Signal type
Optional hardware
Connection
Synchro 11,8V l/l

400Hz
Gyro Interface PCB
Control Unit
Synchro 50/115 l/l

50-60Hz
Gyro Interface PCB
Control Unit
Step 6 step/degree
Gyro Interface PCB
Control Unit
Sin/cos 2,5V2VDC
Not required
Control Unit
NMEA 0183 HDT

(Min. 3x/sec)
Not required
Main Computer
Serial proprietary
(RGC11 format)
Not required
Main Computer
Two SYNCHRO, STEP or SERIAL signals can not be connected

at the same time.
The Robertson RGC gyros can be connected according to the
following table:
Direct connection
RGC Interface connection
RGC10
Synchro 1:1 100V
sin/cos or 6 step/degree
RGC11
Serial proprietary
RGC50
Synchro 1:1 100V
FLUXGATE COMPASS
The autopilot is designed to accept fluxgate compass sin/cos signals,
using 2.5V DC as reference.
The Robertson fluxgate compasses will interface directly to the
autopilot control unit.
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1-5
MAGNETIC COMPASS
For the autopilot to read the vessel's magnetic compass a CD109
Course Detector must be mounted on the compass. The signal from
the Course Detector is connected to the Control Unit.
1.2.4 RF14XU Rudder Feedback Unit

This unit transmits two electrical signals proportional to the rudder
angle. One signal operates as a feedback for the autopilot, the other as
drive signal for rudder angle indicators. It is provided with 2 sets of
limit switches. The unit is mounted close to the rudder stock and is
mechanically connected to the rudder by the transmission link.
1.2.5 D9X Distribution units

D9X is the main interconnection unit. Mains power, alarm power,
steering gear interface, rudder feedback and external alarms are
connected to this unit. Different models are available, dependent on
type of steering gear to be interfaced.
D90: Provides solid state switching of one directional valve solenoids,
19-40V DC 3A
110V DC 1A
110/220V AC 1A
D93: Provides two galvanic isolated 10V or 4-20 mA signal outputs.
The voltage output is adjustable.
For double set of directional valves, one extra Solid State Board must
be added.
1.2.6 Hand controls (optional)

S9 Non-follow-up (NFU) steering lever
S9 is a splash proof steering lever for bulkhead or console mounting.
The unit is constructed of machined aluminium. The internal
mechanism of the S9 permits locking of the lever in the mid-position to
avoid inadvertent operation.
FU91 Follow-Up (FU) steering lever

FU91 is a splash proof steering lever for bulkhead or console
mounting. The unit has a 45-0-45 degrees dial and a push to take
command button. By positioning the lever, a commanded rudder angle
can be set without using a rudder angle indicator. Dimensions and
design are the same as the S9, and it has a mid-position detent.
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1-6
1.2.7 Options available with the

standard system
The autopilot system has several options allowing the system to be
configured for various type of vessels. Some of the options are not
type approved. Consult factory for information.
Optional equipment:
Non follow up (NFU) steering lever with mode selector and lock
mechanism.
Follow up (FU) steering lever with mode selector.
D9X/S Relay Assy. Contains 2 pairs of galvanic isolated relay
contacts operated at Equipment On and Auto/Nav On
respectively.
Rudder angle indicators
Mode selector
D93 Distribution Unit with four analogue outputs (Appendix A).
1.2.8 Standard System, On-Off

Solenoid Valves
Apart from the heading sensors, the system consists of the following
units:
AP9 Adaptive Control Unit..........................Art.no. 20168837
or AP2000 Track Pilot Control Unit .............Art.no. 20168860
MC100 Main Computer ..............................Art.no. 20169421
RF14XU Rudder Feedback Unit
(with transmission link) ...............................Art.no. 22501647
D9X Distribution Unit:
Version D90 (19-40V DC, 3A) ..........................Art.no. 20125001
(Extra S.S.B. Art.no. 20125175)
Version D91 (110V DC, 1A)
.........Art.no. 20125407
Version D92 (110/220V AC, 1A) .....................Art.no. 20125704

Note that the standard mains supply is 24V DC. If AC supply is used,
the system must include an AC Power Adapter (Not supplied by the
manufacturer).
Where the system is to operate two sets of solenoid valves, one extra
solid state PCB (S.S.B.) must be mounted in the D9X distribution Unit.
Doc. no.: CN-0193-C 20220554C
Note !
1-7
Mode selector and speed input are mandatory for all

installations. The mode selector is normally provided with the
steering control system.
CONTROL UNIT
D9X
DISTRIBUTION UNIT
(D90/91/92)
MANUAL
AUTO
MAIN
COMPUTER
MODE
SSB SSB
1
MANUAL
STEERING LEVER
SPEED
FEEDBACK
"ON-OFF"
"ON-OFF"
TO
INDICATORS
SOL.
VALVE
SOL.
VALVE
TRANSMISSION LINK
RF14XU
RUDDER
Fig. 1-3 Standard system with ON-OFF solenoid valves
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1-8
1.2.9 Standard System, Analogue

output
Except for the type of distribution unit the system is the same as the
above. Analogue output is used when there is an existing steering
control system on the vessel that will accept an analogue control signal
from the autopilot.
D93 Distribution Unit .......................................Art. no. 20126009
CONTROL UNIT
MANUAL
AUTO
MODE
MAIN
COMPUTER
D93
DISTRIBUTION UNIT
SPEED
FEEDBACK
ANALOGUE
ANALOGUE
TO
INDICATORS
STEERING CONTROL SYSTEM
TRANSMISSION LINK
RF14XU
RUDDER
Fig. 1-4 Standard system with analogue output
Doc. no.: CN-0193-C 20220554C
1.3
1-9
Theory of operation
1.3.1 Adaptive autopilot
The adaptive autopilot is, within limits, able to identify the steering
characteristics of a ship. This is done by comparing the output from a
mathematical model and the vessel itself. The parameters calculated
from this comparison are used to obtain optimal rudder commands in
order to keep the vessel on a pre-set course.
Due to a simplified model of the vessel, parameter estimation is only
performed within a limited speed range. This range is set to Service
speed1 30%. Speed outside this range locks the estimation, which
means that the autopilot is using the last known ship parameters.
Parameter estimation is performed during turns only.
Variation in steering characteristics due to speed changes is handled
by a speed gain scheduler. As a result the autopilot will apply more
rudder at 10 knots than at 20 knots for the same performance.
The adaptive autopilot also estimates the influence of waves on the
vessel. This information is used to reduce rudder activity in bad
weather.
Water log and Ground log

Speed input is very important to the autopilot. The two terms Water
log and Ground log are used to differentiate between speed through
water and speed over ground respectively. Speed through water is
used to calculate correct rudder commands. Speed over ground is used
to plan course changes as geometrical turns.
During ANTS-navigator control (ref paragraph 1.3.3) speed from the
ANTS navigator is used.
If speed over ground is not available, speed through water may be set
as source for Ground log and vice versa. However, steering
performance might be reduced in waters with strong currents.
Should set speed source fail, an alarm will be given and alternative
speed source will automatically be used. Should all speed sources fail,
service speed will be used as speed estimate. If happening in ANTS
control mode, the autopilot will also abort to normal automatic steering.
Service Speed is a setable constant on the autopilot (ref paragraph 2.3.6
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1-10
1.3.2 Turning procedures

The automatic steering is oriented towards turn geometry, which is
seen as a necessity within a modern ANTS (Automatic Navigation and
Tracking System), where routes are planned on, and commanded by
an ECDIS (Electronic Chart Display Information System). In these
systems routes and turning arcs are plotted in the chart system and are
expected to be followed. This approach has advantages also when the
autopilot operates in its automatic steering mode. As a result of this
focus on geometry, all turns have well-marked wheel-over and
counter-rudder phases linking straight lines with arcs.
Safety parameters
Traditionally the task of an autopilot is to maintain a pre-set course. It
complies to command changes under restrictions such as rudder limit
and maximum turn rate. When the task of the autopilot is extended to
include that of following a pre-planned turn arc, the above restrictions
might create a conflict.
In essence, the approach to avoid this problem is to automatically
adjust the maximum rudder of each turn to make it match the wanted
course change and turn radius. Through the parameter settings, the
operator will wield sufficient control over the correspondence between
these quantities. Additionally, as a precaution against unexpected
manoeuvres, it is possible to pre-set fixed warnings for sharp turns and
rudder limit.
Note !
If the Main Steering Compass is lost when turning under

automatic control, an alarm is given and the actual rudder angle
will be maintained, causing the vessel to continue in a circle
(applies for software release V1R6 and onwards, for older
software releases, the rudder was set to midship position).
Fig. 1-5 Radius turn

Turning performance becomes poor if the rudder limit is reached.
Hence the rudder limit must be set to allow normal rudder angles. The
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1-11
autopilot will exceed the sharp turn limit however, if needed to follow
the pre-planned turn arc.
Turning
The operator should think in terms of straight lines and circular arcs. A
turn is specified by a course change (limited to 360 in each direction)
and a turn radius. Optionally a rate of turn can replace the radius. The
autopilot will automatically insert distinct wheel-over and counterrudder phases as shown in Fig. 1-5. The acceleration length, L, of
these phases is a sea-trial parameter set to ensure reasonable rudder
activity.
The smallest turn arc possible is that of length L. In cases where the
length of the prescribed turn arc is less than L, a short turn is made,
where the wanted radius or rate is modified. This ensures a reasonable
rudder activity for small course changes. A short turn is shown in Fig.
1-6. In total, depending on the turn type, the applied rudder is set
according to one of the following three formulas...
Radius turn:
= C RL
Rate turn:
= Cr L v
Short turn:
= C L2
Where...
: Computed rudder
C : Ship-dependant constant,
estimated by the
adaption module.
R : Desired turn radius
L : Acceleration length
r : Desired turn rate
v : Ship speed
: Desired course change
Factor C is established after a
short adaption period.
Fig. 1-6. Short turn
1.3.3 ANTSnavigator control

ANTS navigators are interfaced using the TNT protocol, which is a
group of proprietary sentences complying to the NMEA 0183
standard.
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1-12
Cross-track control
Under navigator control, the autopilots cross-track controller is
enabled, which will make the ship stay on the prescribed line between
way-points (or turns). More precisely; the cross-track controller aims
at positioning the pivot point of the ship, which is the point that the ship
rotates about during normal manoeuvring, on the line.
Due to the varying quality of different position fixing systems,
parameter TRACK RSP has been supplied, which balances the
tracking precision and the rudder commands.
Entering a track
When entering the cross-track mode the autopilot handles initial crosstrack and course deviations. As shown in Fig. 1-7, a manoeuvre is
scheduled to bring the vessel to the track. The manoeuvre is based on
the initial angle and the radius R, both of which are adjustable.
Turning
Fig. 1-7.
The TNT protocol conveys the track bearing and the distance to the
forthcoming turn, along with the cross-track error relating to the track
being followed. Due to this, turns can be planned well ahead. New
courses and turn radii are sent from the navigator on a turn-by-turn
basis. The turn data cannot be altered from the autopilot.
It is possible to have the autopilot give a warning 30 seconds before
the turn starts.
Note !
During ANTS turns the autopilot will exceed the rudder limit if
needed to follow the pre-planned turn.
Off-track command
It is possible to make the vessel keep a defined transversal offset from
the prescribed track. The transition manoeuvre scheduled to reach the
specified offset is similar to that shown in Fig. 1-7. Initial angle can
be adjusted to cover well-marked yielding, as well as slow manoeuvres
where economy counts more than precision.
The off-track setpoint will be maintained during the turn. The turn
radius originally set will be modified to make this possible. If the
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resulting radius reaches a set-able minimum, the off-track value

experienced during the turn may vary somewhat from the setpoint.
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1.3.4 Traditional navigator control

A traditional navigator (Loran C, GPS) can be interfaced using the
APB protocol, which is an approved sentence of the NMEA 0183
standard.
Cross-track control
Under navigator control, the autopilots cross-track controller is
enabled, which will make the ship stay on the prescribed line between
way-points. More precisely; the cross-track controller aims at
positioning the pivot point of the ship, which is the point that the ship
rotates about during normal manoeuvring, on the line.
Due to the varying quality of different position fixing systems,
parameter TRACK RSP has been supplied, which balances the
tracking precision and the rudder commands.
The INIT ANGLE parameter will be the max angle towards the track
(Ref. Fig. 1-7).
Entering a track
When entering the cross-track mode the autopilot makes a turn to the
new bearing set by the navigator. The default radius set on the
autopilot is used as turn radius. After the turn is finished the crosstrack controller will seek to minimize the distance between the vessel
and the track.
Turning
The autopilot handles a turn in the same way as when entering a track.
It turns to the new bearing using default radius and uses the crosstrack controller to get on track.
It is possible to have the autopilot give a warning 30 seconds before
the turn starts.
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Doc. no.: CN-0193-C 20220554C
2
2.1
2-1
AUTOPILOT OPERATION
Quick reference
This section is made as a quick reference to the most basic operations.
These are all that are needed to use the autopilot as a standard course
controller. Make sure however, that the autopilot has been properly
installed prior to using the procedures.
2.1.1 Control Unit layout
2-line info display
Course deviation bargraph
Course display
Rotary knob
Fig. 2-1 Control Unit layout

The control unit has 14 buttons (keypads), a rotary knob and three
illuminated liquid crystal displays as shown in Fig. 2-1. For a full
description of use, refer to the Control unit operation, section 2.2.
2.1.2 Info display and keyboard

The info display and keyboard will be in one of several different states.
Each state will from here on be called a panel. Each panel is used for
a specific purpose, and enables specific keyboard operations.
To get going
To power up the autopilot, press AUTO ON and wait for the lower
line of the info display to show .... AUTOPILOT. Whenever
AUTO ON is pressed the autopilot will be brought back to this starting
point.
Note !
If the gyrocompass interface is not on a 1:1 ratio (step-signal,

90:1 or 360:1 synchro signal), the display will prompt you to
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adjust the compass reading before the main panel is shown. See
Start up messages in section 2.2.1 for details
The upper line of the info display will now indicate the control mode
set by the mode selector. Whenever in standby or under manual
control, the text STANDBY or MANUAL ... respectively is
shown. Otherwise the autopilot is in automatic steering mode.
2.1.3 Course display

The course display contents will, depend on the control mode, show:
1. In standby and manual modes; the main compass reading.
2. Under both local and remote (ANTS) automatic modes; the
heading command (set course).
3. Under ANTS track modes; the current track bearing. During
turns, the next track bearing is shown.
The course deviation bargraph always shows the difference
between the main compass and the contents of the course display. It
will extend to the right by one step per degree of starboard deviation,
and vice versa.
2.1.4 External mode selector

The automatic steering is enabled by selecting autopilot on the mode
selector.
2.1.5 Immediate course change

Change the set course by pressing the rotary knob once and then
turning it, or by operating the PORT and STBD buttons, until the
desired course appears in the course display. The turn will be executed
immediately.
The turn radius or rate is determined by default settings. It is however
possible to change the properties of the current turn once started.
Immediate turn properties is changed in the IMMEDIATE TURN
panel, which is invoked by the turn start.
Toggle between rate and radius submodes by pressing ROT/RAD .
The current choice is shown on the lower line in the info display. Now
set the rate or radius by operating the INCREASE and DECREASE
buttons.
Both the desired course and the rate or radius can be adjusted during
the turn. Remember to depress the rotary knob once before using it.
The change will take effect immediately.
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IMMEDIATE TURN
EXEC RAD
0.8nm
2-3
EXEC will flash until the turn has finished. At that point the
IMMEDIATE TURN panel automatically closes.
2.1.6 Pre-set turn procedure

The second approach to turning allows for the setting of turn radius or
rate before the turn starts, and results in a more precise starting point
for the turn.
Pre-set turns are programmed in the TURN PRESET panel, which is
invoked by pressing TURN PRESET when not in a turn. Now preset
the course by turning the rotary knob or operating the PORT and
STBD buttons until the wanted course and turn direction appears on
the top line of the text display.
Toggle between rate and radius submodes by pressing ROT/RAD .
The current choice is shown on the lower line in the info display. Now
pre-set the rate or radius by pressing the INCREASE or
DECREASE button.
Activate the turn by pressing ACTIVATE PRESET while still in the
TURN PRESET panel. EXEC will now flash in the lower line in the
text display, and the pre-set course will be shown in the large course
display.
Both the desired course and the rate or radius can be readjusted during
the turn. Remember to depress the rotary knob once before using it.
The desired change will take effect immediately.
EXEC will flash until the turn has finished. At that point the TURN
PRESET panel automatically closes.
At any time, and without disturbing the pre-setting or execution of a
turn it is possible to leave the TURN PRESET panel by pressing
CLEAR, and return to it later.
2.1.7 Abort turn

It is possible to stop an immediate- or pre-set turn by pressing AUTO
ON. Current heading will then be the set course.
2.1.8 Back to MAIN panel

To leave sub menus without causing any side effects, press CLEAR.
This always brings you back to the top level, called the MAIN panel.
2.1.9 Muting and viewing alarms

Alarms are muted and acknowledged by pressing CLEAR. As a
reminder, the upper line of the text display will flash FAILURE or
WARNING for as long as the failure exists.
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Press INFO to recall the alarm text. If more than one failure is present
it can be necessary to press INFO more than once.
The alarm situation is remembered by the autopilot for 30 seconds
after the error condition has disappeared or the alarm is viewed.
2.1.10 Illumination setting

The ILLUM button is used to adjust the illumination of buttons and
displays. To adjust the illumination, the ILLUM is pressed first,
followed by the INCREASE or DECREASE. The brightness level is
represented in the information display as DAY, DUSK1, DUSK2
and NIGHT.
2.1.11 Remote course setting

Remote set course is accepted from ANTS navigators. The autopilot
accepts remote set course when in ANTS COURSE mode. Check the
ANTS navigator manual for details.
2.1.12 Entering navigator mode

Before engaging the navigator, make sure that it is properly initiated,
and that a route or waypoint list has been loaded. The proper
procedures are found in the manuals for the navigator. Before
proceeding, the autopilot must be in auto steering mode.
Press NAV from the MAIN panel. One of the following messages will
be shown on the info display:
NAVIGATOR MODE
ACCEPTED
The autopilot is connected to a traditional navigator and will change to

NAV mode. How the autopilot enter a track is described in section
1.3.4.
The course display will show the bearing of the current leg.
NAVIGATOR MODE
NOT ACCEPTED
The autopilot is connected to a traditional navigator. NAV mode will not

be engaged because of locking conditions or insufficient navigator
data.
ANTS TRACK MODE

NOT ACCEPTED
The autopilot is connected to an ANTS-navigator. ANTS TRACK

mode will not be engaged because of locking conditions or insufficient
navigator data.
ANTS TRACK MODE

REQUEST SENT
The autopilot is connected to a ANTS-navigator. A request to engage

ANTS TRACK mode is sent to the navigator. The navigator decides
whether to accept the request or not. How the autopilot enter a track
is described in paragraph 1.3.3
The course display will show the bearing of the current leg.
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Note !
2-5
ANTS navigators usually allow for remote enabling of the

navigator mode. Check the appropriate manual(s) for
verification. In that case the NAV button shall not be used.
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2.1.13 Off-track command

This procedure applies once the Entering a track manoeuvre is
finished.
The OFFTRACK PRESET panel is enabled by pressing OFFTRACK
PRESET. The desired offset is entered by operating the Rotary knob
(10 m step), or the PORT and STBD buttons (1 m step) until the
correct value appears (parenthesized) in the upper info display. The
(transition) ANGLE, is adjusted using the INCREASE and
DECREASE buttons. Activate the off-track manoeuvre by pressing
ACTIVATE PRESET while still in the OFFTRACK PRESET panel.
EXEC will now flash in the lower info display.
Both the offset command and the transition angle can be readjusted
during the manoeuvre. Remember to depress the Rotary knob once
before using it. Readjustments take effect immediately, so ACTIVATE
PRESET needs not be used.
2.1.14 Turn off procedure

The autopilot is turned off by pressing and holding OFF until all
displays are blanked.
2.2
Control unit operation

The control unit of the autopilot has 14 buttons (keypads), a rotary
knob and three illuminated liquid crystal displays as shown in Fig. 2-1.
A structured description of use is given below.
2.2.1 Start up messages

When the autopilot is turned on, the display will show the following
sequence of information before reaching the main panel (which is
described below).
CU9 SW: ccccccc
ccccccc
Version identifier of control unit software.
INITIATING!
CPU INITIATING
PLEASE WAIT!
MC9 SW: mmmmmmm
PLEASE WAIT!
At this point you have to wait for approx. 1 minute.

mmmmmmm
PRESET HEADING
PRESS INC/DEC
Version identifier of main computer software.

This message will appear when the autopilot has to
be aligned to the gyro compass reading (step-signal,
90:1 or 360:1 synchro interface). Use
INCREASE or DECREASE to adjust the
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compass reading shown in the large course display.

Press CLEAR to continue.
Note !
To adjust 0.1 degree increments press INFO while using

INCREASE and DECREASE.
2.2.2 Main panel

The main panel is the top-level display state of the control unit. To get
to the main panel without any side effects, press the CLEAR button.
2.2.3 Main panel in automatic modes

-------------eeee mmmmmmmmm
mmmmmmmmmmm
This is the main panel info display structure in all automatic modes.
Explanation of text and symbols are as follows:
Current control mode.
Text - AUTOPILOT
Text - ANTS COURSE
Text - ANTS TRACK
Text - NAVIGATOR
eeee
Automatic steering mode.

Remote (ANTS) course control mode.
ANTS navigator control mode.
Traditional navigation.
Selected controller characteristics.

Text - PREC
Text - ECON
Precision control enabled.

Economy control enabled.
Course change command

The set course can only be changed when in automatic steering
mode. An immediate turn is carried out either by depressing the rotary
knob and then turning it, or by using buttons PORT and STBD, until
the desired course appears in the course display. The turn will start
immediately. The turn radius or rate is determined by default settings.
It is however possible to change the properties of the current turn once
it has started.
Active keys
PREC/ECON
OFFTRACK PRESET
TURN PRESET
AUTO ON
NAV
ILLUM
INFO
OFF
Toggles between precision and economy controllers.

Enables the OFFTRACK PRESET panel.
Enables the TURN PRESET panel.
Re-enters the automatic steering mode.
Navigator control mode selected or not accepted.
Enables ILLUMINATION ADJUST panel.
Enables the INFO SELECT or INFO ALARM panel.
When depressed for 2-3 seconds, the autopilot will be turned off.
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Note !
With an ANTS navigator the normal procedure is to enable the
mode remotely from the ECDIS.
The top line in the text display may sometimes flash a warning
message. To find its cause; press INFO and view the ALARM
INFO panel.
OFFTRACK PRESET is only active in ANTS navigator
control mode.
2.2.4 Main panel in manual modes

pppppppppppppppp This is the main panel info display structure in all manual modes.
eeee AUTOPILOT
pppppppppppppppp Current mode
Text - STANDBY
External override.
Text - MANUAL NFU Manual, non- follow-up tiller.
Text - MANUAL FU Manual, local follow-up tiller.
eeee Pending controller characteristics.
Text - PREC Precision control pending.
Text - ECON Economy control pending.
AUTOPILOT Indicates that the automatic steering mode is pending.

Disabled in all manual modes. The course display shows the reading of
the main compass.
Active keys
PREC ECON
COMPASS SELECT
ILLUM
INFO
OFF
Toggles between a pending precision and economy controller.

Enables COMPASS SELECT panel.
When depressed for a while, the autopilot will be turned off.
Note !
The main panel in MANUAL mode is entered and left by means

of an external selector.
2.2.5 Immediate turn panel

This is the IMMEDIATE turn panel info display structure. Explanation
IMMEDIATE TURN
of text and symbols are as follows:
EXEC rrr vvvvvv
rrr Turning mode.
Text - ROT
Rate-of-turn control.
Text - RAD
Radius turn control.
vvvvvv Shows radius or rate to be used during the turn.
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The set course is altered either by pressing the rotary knob once and
then turning it, or by using buttons PORT and STBD. Course
changes can only be made while in the automatic steering mode.
Active keys
INCREASE
DECREASE
ROT/RADIUS
INFO
ILLUM
AUTO ON
CLEAR
OFF
Increases value in vvvvvv display.

Decreases value in vvvvvv display.
Toggles between rate-of-turn and radius turn control.
Reenters the automatic steering mode.
Close the panel.
When depressed in 2-3 seconds, the autopilot will be turned off.
2.2.6 Preset panels

The preset panels are used to pre-program manoeuvres. The
manoeuvres are started by pressing the ACTIVATE PRESET button
while the corresponding panel is open.
2.2.7 Turn preset panel

dddd TURN TO xxx This is the TURN PRESET panel info display structure. Explanation of
text and symbols are as follows:
aaaa rrr vvvvvv
dddd Turn direction.
Text - PORT
Vessel turns or will turn port.
Text - STBD
Vessel turns or will turn starboard.
xxx Final course, degrees.
aaaa State of turn preset handler.
Text - PROG
A turn manoeuvre can be programmed.
Text - EXEC
The manoeuvre is being executed.
rrr Turning mode.
Text - ROT
Rate-of-turn control.
Text - RAD
Radius turn control.
vvvvvv Shows radius or rate to be used during the turn.

The set course is changed either by turning the rotary knob, or by using
buttons PORT and STBD. The procedure is carried out until the
required course appears in the display. Course changes can only be
made while in the automatic steering mode.
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Active keys
ACTIVATE PRESET
INCREASE
DECREASE
ROT/RADIUS
INFO
ILLUM
AUTO ON
CLEAR
OFF
Executes the preset manoeuvre.

Increases value in vvvvvv display.
Decreases value in vvvvvv display.
Toggles between rate-of-turn and radius turn control.
Close the panel.
Note !
This panel is enabled either by pressing TURN PRESET, or

automatically when a turn is due at the navigator. It is possible
to leave the panel temporarily by pressing CLEAR. The set
values can not be changed when the panel is activated by an
ANTS navigator.
2.2.8 Off track preset panel

b-yyyym (a-xxxx)
aaaa
ANGLE zz
This is the OFFTRACK PRESET panel info display structure.

a-xxxx Setpoint for off-track command. E.g. P-0150 means 150 meter to
port.
b-yyyy Actual off-track value.
aaaa State of off-track function.
Text - PROG An off-track manoeuvre can be programmed.
Text - EXEC The manoeuvre is being executed.
zz Transition angle; allowed course deviation during manoeuvre in
degrees.
Off-track command
The offset is changed either by turning the rotary knob (10 m step), or
by using buttons PORT and STBD (1 m step). The procedure is
carried out until the wanted position shift appears in the a xxxx
display.
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Active keys
ACTIVATE PRESET
INCREASE
DECREASE
INFO
ILLUM
AUTO ON
CLEAR
OFF
Executes the preset manoeuvre.

Increases value in zz display.
Decreases value in zz display.
Closes the panel.
Note !
It is possible to program a manoeuvre, and save it till later by
subsequently pressing CLEAR.
After a manoeuvre has been started it is still possible to modify
its parameters. It might be necessary to activate (depress) the
rotary knob before using it.
The turn rate or radius used for the manoeuvre corresponds to
user parameters TURN MODE and TURN aaa.
To stop a manoeuvre set off-track command to zero or restart
ANTS.
2.2.9 Info panels

Pressing INFO from the MAIN panel when an active alarm or
warning is displayed, will open the INFO ALARM panel. If there is no
alarm, the INFO SELECT panel will open.
2.2.10 Info alarm panel

aaaaaaaaaaaaaaa
a
aaaaaaaaaaaaaaa
The alarm text viewer is invoked by pressing INFO.
Active keys
INFO
AUTO ON
ILLUM
CLEAR
OFF
Goes to next message, if any.

Closes the INFO panels.
Note !
Alarm messages are listed in a separate section.
Whenever a failure exists, this panel precedes the INFO
SELECT panel. To reach INFO SELECT press INFO until all
alarm texts have been viewed.
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2.2.11 Info select panel

mmmmmmmm SETUP ? This is the INFO SELECT panel info display structure. Explanation of
PRESS nnnnnnnnnn text and symbols are as follows:
mmmmmmm Selectable parameter group.
Text USER
User setup can be selected.
Text SEATRIAL
Seatrial setup can be selected.
Text DOCKSIDE
Dockside setup can be selected.
Text MASTER
Master setup can be selected.
nnnnnnnnnnn Specifier
Text INCREASE
INCREASE will enable setup.
Text PASSWORD
This will appear for DOCKSIDE. Parameters
are enabled by pressing DECREASE while also pressing
INCREASE.
Active keys
INFO
INCREASE
AUTO ON
ILLUM
CLEAR
OFF
Goes through submenu headers.

Selects the indicated parameter submenu.
Exits INFO SELECT panel.
2.2.12 Info adjust panel

mmmmmmmm PARAM: This is the INFO ADJUST panel info display structure. Explanation of
nnnnnnnnn oooooo text and symbols are as follows:
mmmmmmm Selected parameter group.
Text USER
User setup can be altered.
Text SEATRIAL Seatrial setup can be
altered.
Text DOCKSIDE Dockside setup can be altered.
Text MASTER
Master setup is being
viewed.
nnnnnnnnn Shows the name of the parameter currently selected.
oooooo Shows the value of the parameter currently selected.
Active keys
INFO
INCREASE
DECREASE
AUTO ON
ILLUM
CLEAR
OFF
Goes through parameters in the selected sub menu.

Increases the value of the currently selected parameter.
Decreases the value of the currently selected parameter.
Closes the INFO panels.
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Note !
Available parameters are listed in a separate section.
Master setup can only be altered during installation, or after a
master reset.
2.2.13 Alarm panel

aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
The alarm panel is invoked automatically upon failure and warning

conditions.
Active keys
CLEAR Acknowledge alarm and return to MAIN panel.
OFF When depressed for a while, the autopilot will be turned off.
Alarm messages are listed in a separate section.
Usually the alarm sounder is turned on when the ALARM panel
is activated.
CLEAR mutes the sounder and makes the alarm text
disappear. However, as long as the failure exists, a warning
message is flashed in the MAIN panel. Alarm texts can then be
reviewed by pressing INFO.
Notes
2.2.14 Illumination adjust panel

ILLUM
This is the ILLUMINATION ADJUST panel info display structure.

v
vvvvv Illumination setting.
Text DAY
Day level
Text DUSK1
Text DUSK2
Text NIGHT
Night level
Active keys
INCREASE
DECREASE
AUTO ON
ILLUM
INFO
TURN PRESET
OFFTRACK PRESET
CLEAR
OFF
Increases illumination.
Decreases illumination.
Enables the TURN PRESET panel.
Enables the OFFTRACK PRESET panel.
Closes ILLUMINATION ADJUST panel.
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2.2.15 Compass select panel

mmmmmmmmmmmmmmmm
cccccccccccccccc
This is the COMPASS SELECT panel info display structure.

mmmmmmmmmmmmmmmm Compass usage

Text MAIN COMPASS
Main compass can be selected.
Text MONITOR COMPASS Monitor compass can be selected.
cccccccccccccccc Shows the compass currently selected.
Text SYNCHRO 1:1
Gyrocompass 1:1 synchro input
Text SYNCHRO 90:1
Text SYNCHRO 360:1
Text STEP
Gyrocompass Step signal input
Text MAGN COMP 1
First magnetic compass
Text MAGN COMP 2
Second magnetic compass
Text FLUXG COMP
Fluxgate compass
Text DIGIT
Gyrocompass serial format
Text DIGTMC
Magnetic compass serial format
Active keys
COMPASS SELECT
INCREASE
DECREASE
ILLUM
INFO
CLEAR
OFF
Toggles between selection of main and monitor compasses.

Selects new compass.
Selects new compass.
Closes COMPASS SELECT panel.
Note !
This panel can only be entered when in manual mode.
Only the installed compasses will be displayed from the list of
compass options.
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2.3
2-15
Setting up the Autopilot

This section contains an overview off all adjustable parameters of the
Autopilot, and procedural descriptions of how to access and adjust the
parameters.
The parameters are divided in five different groups with different
levels of access, depending of need for use. The groups are as follows:
1. User setup. This group contains parameters that may need
adjustment during voyage.
2. Seatrial setup. This group contains parameters that are
set/adjusted during seatrial.
3. Dockside setup contains parameters that are permanently set.
4. Master setup. This menu contains the prime parameters for the
vessel and must be entered with the required settings prior to any
setting of other parameters. Ref. to paragraph 2.4.1. First startup.
5. Service setup. Note that this menu is for use by authorized
personnel only and is therefore not accessible without a special
password. The parameters in this group are vital for the steering
performance of the vessel and must not be altered.
Note !
The complete autopilot set up procedure starts with Dockside

preparation, section 2.4, prior to setting up the different
parameters as described in sections 2.3 and 2.4.
2.3.1 Adjustable parameters

Below, all available setup parameters are presented together with a
short description. Please note that only a few of the parameters need
daily changes.
2.3.2 Accessing and adjusting the

parameters
To access a specific parameter; press INFO, until the INFO SELECT
panel appears with the correct parameter group name. If a user setup
parameter is to be accessed, the display will show USER SETUP
PRESS INCREASE. At this point, press INCREASE once to open
the INFO ADJUST panel, and continue by pressing INFO until the
desired parameter display appears.
To adjust a parameter; make sure the correct parameter has been
accessed, and then change it by means of the INCREASE or
DECREASE button.
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Note !
When accessing the dockside parameters you will be asked to
present a password; press INCREASE and DECREASE
simultaneously
The proper procedure for adjusting the master setup
parameters are slightly different from the above. The
description is found in Dockside preparations, section 2.4.
2.3.3 User setup

These parameters are to be tuned during sea trials, but may be
readjusted whenever needed.
USER SETUP:
RUDD LIMIT
Rudder limit, degrees. Should be set wide enough to allow all acceptxx able manoeuvres. The set limit will apply for a window around the
rudder angle, calculated to obtain set turning radius or rate of turn.
That angle is zero during course keeping.
This reading is added to the monitor compass reading before

USER SETUP:
COMP DIFF xx ? comparing it with the main compass. Press INCREASE to
acknowledge the displayed difference between the main and monitor
compasses.
USER SETUP:
WAVE FILT
USER SETUP:
OFF-CRS L
USER SETUP:
COMPDIFF L
Wave filter ON or OFF. The wave filter will in many cases reduce the
aaa rudder activity without significantly increasing the course deviation.
Off-course warning limit, degrees. Should be set wide enough to allow
xx course deviations acceptable in the current waters.
Compass difference warning limit, degrees. The setting should allow
xx for expected transient differences between the main and monitor compasses.
2.3.4 Seatrial setup

These parameters are to be tuned during sea trials. They may be
readjusted after gaining experience with the installation, but daily
modifications are not recommend.
SEATRIAL SETUP:
SEA TRIAL aaaa
Sea trial quality indicator; is to decrease from 9999 to 0000 during

sea trials (Ref. section 2.5.1).
SEATRIAL SETUP: Acceleration length, meter. As described in Turning procedures, this

ACC LENGTH xxxm parameter determines the rudder usage during turns.
SEATRIAL SETUP: Turn mode to use for immediate turns; ROT for rate turns or RAD for
TURN MODE
aaa radius turns.
SEATRIAL SETUP: Turn rate or radius to use for immediate turns, deg/min or nautical
TURN aaa vvvvvv miles.
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Precision Rudder activity factor. This parameter tells the autopilot how
SEATRIAL SETUP: much rudder it should use to stay on course. RUDD GAIN is initially
RUDD GAIN x.x/ set according to the rudder efficiency but can be adjusted later to
achieve optimal performance. Reducing RUDD GAIN causes reduced
rudder activity and thereby possible bigger deviations from set course.
A value which is too high will give quick and increasing oscillations (sing) around set course.
SEATRIAL SETUP: Economy rudder activity, percentage of precision rudder factor.
ECON RUDD
xx%
SEATRIAL SETUP: Track response filter factor. Higher factor gives slower cross track
TRACK RSP
x.x controller.
Warning limit for sharp turn; turn rate allowed at service speed. The
SEATRIAL SETUP:
TURN WARN xx/m warning sounds when turn rate speed is about to exceed
TURN WARN SRV SPEED.
SEATRIAL SETUP: Determines the minimum rudder angle command, degrees. The paMIN RUDD
x.x rameter is used on vessels with poor rudder efficiency around zero
rudder angle.
SEATRIAL SETUP:
DEADBAND
x.x
SEATRIAL SETUP:
INIT ANGLE
Minimum difference between rudder angle commands, degrees. The

result of increasing this value is less rudder commands.
Default course change in off-track manoeuvres, degrees. The value is
found in the OFFTRACK PRESET panel each time the cross-track
controller is restarted.
SEATRIAL SETUP:
XTE FILTER
Cross track controller filter time constant. The output from the cross
track controller is sent through a second order low pass filter. By
increasing this value it is possible to slow down the response from
sudden changes in the cross track error. This can be useful when track
steering at very low speed.
SEATRIAL SETUP:
XTE DAMP
Cross track controller filter damping factor. This parameter normally

only applies when using traditional navigator.
SEATRIAL SETUP: Minimum turn radius during off-track manoeuvres and navigator turns,
MIN
RADIUS naut. miles.
2.3.5 Dockside setup

These parameters are to be set during installation, and adjusted if
required to match new installed equipment.
DOCKSIDE SETUP:
RUDD ccc aaa
Displays commanded rudder and actual rudder angle.

= port.
Used for rudder feedback alignment (Ref. section 4.5, last page).
Doc. no.: CN-0193-C 20220554C
DOCKSIDE SETUP:
WATER LOG
aaa
2-18
Water log; 200 (pulses per n. mile), VBW, VHW, VTG (NMEA
0183) or NAV. Note that physically there is only one pulse and one
NMEA log input. Speed can also be taken from the NMEA 0183
VBW sentence on the navigator serial line, if present. To enable this,
select NAV.
Filter time constant for water log signal. Increase value to get more
DOCKSIDE SETUP: stable signal. If the signal is heavily filtered before being sent out from
WLOG FILT 10.0s the water log, the value should be decreased to avoid double filtering.
Note that during automatic steering the amount of rudder is directly
influenced by the water speed. If the water log is unstable, the steering
performance may be improved by increasing the filter value. If the
filter value is too high, the steering performance during speed changes
will be decreased, especially for small ships.
DOCKSIDE SETUP:
GROUND LOG aaa
Ground log; 200 (pulses per n. mile), VBW, VHW, VTG (NMEA
0183) or NAV. Note that physically there is only one pulse and one
NMEA log input. Speed can also be taken from the NMEA 0183
VBW sentence on the navigator serial line, if present. To enable this,
select NAV.
DOCKSIDE SETUP: Filter time constant for ground log signal. Increase value to get more
GLOG FILT 10.0s stable signal. If the signal is heavily filtered before being sent out from
the ground log, the value should be decreased to avoid double filtering.
Note that during track steering the ground log influences turning
accuracy. If the ground log is unstable, the turning performance may
be improved by increasing the filter value. If the filter value is too high,
the steering performance during speed changes will be decreased,
especially for small ships.
DOCKSIDE SETUP:
TURN ACKN
aaa
New waypoint alarm will sound 30 seconds before a navigation turn is

activated.
DOCKSIDE SETUP:
ALM SOUND
aaa
Alarm sounder enabled, ON, or disabled, OFF. If the sounder is disabled, the autopilot must be connected to an external alarm system
through the alarm output switch.
DOCKSIDE SETUP:
BACKUP
START
To save current parameters for later restoring press INCREASE. Will

read DONE if the operation succeeded or FAILED if not.
DOCKSIDE SETUP:
RESTORE
START
To load parameters stored earlier. Will read DONE if the operation

succeeded or FAILED if not.
Doc. no.: CN-0193-C 20220554C
2-19
2.3.6 Master setup/Master reset

These parameters are to be set during installation. They are special in
the sense that to change any of them, a master reset of the adaption
system must be made. During normal operation the parameter values
can only be viewed.
Ships service speed, knots. The value must be set somewhere
MASTER SETUP:
SRV SPEED
xxkn between maximum speed and the half of maximum speed.
Ships Length at Water Line, meter
MASTER SETUP:
SHIP LWL
xxxm
Rudder efficiency or manoeuvrability class; LOW, MED or HIGH. ComMASTER SETUP:
RUDD EFF
aaaa pared to other vessels with same length and speed.
Software option code. To be zero unless specified otherwise in
x appendices.
MASTER SETUP:
OPTIONS
PRESS PASSWORD
TO MASTER RESET
To make a master reset, press the OFF button while at the same time
pressing INCREASE. Hold both down until all displays are blank. The
system will now start from scratch, using its factory default settings.
2.3.7 Service setup

These parameters are to be set during installation, and adjusted if
required to match new installed equipment. Only authorized personnel
should adjust these values.
SERVICE SETUP:
NAVIGATOR
aaa
Navigator cross-track sentence; OFF, APB for traditional navigators,

or TNT for ANTS navigators.
SERVICE SETUP:
FU/A SCALE xx
SERVICE SETUP:
RUDD COMM
aa
Determines the scaling of the follow-up input, degrees of rudder

command wanted with follow-up tiller in extreme hardover position.
SERVICE SETUP:
RUDD SCALE
x.x
Scale factor used to adjust rudder deflection to equalize measured

rudder angle and commanded rudder angle.
Indicates the rudder control method to be used: ANLG for analogue

( 10V), or SOLN for solenoid (bang bang) control.
Only used for analogue output from autopilot (D93 Distribution

Unit).
SERVICE SETUP:
SER GYRO
aa
SERVICE SETUP:
WAVE ADAPT
aaa
SERVICE SETUP:
WF FACTOR
xxx
SERVICE SETUP:
RUDD FILT x.xs
Selection of gyro serial input protocol; NONE, HDT (NMEA) or

RGC11 (proprietary).
Wave frequency estimation; ON or OFF.
Wave filter noise variance factor; Gives the factor between noise
variance of the ship and noise variance of the wave filter.
Rudder command low pass filter constant. Increase value to get more
slowly varying rudder commands.
Doc. no.: CN-0193-C 20220554C
SERVICE SETUP:
STRIPCHART aaa
2-20
Debug data to be transmitted on the serial debug channel (refer to

section 4.6). TSF is the original stripchart sentence designed to be
displayed online using a LabVIEW application on a portable PC while
TSG, TSE and TSF is designed for logging and offline processing.
TSG is a collection of the most important autopilot data. TSE consist of
parameter identification data. TSN transmit navigation data used by the
autopilot.
Doc. no.: CN-0193-C 20220554C
2.4
2-21
Dockside preparations
This sections describes the procedures to follow when starting up the
autopilot for the first time and how to ensure that everything is ready
for sea trial.
2.4.1 First startup

1.
Make sure that the mode selector is in position manual, to

disengage the autopilot. Assuming that the electrical installation
has been completed; power up the autopilot by pressing the
AUTO ON button. After a brief initialization period, one of two
( a) or b)) situations arise...
a)
The lower line of the info display shows ....

AUTOPILOT. Check that the master set-up parameters
have been set correctly. These are accessed by pressing
INFO, until the INFO SELECT panel shows MASTER
SETUP PRESS INCREASE. At this point, press
INCREASE once to view the first parameter in the
master set-up list. Advance through the list by pressing
INFO.
If changes are required to the master set-up (refer to
section 2.3.6), including SEA TRIAL which should read
9999; press INFO until the display flashes PRESS
PASSWORD TO MASTER RESET. Then press the
OFF button while at the same time pressing
INCREASE. Hold both down until all displays are blank.
The system will start from scratch using the factory
default settings. Now repeat point 1.
If no changes are required proceed to point 2.
b)
Note !
The info display shows PRESS INFO TO MASTER

SETUP. In this case, press INFO and supply the correct
master set-up parameters before proceeding.
The SRV SPEED setting must be set between

maximum and the half of maximum speed.
2.
Press COMPASS SELECT and ensure that the correct MAIN

COMPASS is enabled. Also make sure that the reading in the
course display is correct. Press CLEAR to return to the MAIN
panel.
3.
Check that all dockside set-up parameters are as wanted. The

procedure for accessing them is found in Accessing and
adjusting parameters, paragraph 2.3.2. Adjust if needed.
Doc. no.: CN-0193-C 20220554C
2-22
4.
Give reasonable values to the seatrial setup parameters:

ACC LENGTH, TURN MODE and TURN aaa. These
parameters are important for the vessels performance during
turns. It is recommended to read about in Theory of operation
page 1-10.
5.
Return to the main panel by pressing CLEAR. If the lower line

of the info display shows ECON AUTOPILOT, press PREC
/ ECON to make it show PREC AUTOPILOT.
2.4.2 Autopilot test setup

In order to test that the autopilot actually gain control of the rudder
when in automatic steering mode it is necessary to simulate speed
input. This can be done by setting WATER LOG and GROUND LOG to
a NMEA sentence not present (section 2.3.5). The autopilot will then
use the entered SRV SPEED as speed input and move the rudder
accordingly. When this is done, engage automatic steering as described
in the Quick reference, section 2.1. The alarms Water log and
Ground log will sound. Mute the alarm sound and ignore the flashing
info display.
Three things need to be tested before the autopilot is ready:
1. Rudder moves in the right direction. When a port course change is
made (CCW turn on the rotary knob), the rudder shall move to port.
If not, check the electrical connections, eventually exchange port
and starboard cables to the steering gear.
2. Rudder feedback is correct mounted and calibrated. See Adjusting
in RF14XU Rudder Feedback Unit, section 4.5, for details.
3. Actual rudder equals rudder command. To verify this, set RUDD
LIMIT to 10 and make a course change. When the Rudder
Limit alarm sounds and the rudder stops, the feedback should read
10. If not, check D90/D91/D92/D93 Distribution Unit, section 4.4 to
see if the right adjustments are made. When using analogue rudder
signal it may be required to use RUDD SCALE (section 2.3.4 to
obtain proper adjustment of the rudder control signal from the
autopilot.
Doc. no.: CN-0193-C 20220554C
2.5
2-23
Sea trial procedure

This section describes the procedures to follow when the autopilot is in
use for the first time or after a master reset. The activity is here called
the sea trial. The purpose is to let the autopilot learn the ships
manoeuvring characteristics. During seatrial the autopilot is extra
sensitive to the ships heading changes and rudder movement and it is
therefore important that the procedure below is followed carefully. The
(automatic steering) procedure will normally take 30 to 60 minutes to
perform.
2.5.1 Automatic steering

Do not use the autopilot before reaching open waters. The waters
should allow speeds close to the vessels service speed, and a lot of
manoeuvring. The autopilot might not perform well right after a master
reset.
1. When in open waters, enter the automatic steering mode as
described in the Quick reference. Immediately; start making a
series of port and starboard course changes. Start with a magnitude
of 5 degrees to both port and starboard. Increase the course
changes in steps of 5 to 40 degrees.
Note !
During this manouvring the speed of the vessel should at

least be 80% of the service speed.
While manoeuvring you should regularly check on Seatrial setup
the SEA TRIAL parameter. This is a quality indicator, starting at
9999 after a master reset, and decreasing to 0000, which indicate
that the sea trial is finished. Each digit plays a specific role,
indicating (from left to right) the further need for port turns, port
rudder usage, starboard rudder usage and starboard turns.
It is likely that the turn indicators will reach 0 before the rudder
indicators. To make these indicators decrease faster it is necessary
to make the autopilot use more rudder. This can be done by starting
a turn and then, before the turn is finished make a new turn in the
opposite direction. However, when the SEA TRIAL indicator have
reached 0330 or lower and the steering is acceptable you may
consider this part of the sea trial done and let the indicator continue
to decrease during normal manoeuvring.
2. Tune the following seatrial setup parameters of the course-keeping
controller: RUDD GAIN, MIN RUDD and DEADBAND. Their
functions are explained in section Seatrial setup, section 2.3.4.
Useful hints can be found in section Control system performance,
section 2.6.6. Due to the need for exposure to different disturbance
patterns, the parameters may have to be readjusted after gaining
experience with the autopilot.
Doc. no.: CN-0193-C 20220554C
2-24
3. Return to the main panel by pressing CLEAR. If the lower line of

the info display shows PREC AUTOPILOT, switch to the
economy submode by pressing PREC / ECON. The display
shows ECON AUTOPILOT. Now tune the ECON RUDD
parameter in the same way as above. A ECON RUDD of 75%
indicates that the economy submode will allow 25% more course
deviation than precision submode given under the same weather
and load conditions.
4. Finally, tune the seatrial setup parameters determining the vessels
behavior during turns: ACC LENGTH, TURN MODE and
TURN aaa. Again it is recommended to read about in Theory of
operation, paragraph 1.3.2.
2.5.2 Navigator control

To tune the cross-track controller; program a long, straight leg on the
navigator. Enter the navigator control mode as described in
paragraph 2.1.12.
1. Adjust parameter TRACK RSP which determines the effect of the
corrections made by the cross-track controller. Increasing TRACK
RSP means less corrections. The optimal setting will often depend
on the accuracy of the position data, and the filtering made within
the navigator. Check the navigator user manual for adjustment
possibilities.
2. Try one or two off-track manoeuvres. Readjust TRACK RSP if
necessary.
3. Return to the automatic steering mode; on the navigator, program
and load a route containing a series of typical turns. If you use a
conventional navigator (GPS) you may also wish to adjust the
navigators waypoint arrival circle (not implemented yet). Reenter
the navigator control mode. Ideally the reference point of the
navigators position should be the vessels pivot point. That is the
point about which the ship seems to rotate when responding to the
rudder. You may be able to define the reference point when setting
up the navigator. Moving this point aft delays Wheel-Over, and vice
verca. If the ship is turning inside track the pivot point should be
moved aft on the ANTS navigator and vice versa.
2.5.3 Save settings

After the sea trial procedure, it is important to save the settings for
later use. This is done by turning off the autopilot as described in the
Quick reference, section 2.1.
In order to restore these settings later, in case of a malfunction, it is
necessary to make a backup copy of current settings. There are two
ways of doing this:
Doc. no.: CN-0193-C 20220554C
2-25
Internal backup
The internal backup is stored in the non-volatile memory of the
autopilot. How to make an internal backup is described in the Dockside
setup, paragraph 2.3.5.
External backup
The external backup is stored on a special backup diskette. How to
use this diskette is described in External parameter backup and restore,
section 5.2.
It is recommended to both make an internal backup and an external
backup after the sea trial procedure is finished.
2.5.4 Table of settings

The following table lists all possible settings, their range and initial
values. Space is provided to fill in the settings made before and after
the sea trial, and for adjustments at a later time.
Doc. no.: CN-0193-C 20220554C
Date
User setup
RUDD LIMIT
COMP DIFF
WAVE FILT
OFF-CRS L
COMPDIFF L
ADAPTION
!
Range (Step size)
Defaults
Before sea trials After sea trials
5 - 40 (1)
13
Depends on difference between main and monitor compasses
ON, OFF
OFF
3 - 55 (1)
10
1 - 25 (1)
10
ON, OFF
ON
Seatrial setup
SEA TRIAL
ACC LENGTH
TURN MODE
TURN ROT
TURN RAD
RUDD GAIN
ECON RUDD
TRACK RSP
TURN WARN
MIN RUDD
DEADBAND
INIT ANGLE
XTE FILTER
XTE DAMP
MIN RADIUS
Dockside setup
RUDD ANGLE
WATER LOG
WATER LOG FILTER
GROUND LOG
GROUND LOG FILTER
TURN ACKN
ALARM SOUND
BACKUP
RESTORE
Master setup
SRV SPEED
SHIP LWL
RUDD EFF
OPTIONS
50 - 995 (5)
ROT, RAD
5 - 90 (1)
0.1 - 9.9 (0.1)
0.1 - 5.0 (0.1)
50 - 100 (5)
1.0 - 50.0 (0.5)
5 - 500 (1)
0.0 - 5.0 (0.1)
0.2 - 3.4 (0.1)
1 - 60 (1)
1 - 120 (1)
0.1 - 5.0 (0.1)
0.1 - 2.0 (0.1)
To be 0000 after completed sea trials

xxx m
ROT
2 30/m
3 0.5nm
4 x.x /
50 %
5.0
90/m
0
0.5
8.0
10s
2.0
0.3nm
1
Shows rudder command and actual rudder angle

200
1.0-30.0
10.0s
200, NAV, VBW, VHW, VTG
NAV
1.0-30.0
10.0s
ON, OFF
OFF
ON, OFF
ON
START, DONE, FAILED
7 START
START, DONE, FAILED
7 START
200, NAV, VBW, VHW, VTG
5 - 99 (1)
10 - 999 (5)
LOW, MED, HIGH
0 - 65535 (1)
17kn
100m
HIGH
0
Service setup (to be used by authorized service personnel only)

NONE, APB, TNT
NAVIGATOR
NONE
45, 60, 70, 90
FU/A SCALE
45
ANLG, SOLN
RUDD COMM
ANLG
0.5-5.0
6
RUDD SCALE
1.0
NONE, HDT, RGC11
5
SER GYRO
NONE
ON, OFF
WAVE ADAPT
ON
50 - 500 (20)
WF FACTOR
200
0.1 - 15.0 (0.5)
RUDD FILT
0.3s
OFF, TSF, TSG, TSE, TSN
STRIPCHART
OFF
1 Defaults to 2x SHIP LWL
2 Appears if TURN MODE is ROT
3 Appears if TURN MODE is RAD
4 Default if parameter RUDD EFF is HIGH, 1.2; MED, 2.0; LOW, 2.8
5 Appears if serial gyro selected on switch setting
6 Appears if RUDD COMM is ANLG, otherwise always 1.0
7 Appears if in manual or standby mode
2-26
Doc. no.: CN-0193-C 20220554C
2.6
2-27
User Troubleshooting
2.6.1 Basic troubleshooting
Displays are blank and nothing works. This occurs when the
system has been shut down. It might also be due to power failure or a
non-complete installation.
1.
Make sure that the installation is complete..
2.
Press the AUTO ON button to turn on the system.
3.
Check that power is available on the Mains terminals in the
distribution unit. Then check the Mains fuses in the same unit
(See drawing inside the distribution unit).
The system will not shut down. Usually due to incorrect use of the
OFF button.
1.
Press down the small dome in the lower half of the OFF button.
Do not release until the displays are blanked.
The rotary knob does not work. Usually due to incorrect operation.
1.
Depress the wheel once before using it.
2.
Check that automatic steering has been enabled.
2.6.2 Failure messages and warnings

All possible alarm and failure messages are presented below together
with the suggested troubleshooting procedures. See Muting and
viewing alarms, page 2-3 if a recall of alarm handling is needed.
2.6.3 Control unit messages

COMMUNICATION
FAILURE
CPU INITIATING
PLEASE WAIT
The control panel has lost contact with the main computer. This
may indicate Main Computer malfunction, a broken communication
line, or malfunctioning communications hardware in the Control Unit.
1.
Switch to manual steering immediately. Shut down the system
and power up again as described in the Quick reference
(section 2.1).
2.
Proceed to the next step and wait for message CPU
INITIATING ....
The control panel is waiting for contact with the main computer.
This message appears whenever the system is powered up.
1.
Wait for approx. 60 seconds for the message to disappear and
the system to be ready.
2.
If the message remains, check if the Main Computer is turned
on and powered up.
a)
If no power; check the fuses and the Mains cables.
Doc. no.: CN-0193-C 20220554C
2-28
b)
If power is present; check the installation and connections

of the communication line and remote start.
If the problem arises on a secondary station (optional), check if the
problem is local, i.e. appears on the secondary station only. If so the
system is still operational, but without the secondary control unit.
2.6.4 Failure Messages

FAILURE:
WATER LOG
FAILURE:
GROUND LOG
Water log malfunction.

Ground log malfunction.
These indicate a malfunctioning log, or loss of communications.
1.
2.
3.
Note !
FAILURE:
NO NAVIGATOR
Check the log setup and the wiring to the Main Computer.
Check that dockside setup parameters WATER LOG or
GROUND LOG are set correctly.
Check log status and setup on navigator if failure during ANTS
navigator control (ref. paragraph 1.3.1 for details.
If LOG is set to 200, the alarm will sound if automatic steering

is entered at zero speed.
Navigator malfunction. This may indicate a navigator failure, or
broken communications. The system automatically switches to
automatic steering.
1.
Check the navigator operation and setup.
2.
If the failure remains, check wiring to the Main Computer.
Invalid data detected by the navigator. This usually reflects a

FAILURE:
INVALID NAV DATA temporary problem with your navigators position fixing system. The
system automatically switches to automatic steering.
1.
Check the navigator for a probable cause.
FAILURE:
WRONG NAV DATA
Wrong sentence structure from navigator. This indicates a

mismatch between the setup of the autopilot and that of the navigator.
The autopilot has refused to switch to navigator control.
1.
Check that the dockside setup parameter NAVIGATOR is
correctly set.
2.
Check the setup of the navigator.
FAILURE:
RUDDER FEEDBACK
No rudder feedback signal. This may indicate a malfunctioning

feedback, or loss of communications. For direct readout of feedback
signal ref. section 4.5, last page.
1.
Check the feedback unit and the cable connections at both ends.
2.
If the steering gear interface is by analogue output, check
settings in the Distribution Unit (ref. section 4.4)
Doc. no.: CN-0193-C 20220554C
FAILURE:
RUDDER RESPONSE
2-29
Rudder feedback signal is not responding to command. This

indicates a malfunctioning feedback or rudder command connection. It
might also result from a problem with the steering gear.
1.
Check the rudder response under manual control.
2.
Verify that the command arrows on the bargraph display
appears (not if D93 analogue output) when a rudder command is
given in AUTO.
3.
Check the distribution unit for possible failures as per below.
If rudder commands are given, check that the LEDs LD1
and LD2 are ON and that LD3 or LD4 lights up for PORT
and STBD rudder commands. If OK, check that LD5 is off.
When ON, an overload is present and the switching of the
solenoids will be disabled.
4.
5.
Check fuses F1 and F2 on the Solid state PCB.

Check the feedback unit, the transmission link and direction of
rudder movement in automatic steering.
If the failure remains, check the connection of the rudder
feedback in the distribution unit.
Malfunction of D93
Check that the 10V is present at the input terminals TB43/4 (Interconnection PCB)
Disconnect the analogue signal from the dual analogue PCB
(TB20, 1-2 and TB21, 1-2. If 10V is normal, the analogue
PCB must be replaced.
FAILURE:
MAIN COMPASS
Main compass failure . This indicates a malfunctioning course sensor,

or loss of communications.
1.
Check the course sensor and the cable connected to it.
2.
If the failure remains, check the compass setup on the control
unit (ref. paragraph 2.2.15).
FAILURE:
MONITOR COMPASS
Monitor compass failure . This indicates a malfunctioning course

sensor, or loss of communications.
1.
Check the course sensor and the cable connected to it.
2.
If the failure remains, check the compass setup on the control
unit (ref. paragraph 2.2.15).
Doc. no.: CN-0193-C 20220554C
2-30
2.6.5 Warning Messages

WARNING:
OFF COURSE
Course deviation too big. The reason may be wave disturbance, or

incorrect parameter settings. It may also indicate a failure in the
control system.
1.
Check that user setup parameter OFF-CRS L is set correctly.
2.
If the warning comes up regularly, it probably is caused by
waves...
a)
If you use the economy (ECON) mode, try precision
(PREC) mode.
b)
If user setup parameter WAVE FILT is ON, try OFF.
c)
If the warning is caused by poor steering it may be
required to perform a new seatrial setup of the autopilot
as described in Setting up the Autopilot (section 2.3).
WARNING:
COMPASS DIFF
Difference between main and monitor compasses too big. This

warning is often due to changes in magnetic deviation (if the monitor
compass is magnetic), or transient reading differences due to yawing.
1.
Check that user setup parameter COMPDIFF L is set
correctly (ref. to paragraph 2.3.3).
2.
If both heading sensors seem to function correctly, acknowledge
the suggested value of COMP DIFF by pressing INCREASE.
3.
A more serious cause to the warning is the failure of one of the
two compasses. Check the operation of both compasses.
WARNING:
RUDDER LIMIT
Rudder limit reached. This may be caused by wave disturbance,

erratic speed log, sharp turn in ANTS mode or improper parameter
settings. It may also indicate a failure in the control system.
1.
Check that user setup parameter RUDD LIMIT is set
correctly.
2.
If the warning appears in connection with an immediate turn; try
tuning the seatrial setup of parameters that determines the
turning performance, as described in Setting up the autopilot. An
increase of ACC LENGTH may solve the problem.
3.
If the warning comes up regularly, it probably is caused by
waves...
a)
If you use the precision (PREC) controller, try economy
(ECON).
b)
If user setup parameter WAVE FILT is OFF, try ON.
c)
If the warning is caused by poor steering it may be
required to perform a new seatrial setup of the autopilot
as described in Setting up the Autopilot (section 2.3).
WARNING:
SHARP TURN
Warning limit for sharp turn will be exceeded. The warning

sounds when turn rate speed is about to exceed TURN WARN
SRV SPEED.
Doc. no.: CN-0193-C 20220554C
2-31
1. Make sure that user setup parameter TURN WARN is set

correctly.
2. Reduce the speed or the turn rate setting, or increase the turn
radius setting.
WARNING:
NEW WAYPOINT
Warning for turn to new waypoint

Ship will turn as commanded by navigator in 30 seconds.
1. Switch to AUTO to override.
2. Set dockside setup parameter TURN ACKN to off to avoid
warning.
2.6.6 Control system performance

Reduced control system performance will sometimes lead to warnings
being issued. In that case try the corresponding advice given above. In
either case you might find a clue below.
The performance of the control system depends to a high degree on
the equipment connected to it. Prior to any tuning of the autopilot, the
quality of the following should be checked...
1. Compass accuracy and lag.
2. Speed log accuracy and reliability.
3. Rudder feedback accuracy (alignment and linkage) and possible
interference.
4. Speed and backlash of rudder.
2.6.7 Course keeper

Consider tuning seatrial setup parameters RUDD GAIN,
ECON RUDD, MIN RUDD and DEADBAND, and whether the wave
filter (user parameter WAVE FILT) should be enabled or disabled.
Too much rudder taking the sea state into account.
1.
In waves; try both with and without engaging the wave filter.
2.
Try reducing the RUDD GAIN, but keep the performance of the
course keeping in mind.
Too high rudder activity
1.
In waves; try both with and without engaging the wave filter.
2.
Try reducing the RUDD GAIN.
3.
Try increasing the DEADBAND.
Too much course deviation with respect to disturbing forces
1.
In waves; try turning off the wave filter.
2.
Try increasing the RUDD GAIN.
Slow course-deviation oscillations , not disturbance related
1.
Try reducing the DEADBAND.
Doc. no.: CN-0193-C 20220554C
2.
2-32
Try adjusting, most likely increasing, the MIN RUDD value.
Precision mode works, but not the economy mode . This is usually
due to the ECON RUDD setting.
1.
Try finding a better value for ECON RUDD, which is given as a
percentage of the precision mode gain.
2.
Try modifying MIN RUDD and DEADBAND to find settings that
work in both modes.
2.6.8 Turning performance

Consider tuning seatrial setup parameters ACC LENGTH,
TURN MODE and TURN aaa. Explanations are found in the Turning
procedures in Manoeuvring with the autopilot. In essence and
assuming that the turn rate or radius is reasonable...
Too much rudder and counter rudder results from ACC LENGTH
being too small.
Too little rudder and counter rudder is the result of a too large
ACC LENGTH value.
2.6.9 Navigator control

Parameter TRACK RSP determines the correctional effort made by
the cross-track controller. Its optimal setting will often depend on the
accuracy of the measured position, and on the filtering made within the
navigator.
Oscillating behavior is the result of a too-small TRACK RSP or too
heavy filtering within the navigator.
1. Check the navigators manual for the possibility of reducing the
time constant of the position filter.
2. Increase TRACK RSP.
Excessive correctional effort is the result of a too-small TRACK
RSP or interference on the position data.
1. Obtain a best-possible position fix.
2. Increase TRACK RSP.
Large cross-track errors result from a too-large TRACK RSP,
interference or erratic position data.
1. Obtain a best possible position fix.
2. Decrease TRACK RSP.
Bad timing of Wheel-Over and counter-rudder can result from a
noisy positional measurement, or more likely a permanent offset due to
antenna location. Ideally the reference point of the navigators position
should be the ships pivot point. That is, the point about which the
vessel seems to rotate when responding to the rudder. You may be
Doc. no.: CN-0193-C 20220554C
2-33
able to define the reference point when setting up your navigator.

Moving this point aft delays Wheel Over, and vice versa.
Doc. no.: CN-0193-C 20220554C
3
3.1
3-1
TECHNICAL SPECIFICATIONS
Control Unit
Dimensions:.......................................See Fig. 3-1
Weight:.............................................3.0 kg
Protection:.........................................IP43*
Ambient temperature, storage:....... ....25 - +70C
operation:.. 0 - +55C
Safe distance to magnetic comp.:... ....0.3m
Maximum current consumption :.... ....0.6A
Input signals:
Magnetic compass: ...........................sin/cos 2V, 2.5V ref.
(exitation by autopilot)
Fluxgate compass: .............................sin/cos 2V, 2.5V ref.
Gyro compass: ..................................See next page for Gyro
Interface PCB
Signal type
Optional hardware
Synchro 11,8V l/l 400Hz
Gyro Interface PCB
Synchro 50/115 l/l
Gyro Interface PCB
Step 6 step/degree
Gyro Interface PCB
Sin/cos
Not required
Output signals:
"ON/OFF" rudder command signals
10V analogue signal
* The IP code is an international code that deals with protection
against intrusion of particles and water. IP43 means that the unit is
protected against solid objects greater than 1.0 mm and against
spraying water from above up to 60 from vertical. Best protection is
obtained with the front mounted horizontally.
Doc. no.: CN-0193-C 20220554C
Fig. 3-1
AP9 Adaptive Control Unit - dimensions
3.2
AP9MKII Gyro Interface PCB

Input signals:
Synchro 1:1 (signal levels: See previous page)

Synchro 90:1 (signal levels: See previous
page)
Synchro 360:1 (signal levels: See previous
page)
Autopilot exitated synchro 1:1
Step voltage 6 step/deg, 24-70V
3-2
Doc. no.: CN-0193-C 20220554C
3.3
3-3
CD109 Course Detector

Dimensions:........................................... See Fig. 3-2
Weight:................................................. 0.3 kg
Protection:............................................. IP56
Ambient temperature,
storage:........... 40 - +85C
operation:...... 30 - +60C
Cable length: ......................................... 1 m
1000 (39.4")
120
33 (1.3")
60 (2.4")
120
120
35 (1.4")
min/max. 80-100 (3.2-4.3")
Fig. 3-2
CD109 Course detector
Doc. no.: CN-0193-C 20220554C
3.4
Main Computer
3.4.1 MC100 Main Computer
Dimensions:................................................ See Fig. 3-3.
Weight:...................................................... 13.0 kg
Protection: ................................................. IP22
Ambient temperature, storage:................... 25 - +70C
operation: ............. 0 - +55C
Safe distance to magnetic compass: ............ 1.5 m (5')
Main input voltage: ..................................... 24V DC +30/-25 %
Input signals:
- Speed log: NMEA VHW, VBW, VTG, 200 pulses/nm
- Serial gyro heading data:
NMEA HDT (3x/sec), VHW
Robertson RGC11 proprietary
- Navigator:
NMEA APB, TNT
- Compass heading:
NMEA HDT
Fig. 3-3
MC100 Main Computer - Dimensions
3-4
Doc. no.: CN-0193-C 20220554C

(Previous model)
Dimensions:.......................................See Fig. 3-3.
Weight:.............................................11.5 kg
Otherwise as for MC100
Fig. 3-4
MC9 Main Computer - Dimensions
Drw. no. N3-016885
3-5
Doc. no.: CN-0193-C 20220554C
3.5
3-6
Distribution Unit
Dimensions:.......................................See Fig. 3-5.
Weight:.............................................3.5 kg
Protection: ........................................IP22
Ambient temperature, storage:............25 - +70C
operation: ...0 - +55C
Safe distance to magnetic compass: ...1.5 m (5')
Main input voltage: ............................24V DC +30/-25 %
Alarm voltage : .................................24V DC 20 %
Input signals:
Rudder Feedback Unit: ......................3400Hz 20Hz/degree
Steering Lever
FU:
Current signal: 0.1-1.1mA
(45)
NFU :
Switch contacts
D90 Distribution Unit:
Solid state output: Switching low DC (19-40V) single channel
Solid state output: Switching high DC (110V) single channel
Solid state output: Switching high/low AC (110-220V) single
channel
Analogue output: Two independent channels with 10V
adjustable or 4-20mA output
Doc. no.: CN-0193-C 20220554C
Fig. 3-5
D9X Distribution Unit - Dimensions
3-7
Doc. no.: CN-0193-C 20220554C
3.6
3-8

Dimensions:............................. See Fig. 3-6.
Weight:................................... 2.8 kg
Protection:............................... IP56
Ambient temperature:.............. -10 - +55C
Operating voltage:.................... 24V DC +30/20%
(Frequency section 12-40V DC)
Voltage output:
Rudder indicator: 0-18V DC (9V as
midship reference)
Frequency output:
Autopilot feedback: 3400Hz
(midship ...reference).
Port: +20Hz/degree,
Stbd: -20Hz/degree
Rudder indicator capacity:........ 5 indicators in parallel
Rudder angle:
45 (Changeable to 60, 70 or
90)
Limit switches: ........................ Adjustable from 5 to 160
Fig. 3-6
RF14XU Rudder Feedback unit - dimensions
Doc. no.: CN-0193-C 20220554C
3.7
RF Standard Transmission Link
Fig. 3-7
RF Standard Transmission Link dimensions
3-9
Doc. no.: CN-0193-C 20220554C
3-10
Doc. no.: CN-0193-C 20220554C
4
4.1
4-1
INSTALLATION
General
Common sense and experience should be used when installing the
units, particular attention being given to the operator's need for ease of
access. To avoid Radio Frequency Interference the use of Shielded
cables and proper termination of the shield(s) must be observed.
For cable layout refer to the Cabling Diagram, drw. no. N3-016898.
4.1.1 Unpacking and handling

Care should be taken when unpacking and handling the equipment. A
visual inspection should be made to check that the equipment has not
been damaged during shipment and that all components and parts are
present according to the packing list.
4.2
Control Unit
The unit is built to standard DIN dimensions for console mounting.
Dimensions for the panel cut out are shown on Fig. 3-1. A fastening
device for console mounting and a bracket for panel mounting are
supplied with the equipment. The mounting bracket has four screw
holes for bulkhead mounting, and the Control Unit is fitted to the
bracket by two Allan screws (Fig. 4-2). A matching Allan wrench is
supplied.
It is important to locate the Control Unit
so that the viewing angle to the displays
are between 45 and 90 degrees in both
planes. When console mounting, locate
the control unit as near the front edge as
possible. This makes the reading of the
displays easier. Avoid direct sunlight on
the display.
Fig. 4-1
Control unit - panel mount
Doc. no.: CN-0193-C 20220554C
4-2
Fig. 4-2
Control unit - bracket mounting
Connector assemble
The cable conductors are connected to the connector block according
to the connection lists drw. no. N4-016896. The following tools are
required to crimp the connector pins and sockets to the individual cable
conductors:
Crimping tool : Amp 58495-1

Extraction tool: Amp 725840
Note !
Do not use other tools than those specified!

For protection against electro magnetic interference, all control unit
connectors must be fitted with the supplied metal shell and cover. In
addition, the cable for J1, J2 and J3 must be fitted with the supplied
ferrite cores.
Strip about 1 cm (0.4") of the cable's insulation and pull the screen
backwards to cover the insulation. Screw the connector block onto the
actual control unit socket. Screw the connector shell onto the
Doc. no.: CN-0193-C 20220554C
4-3
connector block. Fix the cable screen to the shell by a wire strap and
tighten well to make sure the screen has good contact. Apply a thin
layer of copa slip on the shell threads. Screw the cover onto the shell
until it makes good connection with the control unit cabinet. Fasten the
ferrite core as close to the connector cover as possible by a wire strip
(Only for J1, J2 and J3 cables).
The control unit has a ground terminal and must have a proper ground
connection to the hull. The grounding wire should be as short as
possible and at least 10 mm wide.
Fig. 4-3
Control unit - connector assemble
Doc. no.: CN-0193-C 20220554C
4.3
4-4
Heading sensors
4.3.1 General
Note !
The heading sensor must be connected to the main Control Unit

(or Main Computer).
The autopilot is capable of reading most types of heading reference
sensors. These can be gyro compasses, magnetic compasses and
fluxgate compasses.
Combination of different sensors can be made, the maximum
configuration is: 2 magnetic compasses, 1 gyro compass (synchro), 1
gyro compass (stepper), 1 gyro compass (serial data) and 1 fluxgate
compass
Two gyros with the same type of output signal cannot be used
simultaneously, e.g. 2 synchros or 2 steppers or 2 serial.
When delivered from the factory, the autopilot is prepared for
magnetic compasses, fluxgate compass and gyro compass with
NMEA output. For connection to other types of gyros, the AP9MKII
Gyro Interface Board is required, and switches on the interface board
must be set to correct position. See page 4-5.
Desired steering compass and Off Course compass are selected by
means of the COMPASS SELECT button and the
INCREASE/DECREASE buttons on the front panel. See page 2-14.
4.3.2 Gyro Compass

The autopilot will normally interface to the repeater signals of a gyro
compass.
At delivery the system is prepared for connection to gyro compass
with serial output, magnetic compass and fluxgate compass.
When connected to Robertson (RGC) gyro compasses, an RGC
Interface Unit is standard scope of supply. The RGC11 model can,
however, be connected to the autopilot directly using proprietary serial
data (ref. paragraph 4.3.4).
When connecting to other types of gyro compasses, an extra circuit
board (AP9MKII Gyro Interface Board) must be mounted in the
Control Unit. This board is mounted to the Interface Board by means
of a 40 pins plug and 4 spacers. The spacers are already mounted on
the Gyro Interface Board which is plugged into the Interface Board
without screw connections. If the Autopilot is ordered for gyro
compass interface the Gyro Interface Board will be factory mounted
(the control unit serial number has an F identifier).
Further more, the Control Unit must be set up for the correct type of
gyro, correct phase- and reference voltage and whether gyro signal is
Doc. no.: CN-0193-C 20220554C
4-5
autopilot excitated or not. This is done by means of DIP switches (two

packages with 8 switches in each), mounted on the back side of the
Interface Board. Note that type of serial gyro is specified under the
Service setup, page 2-19.
To open the Control Unit, remove the four flat-head screws on the
backside, and gently pull the two halves apart. Be aware that the
internal PCBs are interconnected by plugs, thus care must be shown
when putting the two halves together again.
Initially check the position of SW1-7 and 8 (excitation) carefully.
These switches must be in OFF position prior to setting up the
interface and connecting the gyro compass.
Note !
All switches are factory set to OFF (0) position. Carefully check
whether an eventual 1:1 synchro is excited from the gyro or not.
SW1-7/8 must NOT be ON if the gyro provides excitation, or
damage of the Gyro Interface Board will occur.
If the synchro is "DEAD", switch on SW1-7/8. Appr. 15V, 400Hz
signal square wave signal will excite R1-R2 of the synchro.
Fig. 4-4
Control Unit Interface Board, switches
Make sure that the internal dip switches, SW1-2 are correctly set
according to the list below. The setting of SW2 only applies for
synchro input.
Doc. no.: CN-0193-C 20220554C
4-6
Gyro type selection

Stepper (6 steps/degree) 24, 35, 70V
Synchro 1:1, autopilot ref. volt.
Synchro 1:1, gyro ref. voltage
Synchro 90:1,
------- -------
8
0
1
0
0
7
0
1
0
0
6
0
0
0
0
SW1
5 4
0 0
1 0
1 0
0 1
Synchro 360:1
------- -------
Ref. voltage selection
2
1
0
0
0
1
1
1
1
1
3
1
2
1
1
1
8
1
7
1
6
1
SW2
5
4
1
1
50 - 60V ------- -------
0
0
1
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
0
0
26V
0
0
0
0
0
0
1
1
0
0
1
1
0
0
1
1
0
0
0
0
0
1
0
1
0
1
0
1
0
1
0
1
Ref. voltage from autopilot

150V ref. from gyrocompass
100V
------- ------------- -------
Phase voltage selection when

reference voltage is taken
from gyrocompass
110 - 115V
50 - 90V
20 - 24V
11.8V
Caution !
3
0
0
0
0
The switches SW1-7/8 must under no circumstance be set to ON

(1) if reference voltage is taken from the gyro compass.
Electrical connections
Connection of the different types of gyro compasses are shown in the
Cabling Diagram drw. no N3-016898 and the connection lists drw. no.
N4-016896.
Gyro compass with synchro output is connected to J2 of the Control
Unit.
Gyro compass with stepper output (24-70V DC) is connected to J3
and the connection is polarity independent.
Note !
Make sure that switches SW1 and SW2 are correctly set before
connecting the plug.
Gyro compass with serial output is connected to the Main Computer.
Doc. no.: CN-0193-C 20220554C
4-7
4.3.3 Magnetic compass

Before mounting the CD109 Course Detector make sure the compass
is compensated and located at a place free from vibration and
disturbing magnetic interference such as the engines, cables,
transmitter antennas or other electro magnetic objects. If not, heeling
error or northerly/southerly turning error may occur.
Heeling error
Heeling error may be observed when the boat is rolling and pitching,
causing an unstable compass card. This can be adjusted for by using a
"heeling magnet" placed vertically below or above the exact centre of
the compass. The magnet is normally placed with the red end up in the
Northern hemisphere and the blue end up in the Southern hemisphere.
The correct distance between magnet and compass can best be found
during sea trials. The heeling error can also be reduced by mounting
the compass close to the vessel's centre of roll and pitch.
Northerly/southerly turning error

Symptoms of northerly turning error are that the vessel is "S-ing" on
northerly headings when at high latitudes. The reason for this
phenomena is that the earth's magnetic fluxlines are parallel to the
earth's surface only at the equator, and thus no vertical magnetic
component exists. When moving further north from the equator, the
vertical component of the earth's magnetic field increases.
The directional reading from a magnetic compass is based upon the
horizontal component of the earth's magnetic field. This component
becomes smaller and smaller with increasing latitude, while the vertical
magnetic component increases. The resulting effect at high latitudes is
that magnetic compasses become sluggish and appear to be unstable.
These symptoms become more apparent as speed increases.
The same phenomena is experienced in the southern hemisphere, but
on southerly headings and is referred to as southerly turning error.
There is no patent cure for this problem, besides making a proper
installation and compensation of the compass.
Doc. no.: CN-0193-C 20220554C
4-8
CD109 Course Detector mounting
Fig. 4-5
CD109 Course detector - Mounting
The course detector is mounted on the ship's magnetic compass to
transmit a heading signal to the control unit. The mounting method will
depend upon the compass design. The distance between the course
detector and the compass card depends upon the magnetic momentum
of the compass card magnets. A distance of 70-90 mm for a magnetic
moment of 1500-2000 cgs is therefore recommended. If a nonRobertson supplied magnetic compass is used, it is advisable to consult
a qualified compass adjuster for mounting of the CD109.
For mounting instructions refer to Fig. 4-5. The course detector can be
attached to the compass either by a 6 mm screw to the bottom of the
compass bowl or by use of the tri-pod holder supplied with the course
detector.
The course detector is also supplied with cable (1m) feed and plug.
Socket and connector with bracket for extension cable are in the
standard scope of supply. The extension cable is optional equipment.
The compass should be checked for free movement in the gimbals
without stressing the detector cable.
The CD109 Course Detector is connected to J2 on the Control Unit,
and the connection is shown on connection list drw. no. N4-016896/1.
Doc. no.: CN-0193-C 20220554C
4-9
If the Course Detector is mounted up-side down on top of the

compass, the sine/cosine signal on J2 pin 10 and 11 must be
interchanged.
Magnetic Compass (CD109) adjustments

The CD109 Course Detector is normally mounted underneath the
magnetic compass.
To check and calibrate the course detector, do as follows:
a) Make sure that the CD109 is connected.
b) Power up the autopilot by pressing the AUTO ON button.
c) Press COMPASS SELECT to toggle between main and monitor
compass. Press INCREASE/DECREASE to select magnetic
compass.
d) The course display will now show the magnetic course from the
CD109.
e) Loosen the fixing screw and turn the CD109 until the correct
heading appear in the course display. Use a screw driver or similar
to deflect the compass to different headings and verify that the
CD109 will read the correct heading. Some minor deviation may
occur. Turn the Course Detector slightly to divide the error.
Doc. no.: CN-0193-C 20220554C
4-10
4.3.4 RGC Signal Interface Unit

(Part of Robertson RGC Gyro compass delivery)
The RGC Signal Interface Unit is designed to generate heading signals
of different formats when connected to either RGC50, RGC10 or
RGC11. The heading signal used by AP9 Adaptive is the sine/cosine
output, and the interconnection is shown in Fig. 4-6.
The unit comprises one PCB mounted in an aluminium box.
Further details, such as installation, technical specifications and
eventual adjustments are described in the RGC Interface addendum
in the RGC Gyrocompass manual.
RGC SIGNAL
INTERFACE UNIT
AUTOPILOT
CONTROL UNIT
TB4
J5
V/2
V/2
COS
COS
SIN
SIN
GND
13
GND
+12V
12
+12V
Fig. 4-6
Sine/cosine connection
RGC11
GYROCOMPASS
MAIN
COMPUTER
TB18
Lo R1
Lo
Hi
Hi
SERIAL I/P
R2
Fig. 4-7
Serial line connection
Doc. no.: CN-0193-C 20220554C
4.4
4-11
D90/D91/D92/D93 Distribution Unit

General
Depending on type of Distribution Unit, the solid state relays are
capable of operating solenoids for high and low DC or AC. Analogue
voltage or current signal is also available for steering gears control
systems that require analogue input signals.
The relation between type of Distribution Unit and control voltage is as
follows:
D90: Single relay output for low DC (19-40V)
D91: Single relay output for high DC (110V)
D92: Single relay output for AC (110-220V/50-60Hz)
D93: Dual analog voltage/current output (10V and 4-20mA)
When the Distribution Unit is supplied with additional outputs or
additional functions, this is indicated on the identification label on the
front.
Mounting
The unit has 4 screw holes for mounting, and should be placed as near
the Control Unit as practicable. It can also be mounted inside the
console.
Electrical connections
The DC unit has power input for 24V DC.
For AC mains connection an AC Adapter (not Simrad Robertson
supply) must be connected between the mains source and the
Distribution Unit.
For electrical connections refer to Cabling Diagram drw. N3-016898
and Connection List drw. no. N4-014896.
Terminate the feedback cable screen (cable no. 5) to ST6 on the
Screen termination board. Cable screen of cable no. 3 from the control
unit should be connected to the ST7 and the cable screen of cable no.
20 from the control unit should be connected to ST8.
Other cable screens are connected to ST1-ST5.
The distribution unit has an external ground terminal an must have a
proper ground connection to the hull. The grounding wire should be as
short as possible and at least 10 mm wide.
Adjustments
Normally no adjustment is necessary in the Distribution Unit.
However, if the unit includes the Dual Analogue Board (D93), the
board must be set up during installation in accordance with the set up
procedure below.
Doc. no.: CN-0193-C 20220554C
4-12
Analogue rudder signal (10V)

When using the analogue signal, normally 010V, the rudder response
is checked both for correct direction and deflection.
First make sure that the output from the Dual Analogue PCB matches
the required input signal for the rudder amplifier. To select and adjust
the output signal, refer to the following tables. The first table refers to
Dual Analogue PCB with revision up to Rev. C. The second table is
for Dual Analogue PCB with revision D and higher. The Dual
Analogue PCB has two identical channels. The components in one
channel are marked with numbers that differ by ten compared the
corresponding component in the other channel. E.g. SW1 and SW11
Note !
As the autopilot always needs a rudder feedback signal, make

sure the jumper switch S21 is set to pos. 0. (ref Fig. 4-8 or Fig.
4-9.
Note !
The voltage span and 4-20mA are adjusted with 10V output
from the Control Unit. The centre point (= midship rudder) is
adjusted with 0V output from the control unit.
Doc. no.: CN-0193-C 20220554C
4-13
S1, S2, S11, S12

Dual Analogue PCB up to Rev. C
Selection of input signal from bus or from
SW1/SW11
external input TB21
Signal
GAIN
010V
SW1/SW11
X Y (volt) i.e.:
12 6V
SW1/SW11
A)
4-(12)-20mA
SW1/SW11
B)
4-(12)-20mA
SW1/SW11
OFFSET
Remarks
RV5/RV15
Span adj.
RV3/RV13
(3V)
Required span set by

RV5/RV15 (4-10V).
Offset set by
RV3/RV13.
RV5/RV15
"Y" adj.
RV4/RV14
X adj.
Adjust "X" (i.e. +12V)

by RV4/ RV14 and the
voltage span (i.e. 6V)
by RV5/RV15
RV5/RV15
Fully CCW
5V
A) Measure voltage
on TB21 no. 1-2 and
set RV3/RV13 for 5V.
Continue with
adjustment B
RV5/RV15
Fully CCW
RV1/RV11
RV2-RV12
Adjust 4 mA by
RV1/RV11 and 20 mA
by RV2/RV12. Repeat
of adjustments may be
necessary
GAIN
OFFSET
Remarks
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Dual Analogue PCB Rev. D

SW1/SW11
(centre point)
Signal
SW1/SW11
010V
RV5/RV15
Span adj.
RV3/RV13
(3V)
Required span set by

RV5/RV15 (4-10V).
Offset set by
RV3/RV13.
SW1/SW11
X Y (volt)
i.e.: 12 6V
RV5/RV15
"Y" adj.
RV4/RV14
X adj.
Adjust "X" (i.e. +12V)

by RV4/RV14 and the
voltage span (i.e.
6V) by RV5/RV15
SW1/SW11
A)
4-(12)-20mA
RV5/RV15
Fully CCW
RV3/RV13
A) Measure voltage
on TB21 no. 1-2 and
set RV3/RV13 for
0.0V. Continue with
adjustment B
SW1/SW11
B)
4-(12)-20mA
RV5/RV15
Fully CCW
RV4-RV14
RV1/RV11
Adjust centre point to

12 mA by RV4/RV14
and 4-20 mA span by
RV1/RV11. Repeat of
adjustment may be
necessary
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Doc. no.: CN-0193-C 20220554C
4-14
RV1, RV11
(Channel 1 and 2)
40mA output adjust
S21, S22
Pos. 0:
Rudder feedback
signal to autopilot
Pos. 1:
10kHz signal to
autopilot (not used)
RV2, RV12
(Channel 1 and 2)
40mA output adjust
RV5, RV15
(Channel 1 and 2)
Gain reduction on
input signal
SW1, SW11
(Channel 1 and 2)
Selection of output
signal
RV3, RV13
(Channel 1 and 2)
Input offset adjust
RV4, RV14
(Channel 1 and 2)
Output offset adjust
Fig. 4-8
D9X Dual Analogue Board, component layout (Rev. -C)
Legend:
S1, S2,
S11, S12
S21, S22
Pos. 1
Pos. 0
Doc. no.: CN-0193-C 20220554C
4-15
S21, S22
Pos. 0: Rudder feedback signal to autopilot
Pos. 1: 10kHz signal to autopilot
RV3, RV13
(Channel 1 and 2)
Input offset adjust
S1, S2,
S11, S12
Selection of input
signal from bus or
from external
input TB21
RV5, RV15
(Channel 1 and 2)
Gain reduction on
input signal
RV1, RV11
(Channel 1 and 2)
40mA output adjust
RV4, RV14
(Channel 1 and 2)
Output offset adjust
SW1, SW11
(Channel 1 and 2)
Selection of output
signal
Fig. 4-9
D9X Dual Analogue Board, component layout (Rev. D - )
Legend:
S1, S2,
S11, S12
S21, S22
Pos. 1
Pos. 0
Doc. no.: CN-0193-C 20220554C
4-16
No strap connections:
Safe relay controlled by autopilot
Connection between S1 and S2: Safe relay controlled by
NFU-handle and autopilot
Connection between S2 and S3: Safe relay ON
LD1
Power ON
LD5
Current limiter
ON
LD3
Starboard
command
LD2
Safe relay
ON
LD4
Port
command
Current
protection limit
F1, F2
Fuses 1A Quick for
110VAC and
220VAC.
4A for 24VDC
S4-S6
NFU
priority
Fig. 4-10
D9X Solid State Board, component layout
Doc. no.: CN-0193-C 20220554C
4.5
4-17

Mechanical mounting
Before installation check that the alignment mark on the mounting plate
agrees with the mark on the shaft. Bring the rudder to amidships
position. The feedback unit should be mounted on a plane surface and
secured by bolts through the three holes in the mounting plate. It should
be linked to the rudder in accordance with Fig. 4-11. It is important
that the linkage is linear, i.e. the A-a and D-d are pairs of equal length.
This will give a ratio 1:1 between the rudder angle and that of the
feedback unit shaft.
Note !
If the RF14XU is mounted with the shaft pointing upwards, the

yellow and the blue lead to the potentiometer inside must be
interchanged (See Fig. 4-13)
Fig. 4-11.
RF14XU - Mounting
Electrical installation
The cables are carried through cable glands. If required, to avoid any
mechanical damage, the cables should be run in a conduit between the
rudder feedback unit and the Distribution unit or rudder angle indicator.
Electrical connection is shown in the cabling diagram and the
Connection list. The cable screen must be connected to the internal
ground terminal. Ref. Fig. 4-12.
Doc. no.: CN-0193-C 20220554C
4-18
The feedback unit has an external ground terminal an must have a

proper ground connection to the hull. The grounding wire should be as
short as possible and at least 10 mm wide.
The RF14XU is divided into two sections. One section applies
feedback signal to the rudder angle indicator, and the other applies
feedback signal to the autopilot. The RF14XU must always be
powered with 15V from the D9X (normally via the SSB PCB). If a
rudder angle indicator is connected, the indicator section of RF14XU
must be powered from the rudder angle indicator supply.
Note !
If RF14XU is connected to rudder angle indicators, and the

indicators are powered from an unfiltered 24V supply, the
enclosed 470uF capacitor should be connected across the
supply. Without the capacitor, a deviation may occur between
the autopilot feedback midposition reference and that of the
rudder angle indicator(s).
Cable screen
Fig. 4-12
Cable screen termination
Scaling of rudder angle

The RF14XU is normally delivered for 45 degrees rudder angle
(violet, brown and pink leads are not connected). For 60 degrees,
connect brown lead to terminal 10, for 70 degrees, connect pink to
terminal 10 and for 90 degrees, connect the violet lead to terminal 10.
White lead must remain connected. To invert the indicator deflection,
the brown lead to terminal 8 of the RF14XU terminal board must be
connected to terminal 9. See Fig. 4-13.
Doc. no.: CN-0193-C 20220554C
Fig. 4-13. RF14XU

Internal wiring
4-19
Doc. no.: CN-0193-C 20220554C
4-20
Final check
After installation, the cable glands must be sealed with silicon to
prevent water from seeping in. Also apply silicon grease to the gasket
between the bottom and top cover.
On the inside of the feedback unit cover, a piece of moisture protecting
sponge is attached. The sponge produces a corrosion preventive gas,
and to increase the efficiency of the gas the cover must be kept tight.
Adjustment
The Rudder Feedback Unit must be adjusted to centre position when
the rudder is in mid-position. To do this, use the following procedure:
a) Move the rudder to mid position.
a) Press INFO until DOCKSIDE SETUP PRESS PASSWORD is
displayed in the DOCKSIDE panel. Press INCREASE and
DECREASE simultaneously to open the DOCKSIDE panel, and
continue by pressing INFO until the following parameter display
appears:
DOCKSIDE SETUP
RUDD ANGLE x.x
The rudder angle is shown in degrees, = port.
b) Adjust for approx. zero rudder angle (less than 0.6 degrees) by
turning the shaft of the feedback unit after it has been loosened
from the lever. You can also use a Digital Multimeter with
frequency reading and measure between and X and adjust shaft
position to read 3400Hz in midposition. Secure the lever after
completion of adjustment.
c) Turn the rudder to 5 starboard and check that the information
display reads 5.0. Then turn the rudder to 5 port and check that
the display reads 5.0.
Normal operation of the autopilot is restored by pressing CLEAR.
Doc. no.: CN-0193-C 20220554C
4.6
4-21
MC100 Main Computer

The Main Computer must be mounted horizontally on the shock
absorber frame. It is fastened by 8 screws through 8 mm holes (Fig.
3-3).
Internal cables
All internal signal connections between the units are made by cables
with plugs in both ends. The plugs can not be incorrect installed
assuming that the markings on both cables and units are followed.
External cabling
All external interfacing from Nav./reference systems to the Main
Computer connects only to the Interface section. The Interface section
is separated from the rest of the Main Computer by releasing the 2
screws in the Interface section, disconnect the plugs on the
interconnection cables and pull the Main Computer handles. See Fig.
4-14
Interface section
Interface board
Interconnection cables
Fig. 4-14
Accessing the Interface board
Make sure that the Main Computer has a proper ground connection to
the hull.
Shielded cables should be used for all interfacing to the system. Strip
about 1 cm (0.4) of the cables insulation. Position the straps as
shown and tighten well to make sure the screen has good contact.
Leave sufficient free wires so that the plug-in terminals can be easily
connected/ disconnected.
Doc. no.: CN-0193-C 20220554C
4-22
Pull out each terminal before connecting the wires. Remove all stands
before remounting the Main Computer.
Channel 1
Channel 8
Fig. 4-15
Main Computer Interface Board, Component layout
The Main Computer Interface board has terminal connections for
Mains, speed log (pulse) and 8 identical communication channels. Each
channel is designated in the software to specific type of equipment.
Channel
Input data
Output data
1 (TB8):
Main control unit
Main control unit
2 (TB11):
Optional
Optional
3 (TB12):
Optional
Optional
4 (TB13):
Navigator / ECDIS
Navigator / ECDIS
5 (TB16):
Speed log (NMEA format)
Spare
6 (TB17):
Spare
Heading (NMEA format)
7 (TB18):
Gyro compass (serial)
Optional info display
8 (TB19):
Optional
Debug data
Doc. no.: CN-0193-C 20220554C
4-23
Each channel has a jumper switch for selection between different input
signal formats:
Note !
Position Norm:
RS-232 and NMEA

0183 format
Position Cl:
5-20mA current
loop
Position CL must be used on channel

1-3 to the control unit(s).
A light emitting diode (LED) flickers when
signals are received. Input signal polarity is
correct when the LED is off the major part of
time.
Fig. 4-16
Main Computer
Interface Board
Channel 1,
component layout
Refer to Fig. 4-17.
A speed log with pulse signal is connected to TB3 (Terminal 1 is ,
terminal 2 is +). If the log input is provided by contacts opening and
closing, the jumper switches S1 and S2 must be set to position 1-2.
With pulse input from the log, switches S1 and S2 must be set to
position 2-3.
The purpose of the three diodes in the lower left corner of the board is
as follows:
D26: Lights if the main fuse is broken.
D10 and D11 are connected to the Test Port TB5. This port is used
for checking signal polarity. If a positive signal is connected to TB5 +,
and a negative to TB5 , the green LED D11 will light. If the signals
are interchanged, the red LED D10 will light.
Main supply shall be connected to the terminal marked 24V MAINS.
The terminals 24V BAT, ALARM WATCHDOG, ALARM
SYSTEM and KEYBOARD CONTROLLER are normally not used.
Doc. no.: CN-0193-C 20220554C
4-24
Fuses
D26
D10
D11
Test port
S2
Log input (pulse)
S1
Fig. 4-17
Main Computer Interface Board,
component layout - left part
Doc. no.: CN-0193-C 20220554C
4.7
4-25
Mode Selection
Mode selection is normally incorporated in a centralized change-over
system and is connected to the D9X Distribution Unit as fixed level
signals according to Fig. 4-18.
Fig. 4-18
Mode selector
4.7.1 Mode selection options

It is possible to have a push to take command arrangement for mode
selection with pulsed level mode signals.
If NFU or FU-steering mode is an integral part of the autopilot system,
it is possible to arrange the mode lines for control of these modes.
Refer to appendix B or consult factory for information.
Note !
It is mandatory that the mode selection options are used in

accordance with the regulations from the flag authorities and
the classification societies.
Doc. no.: CN-0193-C 20220554C
4-26
Doc. no.: CN-0193-C 20220554C
5
5.1
5-1
MAINTENANCE
Upgrading the autopilot software
It is possible to upgrade the software of the Main Computer. The
procedure depends on whether it is an MC9 or an MC100 model. You
will receive the new software version on an upgrade diskette.
Note !
Make sure that the system software diskette and the back-up
diskette (ref. section 5.1.2) are not interchanged. Both are stored
inside the Main Computer top cover.

1. Press the OFF button on
the main control unit to
turn off the system.
2. Remove
the
diskette
station cover and insert the
upgrade diskette into the
MC100 diskette station.
3. Press the AUTO ON
button to restart the
system and wait for 2
minutes while the new
software is loaded. Alarm
COMMUNICATION
FAILURE will sound each
minute on the control unit.
Fig. 5-1
MC100 diskette station
4. Press the OFF button on

the main control unit to turn off the system.
5. Remove the upgrade diskette from the diskette station and let it
replace the previous system software diskette stored inside on the
MC100 cover.
6. Press the AUTO ON button to turn on the system using the new
software.
Doc. no.: CN-0193-C 20220554C
5-2

1. Press the OFF button on the main control unit to turn off the
system.
1. Remove the top cover
and
disable
MC9
watchdog by connecting
J7-2 with J3-2 on MC9
Power
Distribution
Board. Insert the upgrade
diskette into the MC9
diskette station.
2. Press the AUTO ON
button to restart the
system and wait for 2
minutes while the new
software is loaded. Alarm
COMMUNICATION
FAILURE will sound
each minute on the
control unit.
Fig. 5-2
MC9 diskette station
3. Press the OFF button on the main control unit to turn off the
system.
4. Remove the upgrade diskette from the diskette station. Enable
MC9 watchdog by removing the connection between J7-2 with J3-2
on MC9 Power Distribution Board. Replace the top cover.
Exchange the previous system software diskette with the new one
and store it in the pocket in the Instruction Manual.
5. Press the AUTO ON button to turn on the system using the new
software.
5.2
Parameter backup and restore

Prior to making an external backup it is recommended to make an
internal backup. This is described in the Dockside setup, paragraph
2.3.5.
It is possible to make a copy of the current state of the autopilot. It is
recommended that you do so at least once, in a situation where you
feel that the performance is good.
To back up the current state you need the special backup diskette.
You will need a new diskette for each backup you want to make. First
time the diskette is used it stores the parameters as a backup diskette.
Whenever it is used afterwards, it restores the configuration of the
parameters which are saved on the diskette.
Doc. no.: CN-0193-C 20220554C
5-3
Use the following procedure to make a backup or to restore it:

1. Insert the backup/restore diskette into the Main Computer diskette
station. Press the OFF button on the main control unit to turn off
the system. Let the system be turned off for at least 15 seconds.
2. Press the AUTO ON button to restart the system and wait for the
light on the diskette station to turn off. (This takes approximately 60
seconds)
3. Remove the upgrade diskette from the diskette station and press
the OFF button to turn off the system. Store the diskette inside the
Main Computer on the top cover.
4. Press AUTO ON to turn on the system.
5.3
Cleaning
5.3.1 Control Unit
Use only a clean damp cloth to clean the Control Unit. Use no
chemical liquids, thinner or alcohol.

The Main Computer has a cooling fan on the left side. The fan should
be inspected every 2 month and cleaned when necessary. If the unit is
mounted in an area with much dust an impurities in the air, this may
require shorter intervals between each inspection.
1. Remove the fan cover. The cover is snapped on the fan, and should
be released by using the
finger tips.
2. Remove the metallic
filter from the inside of
the fan cover.
3. Clean the filter with
compressed air and
reposition it in the fan
cover.
4. Snap the fan cover to the
fan.
Doc. no.: CN-0193-C 20220554C
5-4
Doc. no.: CN-0193-C 20220554C
6
6.1
SPARE PARTS
Control Unit
20168837
20168860
20168936
20168902
20120994
20169330
20168928
20168894
20168274
20168290
20168258
20168431
20168746
20120622
20168399
20120630
20120580
20120556
20120564
44149508
20168357
20168431
6.2
AP9 Adaptive Control Unit with accessories

AP2000 Track Pilot Control Unit with
accessories
AP9 Adaptive Control Unit
AP2000 Track Pilot Control Unit
Accessories
EMC kit type 9
AP9 Adaptive front housing assy
AP2000 Track Pilot front housing assy
Front PCB assy
Interface PCB assy
Display PCB assy
EPROM, programmed (IC2)
Front panel (keypad)
Gasket for AMP connector block (J1-5)
Back cabinet
Gasket for cabinet
Rotary course selector knob (assembled)
Course selector tooth wheel
Return spring
C-spring A6x0.7 A2
Glass, Course display
Glass, Info-display
D9X Distribution unit

20125001
20125407
20125704
20126009
20126611
20125027
20125175
20125423
20125720
44155232
D90 Distribution Unit (19-40V DC, 3A)

D91 Distribution Unit (110V DC, 1A)
D92 Distribution Unit(110/220V AC, 1A)
D93 Distribution Unit
D9X Power Supply Board
D9X Interconnection Board
D9X Solid State Board 24V DC
D9X Solid State Board 110V DC
D9X Solid State Board 220V AC
Solid state relay 24V DC (D90)
6-1
Doc. no.: CN-0193-C 20220554C
44155265
44155240
44154417
44103679
20126678
20123253
6.3
MC100 Main Computer

20169421
20169439
26044768
26044859
26044867
26041459
20169462
20169470
44140382
44163962
44140630
44138923
20169447
26044784
25006982
26044834
44140127
20169520
20169538
6.4
Solid state relay 110V DC (D91)

Solid state relay 220V AC (D92)
Fuse 2.5A 5x20mm quick
Fuse 5A 5x20mm quick
D9X Dual Analogue Board
D9X/S Relay Assy
MC100 Main Computer with accessories

MC100 Central Processing Unit (CPU)
Power Distribution PCB assy
DC-DC PCB assy 5V
DC-DC PCB assy 12V
Serial Interface PCB
PC Flash Card 2MB
PC Card Adapter ISA
Fan 60x60x25
Fan 80x80x25
Filter array 80x80
Floppy Drive 3,5 1,44MB
MC100 Interface Unit
Interface PCB assy
Interface signal cable
Interface power cable
Fuse 5x20mm 6.3A quick, 250V
MC100 Back-up diskette
MC100 System diskette
MC9 Main Computer

20168845
20168878
26044768
26044859
26044867
44162766
44140382
44138923
26044800
MC9 Main Computer with accessories

MC9 Central Processing Unit (CPU)
Power Distribution PCB assy
DC-DC PCB assy 5V
DC-DC PCB assy 12V
PC Flash disk ISA 4MB
Fan 60x60x25
Floppy Drive 3,5 1,44MB
MC9 Interface Unit
6-2
Doc. no.: CN-0193-C 20220554C
26044826
26044834
26044784
20169454
20169280
6.5
Interface signal cable

Interface power cable
MC9 Interface PCB assy
MC9 Back-up diskette
MC9 System diskette

20120861
20120721
20331997
44112126
44107217
20120739
44112134
20120853
44106862
44150647
44151066
44149011
44149102
44108199
1
2
3
4
5
6
7
8
9
10
11
CD109 Course Detector with holder

Holder for Course Detector
Connector block AMP NO 206044-1
Cable clamp AMP NO 206070-1
Cable with plug
Pin contact AMP NO 163090-0
Plug with bracket for extension cable
Socket contact AMP NO 163088-2
Washer
Screw M6x30
Washer M3
Screw M3x8
Cable clamp
6-3
Doc. no.: CN-0193-C 20220554C
6.6

22501647
22501654
22504005
44132306
22500300
22500458
22501605
44105120
44105146
44118388
44132033
22500284
22500276
1
2
3
4
5
6
7
8

w/transmission link
Transmission Link
Ball joint
Shaft coupling
Gasket
Electronic XU drive module
Actuator
Limit switch
Potentiometer 5 Kohm
Corrosion inhibitor sponge
Activator block
Activator disc
Fig. 6-1
RF14XU - Spare parts
6-4
Doc. no.: CN-0193-C 20220554C
6.7
RF Standard Transmission link

22504005
44132306
44132322
44150225
22504021
44152676
44151967
22504054
1
2
3
4
5
6
7
Transmission link complete

Ball joint, 8 mm stainless
Transmission rod M8x300 mm
Lock nut M8 (Hex)
Transmission lever 12 mm
Socket set screw M6x10
Washer M8
Joint nut M8 (Hex)
Fig. 6-2
RF Standard Transmission link
Drw. no. 50400
6-5
Doc. no.: CN-0193-C 20220554C
6-6
Doc. no.: CN-0193-C 20220554C
DRAWINGS
Cabling diagram (D90-D92 Distribution Unit) ............. N3-016898
(page 1)
Cabling diagram (D93 Distribution Unit)..................... N3-016898
(page 2)
Cable specification list
.......................................... N4-016897
Connection list.......................................................... N4-016896

(page 1-7)
D9X Power Supply ................................................... N3-012812
D9X Interconnection Board....................................... N2-012813
D9X Solid State Board.............................................. N1-012815
D9X Dual Analogue Board ....................................... N1-012816
D9X Thruster Interface Board .................................. N1-012818
D9X/S Series Distribution Units................................. N4-012809
MC9/MC100 Interface Board ................................... N2-604478
(page 2-4)
7-1
Doc. no.: CN-0193-C 20220554C
Cabling diagram (D90-D92 Distribution Unit)

N3-016898A (page 1)
7-2
Doc. no.: CN-0193-C 20220554C
Cabling diagram (D93 Distribution Unit)

N3-016898A (page 2)
7-3
Doc. no.: CN-0193-C 20220554C
Cable specification list

N4-016897
7-4
Doc. no.: CN-0193-C 20220554C
Connection list
N4-016896B (page 1 of 7)
7-5
Doc. no.: CN-0193-C 20220554C
Connection list
N4-016896C (page 2 of 7)
7-6
Doc. no.: CN-0193-C 20220554C
Connection list
N4-016896B (page 3 of 7)
7-7
Doc. no.: CN-0193-C 20220554C
Connection list
N4-016896 (page 4 of 7)
7-8
Doc. no.: CN-0193-C 20220554C
Connection list
N4-016896 (page 5 of 7)
7-9
Doc. no.: CN-0193-C 20220554C
Connection list
N4-016896A (page 6 of 7)
7-10
Doc. no.: CN-0193-C 20220554C
Connection list
N4-016896C (page 7 of 7)
7-11
Doc. no.: CN-0193-C 20220554C
7-12
A-1
Doc. no.: CN-0193-C 20220554C
APPENDIX A
D93 with four 10V analogue output signals
This function is achieved by using two Dual Analogue PCB's, each
providing two galvanic isolated 10V signals.
In order to provide four "change-over" signals for the propulsion
equipment, an extra relay module has been mounted in the D93 unit.
The relays are energized via the "Auto-on" signal from the autopilot.
The schematic is shown on Fig. Appendix A -1.
9
BUS PLUG
D93/2-SR4
K1
K2
11
12
6 3
K3
5 4
12 9
PORT
AUTO MODE
ON/OFF
11 10 14 13
STBD
J5
CONTROL
UNIT
Fig. Appendix A -1
The relays K2 and K3 are energized via K1 whenever the autopilot is
put in the Automatic (Auto) mode. The closing contacts of K2 and K3
are connected to each propulsion gear Change-over input.
A simplified diagram is shown on Fig. Appendix A -2.
c/o
+/-10V
c/o
+/-10V
c/o
+/-10V
c/o
+/-10V
El. unit
El. unit
El. unit
El. unit
Fig. Appendix A -2
A-2
Doc.no.: CN-0193-C 20220554C
The interconnection between the control unit and the D93 unit is
shown on drw. no. N4-017086, and the connection between each
propulsion unit and the D93 is shown on Fig. Appendix A -3.
D93/2-SR4
Hi 1
Lo 2
10V
Hi
Lo
10V
TB21
c/o
Dual Analog
PCB 1
Hi 1
Lo 2
10V
Hi
Lo
10V
TB22
c/o
6
c/o
7
3
Relays
K2/K3
c/o
4
12
c/o
13
9
c/o
10
c/o
Hi 1
Lo 2
10V
Lo
Hi
10V
TB21
Dual Analog
PCB 2
Hi 1
Lo 2
c/o
10V
Lo
Hi
10V
TB22
Fig. Appendix A -3
For adjustment of Dual Analogue PCB see D90/D91/D92/D93
Distribution Unit paragraph 4.4.
Doc. no.: CN-0193-C 20220554C
B-1
APPENDIX B
Extended use of mode selection
Description
Each control unit has the following lines for mode selection:
Mode 1 (J1-1)
Mode 2 (J1-2)
Common (J1-13)
For the main control unit these lines are normally run to the D9X
Distribution Unit where the external mode control is connected.
The following modes can be selected by various combinations of signal
level on these lines:
STANDBY
MANUAL
MANUAL NFU
MANUAL FU
AUTO (Automatic steering)
Normally STANDBY and AUTO is used (ref. section 4
Installation).
If NFU or FU-steering mode is an integral part of the autopilot system,
it is possible to arrange the mode lines for absolute control of these
steering modes as shown in table below.
Fixed level truth table
Mode 1
Mode 2
Info display text
TB1-1 or J1-1
TB1-2 or J1-2
OPEN
OPEN
- - STANDBY - -
CLOSED
OPEN
- - MANUAL NFU - -
OPEN
CLOSED
- - MANUAL FU - -
CLOSED
CLOSED
------------
The mode selection signals can be either fixed or pulsed. Pulsed

level is used for push to take command arrangements which can be
the case if the Robertson FUA9X Follow-Up amplifier is used for main
steering. In this case the Mode 2 signal is used to toggle between
autopilot disabled (STANDBY) or steering (automatic or manual) via
the autopilot. When in automatic mode (started by push on AUTObutton) a pulse on the Mode 1 line will bring the autopilot back to
manual mode. The following table and state diagram show this.
B-2
Doc.no.: CN-0193-C 20220554C
Pulsed level table:

Initial
Mode 1
Mode 2
(TB1-1 or J1-1)
(TB1-2 or J1-2)
Action
Display text
before action
Display text after

action
OPEN
OPEN
AUTO PUSHED
- MANUAL -
---------(Auto)
OPEN
OPEN
M1 CLOSING
(min. 0,5sec)
---------(Auto)
- MANUAL -
OPEN
M2 CLOSED
No matter
- STANDBY -
Pulsed level state diagram

cl osing puls
M o de 1
e
ed
A UTO pu sh
- MANUAL -
d
se
lo
pen
2c
2o
Mode
M od
e2
---------(Auto)
os
e
d
Mo
- STANDBY (External)
Installation
The mode signal must be connected to either the D9X Distribution Unit
or J1 of main control unit (Ref. section 6.). Note that for remote
stations, the mode lines are used for station enabling only (ref.
Appendix C).
Fig B-1 and B2 show wiring examples for fixed and pulsed mode.
B-3
Doc. no.: CN-0193-C 20220554C
NFU - AUTO
FU - AUTO
D9X INTERCONNECTION PCB

TB1
TB1
Link
MODE 1
MODE 1
MODE 2
MODE 2
Link
NFU
AUTO
FU
TB3
5
AUTO
TB3
COMMON
MODE SELECTOR
COMMON
MODE SELECTOR
STANDBY - NFU - FU - AUTO
D1
D2
FU
AUTO
TB3
COMMON
NFU
OFF
TB1
MODE 1
MODE 2
D1=D2=IN4006 or similar
D9X INTERCONN. PCB
Fig. Appendix B -1
Mode Selector, fixed signal

TB1
MANUAL
STANDBY
MODE 1
MODE 2
TB3
COMMON
MODE SELECTOR
Fig. Appendix B -2 Mode selection, pulsed signal

Pulsed mode is an installation option set as follows:
Perform a Master reset and a Master setup (Refer to page 2-17) to
make the system adaption.
B-4
Doc.no.: CN-0193-C 20220554C
Set the software option code according to option in use.

MASTER SETUP:
OPTIONS
X
Fixes: 0
Pulsed: 1
Doc. no.: CN-0193-C 20220554/C
C-1
APPENDIX C
UX Converter Unit
In some occations it is required to use a separate potentiomenter for
sensing the rudder movement. When so, it is also necessary to convert
the potentiometer voltage signal to a frequency signal, identical to the
signal from our RF14XU. A separate box containing the electronic XU
module and two trimpotentiometers has therefore been made. The
trimmers are used to adjust the frequency signal for midship rudder
angle. The specification is 3400 Hz for midship rudder position,
20Hz/degree.
The electronic XU module is identical to the module used in the
RF14XU. The diagram and dimensions are shown below.
Note !
Install the unit as close to the ffedback potentiometer as

possible.
UX Converter unit - Dimensions
Robertson AP9 Adaptive

C-2Autopilot
UX Converter Unit Connections
For selection of rudder deflection, refer to Fig. 4-13.

Manual AP2000

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Doc. no.

2001 KONGSBERG MARITIME SHIP SYSTEMS AS

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

Reorganised section 2 Operation. New dimensional drawing of control unit. Due to

All references are independent of model name/number. Theory of traditional

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

GENERAL INFORMATION .................................................................................1-1

System description.......................................................................................... 1-1

Theory of operation ........................................................................................ 1-9

AUTOPILOT OPERATION ..................................................................................2-1

Control unit operation...................................................................................... 2-6

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

Preset panels ................................................................................... 2-9

Setting up the Autopilot ................................................................................. 2-15

Dockside preparations................................................................................... 2-21

Sea trial procedure ......................................................................... 2-23

User Troubleshooting.................................................................................... 2-27

AP9MKII Gyro Interface PCB ....................................................................... 3-2

CD109 Course Detector ................................................................................. 3-3

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

Main Computer .............................................................................................. 3-4

Distribution Unit ............................................................................................. 3-6

RF14XU Rudder Feedback Unit ...................................................................... 3-8

RF Standard Transmission Link....................................................................... 3-9

Control Unit ................................................................................................... 4-1

Heading sensors ............................................................................................. 4-4

D90/D91/D92/D93 Distribution Unit .............................................................. 4-11

RF14XU Rudder Feedback Unit .................................................................... 4-17

MC100 Main Computer ................................................................................ 4-21

Mode Selection............................................................................................. 4-25

Parameter backup and restore......................................................................... 5-2

D9X Distribution unit ...................................................................................... 6-1

MC100 Main Computer .................................................................................. 6-2

MC9 Main Computer...................................................................................... 6-2

CD109 Course Detector ................................................................................. 6-3

RF14XU Rudder Feedback Unit ...................................................................... 6-4

RF Standard Transmission link......................................................................... 6-5

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

APPENDIX B: Extended use of mode selection..................................................B-1

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

Fig. 1-1 Basic System

1.2.1 Control Unit

1.2.2 Main Computer

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C

1.2.3 Heading Sensors

THE GYRO MODULE CAN NOT ACCEPT

Fig. 1-2 Heading Sensors

Autopilot AP2000 Track Pilot

Doc. no.: CN-0193-C 20220554C