Robertson AP9 Mk3 Autopilot
5-66 20169223D
On course steering
When in open water, switch the autopilot for AUTO function.
Observe the rudder commands and rudder amount required to
maintain the selected heading. Minimize the Weather and Counter
Rudder as much as possible for optimum steering performance with
minimum rudder commands and rudder amount.
The counter rudder may eventually be set to OFF to observe the
effect of this parameter. The following figures show typical
relationship between Rudder - Counter Rudder/Course.
Rudder and Counter Rudder
Counter Rudder
HDG
Degrees
Heading
HDG
Degrees
Heading
Rudder, No Counter Rudder
Fig. 5-48
Rudder/Counter rudder - Course relationship
Minimum rudder function
Some vessels have a tendency of creating an "inactive" rudder, due to
hull construction, propeller whirls, loading and similar. The effect is
that the rudder must be deflected to a certain amount before the
vessel responds.
For rudder commands out of the "dead- zone", the response is
"normal".
To counteract for this effect, the "Minimum rudder" parameter is set
to the observed "dead-zone". The result is that the rudder will move
from midship position to set minimum by one rudder command, but
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