RGC11

INSTRUCTION MANUAL

Simrad RGC11Gyro Compass

Note!

Simrad AS makes every effort to ensure that the information contained within thisdocument is correct. However, our equipment is continuously being improved andupdated, so we cannot assume liability for any errors which may occur.

Warning!

The equipment to which this manual applies must only be used for the purpose for whichit was designed. Improper use or maintenance may cause damage to the equipment orinjury to personnel. The user must be familiar with the contents of the appropriatemanuals before attempting to operate or work on the equipment.Simrad AS disclaims any responsibility for damage or injury caused by improperinstallation, use or maintenance of the equipment.

Copyright

© 2002 Simrad ASThe information contained within this document remains the sole property of Simrad AS.No part of this document may be copied or reproduced in any form or by any means, andthe information contained within is not to be communicated to a third party, without theprior written consent of Simrad AS.

Instruction Manual

20220414A 1

Instruction Manual

This manual is intended as a reference guide for correctlyinstalling and maintaining the RGC11 Gyrocompass.

Please take time to read this manual to get a thoroughunderstanding of the gyrocompass.

Other documentation material that is provided with yoursystem includes a warranty card. This must be filled out bythe authorized dealer that performed the installation andmailed in to activate the warranty.

Simrad RGC11 Gyrocompass

2 20220414A

Document revisions

Rev Date Written by Checked by Approved by

- June 1995

A 08.01.02 AEET VP TR

Document history

Rev. – First edition.

A New layout. Modified text. Modifications to the following Circuitdiagrams and parts list: Servo Amplifier PCB, T/M PCB, PanelPCB, CPU PCB, CPU I/F PCB, Inverter PCB, Step AmplifierPCB, INV-OCT PCB and Spare Parts list. Gyro Repeaterdrawings included.

Instruction Manual

20220414A 3

Contents

1. INTRODUCTION ................................................................7

1.1. General............................................................................................................7

1.2. Configuration..................................................................................................7

1.3. Construction....................................................................................................7

1.3.1 Master compass ................................................................................8

1.3.2 Transmission unit ...........................................................................10

1.3.3 Repeater compass ...........................................................................10

2. OPERATION.....................................................................13

2.1. Master compass control panel ......................................................................13

2.2. Start, Running...............................................................................................16

2.2.1 Master Compass .............................................................................16

2.2.2 Transmission Unit and Repeater Compass.....................................17

2.2.3 Optional rectifier ............................................................................18

2.2.4 Caution in running..........................................................................18

2.2.5 Monitoring during voyage..............................................................19

2.2.6 Alarm..............................................................................................19

2.3. STOP ............................................................................................................19

2.3.1 Master compass ..............................................................................19

2.3.2 Transmission unit ...........................................................................19

2.3.3 Optional rectifier ............................................................................20

3. TECHNICAL SPECIFICATIONS .........................................23

3.1. Accuracy.......................................................................................................23

3.2. General specifications...................................................................................23

3.3. RS422 output (proprietary protocol) ............................................................24

4. INSTALLATION................................................................25

4.1. Caution in installation...................................................................................25

4.2. Installation notes...........................................................................................25

4.3. Notes when the Sensitive Element is assembled ..........................................26

4.4. Opening package of the Sensitive Element ..................................................26

4.5. Unpacking of Binnacle and assembling Sensitive Element to Binnacle ......27

4.6. Confirm after assembly.................................................................................28


4 20220414A

5. ADJUSTMENT ..................................................................33

5.1. Rgc11 Inverter unit “Blue mark”..................................................................33

5.1.1 Voltage adjustment (RV1)..............................................................33

5.1.2 Frequency adjustment (RV21) .......................................................33

5.2. Rgc10/11 Inverter assy (new common type) ................................................34

5.2.1 Voltage adjustment (RV1)..............................................................34

5.3. Servo amplifier (Figure 5-7).........................................................................34

5.3.1 Phase adjustment (R61)..................................................................34

5.3.2 Phase adjustment (R55)..................................................................35

5.3.3 Servo gain R21 ...............................................................................36

5.4. Panel (Figure 5-8) .........................................................................................36

5.4.1 Adjustment of latitude signal voltage (R46) ..................................365.4.2 Adjustment of illumination (R13, R15, R6)...................................37

5.5. I/F PCB (Figure 5-9).....................................................................................37

5.5.1 Tilt signal offset adjustment (R25).................................................37

5.5.2 Torquer signal offset adjustment (R40)..........................................38

5.6. CPU PCB (Figure 5-10)................................................................................39

5.7. Transmitter....................................................................................................39

5.7.1 Zero adjustment ..............................................................................40

5.7.2 Confirmation of the transmitter signal ...........................................41

5.7.3 Confirmation of the repeater rotating direction..............................41

5.8. Adjustment of Sensitive Element .................................................................43

5.8.1 Adjustment of horizontal ring level................................................44

5.8.2 Adjustment of gyro rotor level .......................................................44

5.8.3 Azimuth adjustment .......................................................................45

6. PRINCIPLES OF GYROCOMPASS......................................51

6.1. Rotation of Earth’s surface ...........................................................................51

6.2. Characteristics of Gyroscope........................................................................52

6.2.1 Gyroscope inertia............................................................................53

6.2.2 Precession .......................................................................................53

6.3. North-seeking action.....................................................................................54

6.3.1 Fundamental construction ..............................................................54

6.3.2 Oscillation in the direction of east and west (no damping motion)55

6.3.3 The inclination of the gyro .............................................................56

Instruction Manual

20220414A 5

6.3.4 Explanation by using the projecting method ..................................56

6.4. Damping action.............................................................................................57

6.5. Error Correction of Gyro Compass...............................................................58

6.5.1 Error Correction of Master Compass .............................................58

6.5.2 Error Correction of Repeater Compass ..........................................59

6.6. Latitude error, Speed error............................................................................59

6.6.1 Latitude error ..................................................................................59

6.6.2 Ship’s speed error ...........................................................................60

6.7. Other Errors ..................................................................................................61

6.7.1 Cardinal error..................................................................................61

6.7.2 Constant error .................................................................................62

6.7.3 Variable error..................................................................................62

6.7.4 Acceleration error ...........................................................................62

6.8. Outline Of Electric System (Refer to Figure 6-11) ......................................63

6.9. Each electric circuit (Refer to Fig. 9-6 ~ 9-15).............................................67

6.9.1 Servo amplifier (refer to circuit diagram) ......................................67

6.9.2 Transmission PCB (T/M PCB).......................................................73

6.9.3 CPU PCB........................................................................................74

6.9.4 I/F PCB...........................................................................................77

6.9.5 Panel PCB.......................................................................................78

6.9.6 Tilt meter buffer amplifier..............................................................80

6.9.7 CPU P/S Pan...................................................................................80

6.9.8 Inverter unit ....................................................................................81

6.9.9 Step amplifier PCB.........................................................................88

7. MAINTENANCE ................................................................91

7.1. General..........................................................................................................91

7.2. Routine Inspection ........................................................................................91

7.3. Periodical Inspection ....................................................................................92

8. TROUBLESHOOTING........................................................93

8.1. General..........................................................................................................93

8.2. Troubleshooting chart ...................................................................................93

9. PARTS LIST...................................................................111

9.1. GENERAL..................................................................................................111

9.2. The following drawings are included .........................................................111


6 20220414A

9.3. Requests or requisitions for replacement parts...........................................112

10. DRAWINGS ...................................................................159

Introduction

20220414A 7

1. INTRODUCTION

1.1. GeneralThe RGC11 Gyrocompass has been designated for medium and smallvessels to get higher accuracy and reliability. It is based on theTokimec ES series gyrocompass of which more than 20,000 setsalready have been installed.

RGC11 has a performance that complies with IMO A.424 (XI) andWheel Mark Specifications. The gyrocompass automatically corrects aspeed error by inputting the speed signal (200 pulses/NM) from theoutside unit.

It is also compact in size, easy to install and to operate. In addition itfeatures fewer failures and simple maintenance.

RGC11 basically consists of a master compass and a transmissionunit. Seven repeater circuits can be connected to the transmission unit.

1.2. ConfigurationThe Master Compass is supplied from the factory in two units, theMaster Compass harness and the gyrosphere (rotor). The rotor ismounted in the Master Compass harness during installation. This rotoris tuned to the Master Compass.

Transmission unit and repeaters with different mounting brackets mayalso be supplied. Item description is as follows:

Master Compass w/rotor: Simrad RGC11Transmission unit: Type TR-102-1Repeater: Type RP-41-1Repeater Mounting: Type MB-21-1Repeater Mounting: Type BB-21-1

One spare parts box is also supplied.

Dimensional drawings are shown in Chapter 10.

1.3. ConstructionThe construction of each unit is explained below. Refer to attacheddrawings in the end of this chapter.


8 20220414A

1.3.1 Master compass

The master compass is classified to three assemblies of a sensitiveelement, a binnacle and a case.

The sensitive element consists of a gyro rotor which is the mostimportant part of the gyrocompass and is located at the centre of theelement. Further it consists of a vertical ring which is supporting thegyro rotor with freedom around the vertical axis, a stabilizer whichgenerates the north-seeking action, and a horizontal ring whichsupports the vertical ring with freedom around the horizontal axis.

The gyro rotor is a rotating body, 110 mm in diameter and 60 mm inthickness. It is supported by very precise bearings at both ends in therotor case, and rotates at 12000 r.p.m. Special grease for lubricationprovides long service intervals. In order to minimize the gyro rotorvibration, precise balance adjustment has been made at the factory.

The gyro rotor is suspended from the vertical ring by a suspensionwire and the vertical axes located on top and bottom of the case aresupported by vertical bearings fixed to the vertical ring. The rotatingtorque produced by those bearings seriously affects the gyrocompassaccuracy. A special oil is used to lubricate these bearings. The upperend of the suspension wires can be adjusted. There is a window and alevel on the north side of the rotor case to observe the rotor rotationand to indicate the rotor inclination. The level is scaled in 2 minutesincrements.

On the west side of the rotor case the stopper for the rotor case verticalaxis and the damping weight for producing damping action is fixed.

On the south side of the rotor case and the vertical ring, the flexiblewires for the rotor power supply are mounted in the way that notorque about the vertical ring is transferred to the rotor case.

On the east side of the rotor case and the vertical ring, the pick-uptorquer is mounted.

The primary of the pick up is mounted on the rotor case and thesecondary is mounted on the vertical ring together with the phantomring and the horizontal ring to follow up to the rotor case.

Also, the application of direct current to the secondary coil allows therotor case to generate the torque around its vertical axis that isrequired to perform damping control or other necessary controls.

On the north side of the upper end of the vertical ring, theinclinometer and the inclinometer buffer amplifier are mounted.

The tilt meter detects an inclination angle around the vertical axis toconvert it into an electrical signal. This electrical signal is amplifiedthrough the ACC buffer amplifier.

The amplified signal is used for controls of various kinds such asdamping control.

Introduction

20220414A 9

There are stabilizers made of transparent plastic containers fixed onthe north and south sides of the vertical ring. The containers includethe special liquid having a heavy specific gravity, and both containersare connected with pipes.

The liquid flows to the lower side due to the inclination in thedirection of south and north and a weight difference is produced. Theweight difference produces the torque in proportion to the inclinationto generate the north-seeking action.

The horizontal axes are fixed on the east and west end of the verticalring and each axis is supported by the horizontal bearings of thehorizontal ring.

The rotating torque of these bearings greatly affects the gyrocompassaccuracy too, and the same special lubricating oil as for the verticalring is used. Flexible wires for the rotor power supply and the pick-upsignal are wired on the horizontal axis bearing part in the way that notorque about the horizontal axis is generated.

There is a transparent half sphere plastic vessel on the south side ofthe horizontal ring into which high velocity silicon oil is put duringinstallation. This generates a damping effect with the damping barmounted on the outer gimbal axis to damp vibration caused fromrolling and pitching of the ship.

The binnacle consists of a phantom ring that supports the sensitiveelement, a base plate that supports the phantom ring, shock absorbersand a base stand.

A large bearing on the centre of the base plate supports the phantomring, and slip rings are mounted on the lower side of the base plate tosupply power to the sensitive element.

The outer gimbal axis on the phantom ring supports the sensitiveelement assembly. On the lower side of the phantom ring, an azimuthgear is mounted, and a card is mounted on the upper side.

On the lubber line stand, standing beside the shock absorbers, a lubberline for reading azimuth and illumination lamp is mounted.

On the base plate, the Servo Amplifier PCB, the Interface PCB and aservomotor assembly with a gear train are mounted.

A transmitter assembly that outputs step-transmitting signals asheading information to the microcomputer is also mounted on theservomotor assembly.

The base plate is supported by four shock absorbers to protect thesensitive element parts on the shock absorbers from vibration andshock of the hull.

The base stand includes shock absorbers fixing, contains an inverter atthe bottom, and terminal blocks for external connections at the side.

Adjacent to the terminal block noise prevention filters are mounted.


10 20220414A

On top of the case assembly a glass window allows for observation ofthe compass card. The operation panel is located adjacent to thewindow.

The case assembly can be separated in a front portion and a rearportion, and general maintenance check can be made with only thefront portion opened.

The case can be opened by removing the knobs for the case fixing onthe mounting hole of the base stand, and fixing screws hidden underthe two rubber covers at the upper side.

1.3.2 Transmission unit

The transmission unit consists of a Step Amplifier PCB that buffersthe received grey code heading signal and provides seven fusedoutputs. The received grey code signals are corrected for speed andlatitude error in the CPU PCB.

On the front panel of the unit, the power switch, power on lamp, andfuses for power supply to the repeater circuits are arranged.

1.3.3 Repeater compass

The RP-41-1 repeater is designed for use together with a MB or BBbracket. Refer to Figure 10-25 and Figure 10-26. The compass scaleis marked in one-degree increments and heading resolution is 1/6degree (6 step/degree).

The 24V step motor is connected to the compass scale via a gear train.Synchronization is made by the adjustment knob located at the side ofthe repeater.

The MB type provides angular mounting of the repeater. The anglecan be adjusted for ease of readability. The Dimmer Unit is made as aseparate part, common for both the MB and BB mounting bracket. AnOFF/ON switch for repeater alignment (adjustment) is also includedon the Dimmer Unit.

The BB type provides mounting of the repeater for bearingmeasurement. Connection diagram is shown on Figure 10-23.

Dimensional drawing is shown on Figure 10-24.

Introduction

20220414A 11

Figure 1-1 Master Compass


12 20220414A

Running Lamp

Power Switch

Power Supply Fuse

Repeater Fuse

Filter Capacitor Step Amplifier PCB

Terminal Board Grounding Terminal

Figure 1-2 Transmission Unit

Operation

20220414A 13

2. OPERATION

2.1. Master compass control panelFor location of the various controls and details of the compass controlpanel section, refer to figure 2-1, Master Compass Operating Panel,found at the end of this chapter.

1. Power supply switch:

The Master Compass is switched "ON" and "OFF" by this switch.

2. Latitude corrector

The present latitude is set by this knob during start-up of the gyro.The dial is divided in two segments with zero latitude in themiddle, with North latitude from zero, increasing with CWdirection and South latitude from zero and CCW direction.

The setting is shown in the display when Latitude mode is selectedas indicated below by "Latitude display" example".

After setting the present latitude, press ENTER to enable theprocessor computation. Latitude changes are now automaticallycomputed by the processor, based on ships speed and heading.Corrections must be made by the and buttons, followed byENTER!

3. Speed corrector

The speed corrector knob has two functions. When set fully CCW,the speed is set for AUTOMATIC, using 200 pulses/nautical mileas control signal from the ship's log if connected.

When setting the knob to the ship's current speed, the automaticfunction is switched off and the gyrocompass is correctedmanually by the set speed.

Note! Allways set the speed corrector properly as the automatic latitudecorrection is controlled by the speed signal.4. Mode Switch

By pressing this switch, a number of information is called up in thedisplay. The information is shown in the following order:

1. Latitude

2. Master Compass heading

3. Repeater heading

4. Ships speed

5. Error codes


14 20220414A

When the latitude is displayed, a leading character indicating an"L", is shown either on the upper half of the display for northernlatitudes or on the lower half for southern latitudes.

Latitude display

Example:

NORTH LATITUDE SOUTH LATITUDE

Compass display

The compass heading display will show two different headings.When the dot is flashing, the readout is the same as the compasscard, and not compensated for speed/latitude. When the dot is notflashing, the heading readout is compensated for speed/heading,and is the same as any repeater heading (step repeaters arecalibrated to this heading)

Example:FLASHING DOT

Gyro heading (Repeater display)(Corrected for latitude/speed)

Compass Card heading(No correction)

NO FLASHING DOT

Ships speed display

The speed is displayed in knots with a leading symbol indicating aV on the lower half of the display.

Example:

Error Codes

Several error codes may be shown, indicating the following failures:

E-1 Abnormal control voltage

E-2 Abnormal rotor speed

E-3 Abnormal servo loop

E-4 Abnormal rotor level

E-5 No mains supply

Note! Alarm supply must be connected to have this read-out!

Operation

20220414A 15

Example:

ABNORMAL ROTOR LEVEL

5. Lamp Switch

By pressing this button, all indicator lamps, the display and thecompass card illumination lamps are switched ON and OFF.

6. Illumination switch

The indicator lamps, display and compensation card illuminationlamps are switched for "bright" or "dark" by pressing this switch.

7. Alarm light/buzzer stop switch

A gyro failure actuates both an audible and a visual alarm. Theaudible alarm, given by a buzzer, is cancelled by pressing theswitch, while the alarm light will stay on for as long as the failure ispresent.

8. "UP" and "DOWN" switches

These switches are used to set the latitude, longitude and also thegyro heading (during start-up, see Start Procedure)

Pressing decreases and pressing increases the numericalvalue.

Note! The switch functions will only be enabled when LATITUDE/LONGITUDE mode or MASTER COMPASS AZIMUTH mode isselected by the MODE switch (ref. to paragraph 4).9. "ENTER" switch

All values of the set latitude/longitude and speed are stored in theelectronic memory when pressing this switch.

10. Display

The following information are shown by the 7 segment, 4 digitsdisplay:

1. Latitude

2. Master Compass Heading

3. Repeater Compass Heading

4. Ship's speed

5. Error code

(Refer also to paragraph 4)


16 20220414A

11. Power supply indicator lamp

Indicates that the 24V DC Mains Power is present when the Powerswitch is "ON".

12. Rotor Running Lamp

When the lamp is "ON" it indicates that the gyro element rotor hasreached the normal speed.

13. Fast settling (short settlement state) mode indication lamp

This lamp indicates that the master compass is in the "ShortSettlement State". Note that the lamp will be switched on when thegyro compass is started, but the "Short Settlement State" is notcommenced before the "RUNNING" lamp comes on, approx. 5minutes after the gyrocompass is started.

14. Repeater power supply indicating lamp

Indicates that the power to the repeater transmission unit is presentwhen the gyrocompass is started.

2.2. Start, Running

2.2.1 Master Compass

1. Set the latitude correction knob to the present latitude.2. If an external speed input signal is present, make sure that the speed

setting knob has been turned fully counterclockwise (for automaticspeed correction).

3. Turn the power switch on.

4. The "START" and "FAST" indicating lamps comes on to indicatethat the start sequence is activated to initiate the north seekingfunction.

When the north seeking function is started with a heading errordeviating from the true bearing by 30 degrees or less at the latitudeof 35 degrees, the alignment sequence is as follows:

PS mode (4 seconds): Non-follow state.

LEVEL mode (Max. 6 minutes): Rotor is made level.

FS mode (Approximately 1.5 hours): Short period settlementmovement.

NAV mode: Normal navigation state.

The "RUNNING" indicator lamp comes on within 5 minutes afterthe "START" indicator lamp lights up, indicating that the gyro rotorhas reached the normal revolution.

Operation

20220414A 17

5. After the "START" indicator lamp comes on, confirm that themaster compass has been set to the latitude display mode (L isdisplayed on the first digit), and make fine adjustment of the setlatitude by using or switch. The latitude can be set up to 70degrees.

After setting the Latitude, press the "ENT" switch to complete thesetting. If you do not press this switch, the master compass willoperate on the value set prior to the new setting.

Note! If you do not press the "ENT" switch within 10 seconds after the newlatitude has been set, the value automatically returns to the one priorto the new setting.6. Select display function for Master Compass Heading mode (decimal

point begins to flash), by pressing the mode switch and set thecompass display heading to the value shown by the compass card byusing Up or Down ( or ) fine adjustment switches.

After setting the value, press the "ENT" switch to complete thesetting. If you do not press this switch, the master compass willoperate on the value set prior to the new setting.

Note! If you do not press the "ENT" switch within 10 seconds after the newlatitude has been set, the value automatically returns to the one priorto the new setting.

2.2.2 Transmission Unit and RepeaterCompass

Refer to Figure 2-2 at the end of this chapter to identify the controls ofthe transmission unit and repeaters.

1. After having completed the display setting for the master compassheading, verify that the "RUNNING" indicator lamp is on. If not,wait until the lamp comes on.

2. Then turn the transmission unit power supply switch to "ON", andverify that the "REPEATER" lamp on the master compass comeson.

3. To synchronize a repeater, turn the switch on the Dimmer Unit tothe OFF position. Push in and turn the adjustment knob on therepeater for correct heading. Release the adjustment knob and turnthe switch on the Dimmer Unit to the ON position.

4. Check the readings of the repeater and the master compass repeaterdisplay again. If there is any discrepancy between the readings,repeat the synchronization procedure.

Note! The gyro compass is settled for navigation use after about three hours.


18 20220414A

2.2.3 Optional rectifier

Turn on the optional rectifier unit before turning on the master compassand the transmission unit.

2.2.4 Caution in running

1. When the ship's speed signal is supplied from a speed log, thespeed/latitude error can be corrected for automatically.

It is, however, necessary to check the latitude at regular intervals. Ifthere is any discrepancy between the actual latitude of the ship andthe latitude set on the master compass, select the latitude displaymode by pressing the mode switch on the control panel of themaster compass and correct the present latitude by using the (Up) or (Down) switch. Do not forget to press the "ENT" switchafter the setting. and

Note! If manual correction of the latitude must be made, make sure that thecorrection is made before the latitude error exceeds 10 degrees, elsegyro error will be introduced.2. A gyro compass generates heading errors as a function of the ship's

speed. This gyro compass can automatically calculate the amount ofspeed error by using the ship's speed as an input signal from the log(200 pulses/mile), or by manual control. Corrected heading signalsare then transmitted to the repeaters.

At regular intervals, check that the ship's speed is correctlydisplayed at the master compass display. Press the mode switch toselect ship's speed and eventually correct the display readout byadjusting the "SPEED"-knob. The speed correction can be set to amaximum of 50 knots.

Note! When setting the speed correction manually, make sure that thecorrection is made before the difference between the set speedcorrection and the new speed exceeds 20 kts, else gyro error will beintroduced.

The amount of speed error can be obtained by the attached "Figure2-4 Speed Error Graph".

3. An error may be generated in the gyro compass if a sharp turn or arapid change of speed is made while the "FAST" indicator lamp islit. It is therefore recommended to wait until the "FAST" indicatorlamp is switched off before departing from port.

4. The gyro compass heading can be corrected any time. However,never forget to adjust the synchronization of each repeater readingafter a heading correction.

Operation

20220414A 19

2.2.5 Monitoring during voyage

The following points should be observed closely during transit voyage:

1. The "START" and "RUNNING" indicator lamps are on (lit).

2. The "REPEATER" indicator lamp is on (lit).

3. The "FAST" indicating lamp is off.

4. The "ALARM" indicating lamp is off

2.2.6 Alarm

If a failure occurs in the master compass, both the audible buzzer andthe visual alarm light will be activated.

If the alarm should be of instantaneous nature, both the audible andvisual alarm will be cancelled when pressing the "BUZZER STOP".

If the alarm light is still on after pressing the Buzzer Stop, select ErrorCodes by the Mode Switch. There are 5 different faults that may bedisplayed:

1. E-1 Abnormal control voltage

1. E-2 Abnormal rotor speed

2. E-3 Abnormal servo loop

3. E-4 Abnormal rotor level

4. E-5 No mains voltage supplied to the master compass (N+, N-)

Note! If an E5 alarm occurs, the back-up power operates the gyro. Checkthe mains power.If one failure leads to another failure, the fault code will include amaximum of three codes such as E423, where 4 is abnormal rotor level,2 is abnormal rotor speed (RPM) and 3 is abnormal servo loop.

If a failure occurs, try to switch the master compass off and on. If thefailure is still present, service is required.

2.3. STOP

2.3.1 Master compass

Turn the power supply switch in the master compass from "ON" to"OFF".

2.3.2 Transmission unit

Turn the switch in each repeater to "OFF" and the power supply switchin the transmission unit to "OFF".


20 20220414A

2.3.3 Optional rectifier

After confirming that the power supply switches in the master compassand the transmission unit are turned off, turn the power supply switch ofthe optional rectifier unit "OFF".

010

20

30

40

5060

70

1020

30

40

5060

70

S N OFF ON

POWERLATITUDESPEED

0

1020

30

40

50KTAUTO

ENT

MODE

START REPEATER

RUNNING FAST

LAMP DIM

ALARM

GYROCOMPASS

5 6 7 8 9 3 2 1

4101411

12

13

Master Compass Operating Panel

1. Power Supply Switch2. Latitude Corrector3. Speed Corrector4. Mode Switch5. Lamp Switch6. Illumination Switch7. Buzzer Stop Switch

8. Up Down Switch 9. Enter Switch10. Display11. Power Supply Indicator12. Rotor Running Indicator13. Fast Settling Mode Indicator14. Repeater Power Supply Indicator

Figure 2-1 Master Compass Operating Panel

Operation

20220414A 21

Running Lamp

Power Switch

Power Supply Fuse

Repeater Fuse

Figure 2-2 Operating Panel of Transmission Unit

Power Supply SwitchPower Supply Indicator

Figure 2-3 Operating Panel of Rectifier (Option)


22 20220414A

How to obtain speed errorSpeed error (example 1.15°) can be obtained at the point where thespeed error graduation line intersects with the line which is extendedfrom the ship’s speed (example 16 knots) across the intersection of theline between the course (example 30°) and latitude (example 40°) withthe slanted solid line.

Accordingly, the true bearing is 30°-1.15°=28.9°. (See notes)

30

28

26

24

22

20

18

16

14

12

10

8

6

4

2

0

90 80 70 60 50 40 30 20 10 3.8

3.6

3.4

3.2

3.0

2.8

2.6

2.4

2.2

2.0

1.8

1.6

1.4

1.2

1.0

0.8

0.6

0.4

0.2

0

0

Latitude (degrees)

Ship

's sp

eed

(kno

ts)

Spee

d er

ror (

degr

ees)

Ship's heading (degrees)

90 -

90

- 27

0 - 2

70

80 -

100

- 260

- 28

0

0 - 1

80 -

190

- 0

70 -

110

- 250

- 29

0

60 -

120

- 240

- 30

0

50 -

130

- 230

- 31

0

40 -

140

- 220

- 32

0

30 -

150

- 210

- 33

020

- 16

0 - 2

00 -

340

10 -

170

- 190

- 35

0

(+)

(+)

( )

( )

Figure 2-4 Speed Error Graph

Note! When the course is 270°~0°~90°, the true heading is the value of thecompass heading from which the speed error is subtracted.When the course is 90°~180°~270°, the true heading is the value ofthe compass heading to which the speed error is added.

Technical Specifications

20220414A 23

3. TECHNICAL SPECIFICATIONS

3.1. AccuracySettling time: .......................................Within 4 hours (at lat. 35°)

Settle point error:.................................±0.75º x sec. latitude

Standard deviation:..............................0.25º x sec. latitude

Repeatability: ......................................±0.25°x sec. latitude

Roll and pitch error: ............................±1.0° x sec. latitude

Accuracy for environmental change: ..±1.0° x sec. latitude

3.2. General specificationsRepeater type:......................................Step-motor type (24VDC 1 step

= 1/6°)

Number of connected repeaters:..........7 circuits

Follow up rate: ....................................24°/second

Angular freedom of gimbal:................±40° Both for roll and pitch

Latitude error correction: ....................Automatic 0° ∼ 70°Initial setting is required only atthe time of starting.

Speed error correction: ........................Automatic(When 200 pulse/mile isinputted)

.............................................................or manual0 ~ 50 KnotOnly the repeater compass iscorrected

Main power supply:.............................24VDC (for master compass)Starting condition 300 VANormal running 150 VA

.............................................................24VDC (for repeater compass)1A for each repeater compass

Voltage fluctuation:.............................+30% ~ -20%

Ambient temperature:..........................–10ºC ~ +50ºC


24 20220414A

3.3. RS422 output (proprietary protocol)Serial signal (one port, output only)

(1) Form: .............................................RS422

(2) Baud rate:.......................................9600 bits/second

(3) Format:

1. Data bits:.....................................8 bits ASCII (d7=0)

2. Start bits:.....................................1

3. Stop bits:.....................................1

4. Parity: .........................................None

(4) Output format:

STX K XXX.X , L XX.X ETX (02H) (0DH)

end text

knots

ship’s speed

degree

bearing

start text

(5) Data refresh rate: ...........................Every 1 sec. Excepting realtime transmission if bearingchange is occurred.

Installation

20220414A 25

4. INSTALLATION

4.1. Caution in installationThis gyrocompass shipped from the factory may consist of thefollowing units: base stand of the master compass, sensitive elementof the master compass, a spare part box and eventually a transmissionunit.

For each external dimension, refer for : Figure 10-1 “MasterCompass”, Figure 10-2 “Sensitive Element”, Figure 10-3“Transmission Unit” and Figure 10-4 “Spare Parts Box” respectively.

The sensitive element is shipped from the factory packed, separatelyfrom the binnacle, in foamed styrol packing material to protect it fromshock and vibration.

Note! Never throw away the packing case and the packing material of thesensitive element even after the installation. They may be used at thetime of periodical inspection or repair.Each item is marked as follows:

1. Type of the gyro

2. Number of repeater

3. With or without option

4. Input power supply

Make sure the number of the sensitive element sticked on the uppersurface of the master compass coincides with the number of thesensitive element that has been sent together with the master compass.

4.2. Installation notes1. Binnacle is to be mounted on a hardwood pad or on a steel plate

foundation.

2. Binnacle must be levelled and master compass is to be lined upaccurately with the fore and after centre line of ship.However, the switch panel should be located at the operator’s side.

3. Install the rectifier unit and the transmission unit at an appropriateplace so that they may be operated for starting or stopping theequipment.

4. Units should not be located at a place of high humidity and hightemperature, it is desirable to install them in a well ventilatedplace.

5. Be sure to install the recommended cables separated according tothe function of each cable, as shown in the inter unit wiringdiagram.


26 20220414A

6. Be sure to install all the equipment cables more than 5 m awayfrom radio equipment feeders.If impossible, install the cable as far from feeders as possible.

7. Unless otherwise designated, cable is not furnished with theequipment.

8. Connect terminals marked with to the ground terminals of theship.Shield end of shield cable is to be finished close to the terminalboard and connected to the ground terminals of the ship.

9. Since semiconductor elements are used in the equipment, do notuse a megger for any tests.

4.3. Notes when the Sensitive Element isassembled

After mounting the binnacle, it is necessary to mount the sensitiveelement in it. Installing of the sensitive element should be done in aplace free from dust and easy to work in.

Note! Special attention should be given to the following points whenassembling the sensitive element in the binnacle:

1. Never give any shock to the sensitive element.2. Never apply too much force to the flexible lead cable.3. Be sure to use tools that fit the parts.4. Never throw away the packing case and the packing material of

the sensitive element even after the installation. They may beused at the time of periodical inspection or repair.

4.4. Opening package of the Sensitive ElementRefer to Figure 4-1 “Packing of Sensitive Element” in the end of thischapter when opening the package.

1. Put the package case (made of foamed styrol) on the level placeand open the upper packing case.

2. The sensitive element is wrapped in a vinyl bag. Therefore,carefully remove the vinyl tapes to open the bag.

3. Take out the drying agent and damper oil enclosed together withthe sensitive element.

4. Take out the sensitive element holding its horizontal ring.

5. Remove the cardboard from the rotor level.

6. Remove the sponge from the pick up section.

Installation

20220414A 27

7. Remove the protection cover from the ball-bearing section of thehorizontal ring.

8. Remove the cover of the damper case.

9. Remove the spacer from between the lower part of the rotor caseand the vertical ring.

10. Inject damper oil into the damper case. After the injection, thesensitive element should not be inclined by an angle of 45 degreesor more.

11. After all the above procedures have been made, the sensitiveelement is ready to be mounted in the binnacle.

4.5. Unpacking of Binnacle and assemblingSensitive Element to Binnacle

Carry out the following procedures by referring to Figure 4-2 “Outlineof Master Compass” and Figure 4-3 “Package of Binnacle”.

1. Remove the two rubber covers from the upper surface of the casewith a small screwdriver, and fully unscrew the fixed screws underthe rubber covers.

2. Remove the two locking screws from the lower part of this side ofthe front case.

3. This allows you to open the front case, but don’t open it by forcebecause the harness is connected inside the case. If necessary, youcan also remove the ear case by removing the set screw from thelower part of the rear case and then removing the fixing screwinside.

4. Make sure the number of the sensitive element sticked on theshield case for CPU PCB in the front case coincides with thenumber of the sensitive element going to be mounted now.(ROM (U3) in the CPU PCB are for the corresponding sensitiveelement and a combination with different numbers cannotguarantee a correct performance of the gyrocompass.)

5. Cut off the band which fixes the phantom ring.(Note: Never cut off any bands other than specified, because theyare provided for clamping the harness.)

6. Remove the stopper which fixed the shock absorbing seat togetherwith the vinyl tape.

7. Remove the paper from around the phantom ring.

8. Remove the fixing screws from the two installing axes of thesensitive element (horizontal ring) which is mounted on thephantom ring.

9. Remove the damper bar which is attached to one axis with ascrewdriver.


28 20220414A

10. With the grease applied to the axes as it is, push out each of theaxes toward the exterior of the phantom ring until the edges of theaxes and the inside surface of the phantom ring coincide with oneanother.

11. In this condition, install the sensitive element.The sensitive element should be installed so that the damper casecomes to the south.

12. Rotate the axis on the south side a little, and insert to fix thedamper bar which was removed at step 9.

13. Rotate the axes so that the damper bar goes into the case verticallyand fix the north-south axis.

14. Install the cover on the damper case.

15. Connect the terminals of flexible lead cable coming from thehorizontal ring of the sensitive element to the terminal board in thenorth side of the phantom ring in the order the symbols appear.(Connection terminals no.: 8, 9,10, 5, 4, A, B and C).

16. Cut off the band which fixes the horizontal ring of the sensitiveelement(Note: Never cut off any bands other than specified because theyare provided for clamping the harness.)

17. Arrange the lead wires used for each moving part of the sensitiveelement so that they may not be twisted or crossed.

This completes the assembling of the sensitive element into thebinnacle.

4.6. Confirm after assemblyConfirm there is a small gap in N-S axis by moving the horizontal ringin the direction of N-S axis after assembly.

Confirm the horizontal ring does not touch surroundings by movingup and down, and the rotor by moving in the direction of N-S. Inaddition, rotate the vertical ring by 360° clockwise and counter-clockwise to confirm the ring does not touch surroundings.

After confirming that the rotor case moves freely, turn on the powerswitch for a few seconds to verify that the rotor rotates clockwisewhen viewed from the north side (the rotor level side). Afterconfirming the rotational direction of the gyro meter, turn on thepower switch again to confirm that each lamp works correctly andcheck that the servo system follows. After confirming all above,install the case.

Installation

20220414A 29

Figure 4-1 Package of the Sensitive Element


30 20220414A

Figure 4-2 Outline of Master Compass

Installation

20220414A 31

Figure 4-3 Package of Binnacle


32 20220414A

This page is intentionally left blank

Adjustment

20220414A 33

5. ADJUSTMENTThe electric adjusting points of this system are in the Inverter Unit,Servo Amplifier PCB, Panel PCB and in the I/F PCB.

5.1. Rgc11 Inverter unit “Blue mark”In the RGC11 Inverter unit, the rotor power supply voltage andfrequency are adjusted.

5.1.1 Voltage adjustment (RV1)

1. Supply the power to the master compass and confirm the inputvoltage is 24VDC +30% - –20%. Then wait until the rotor isrunning up.

2. After about 5 minutes, adjust RV1 so that voltages betweenphantom ring terminals 8-9, 9-10, 8-10 are 100V rms AC (Figure5-1)

Note! Due to the frequency of 400 Hz, a true Rms voltmeter may read93VAC.

2,5 ms

123 V

123 V

Figure 5-1

5.1.2 Frequency adjustment (RV21)

1. Supply the power to the master compass and confirm the inputvoltage is 24VDC +30% - 20% (between terminals + and –).

2. Adjust RV21 so that the frequency between phantom ringterminals 8 and 9 is 400±2Hz

Note! Rotate the trimmer slowly to adjust the frequency lower.


34 20220414A

5.2. Rgc10/11 Inverter assy (new common type)

5.2.1 Voltage adjustment (RV1)

1. Supply the power to the master compass and confirm the inputvoltage is 24VDC +30% - –20%. Then wait until the rotor isrunning up.

2. After about 5 minutes, adjust RV1 so that voltages betweenphantom ring terminals 8-9, 9-10, 8-10 are 100V rms AC (Figure5-2)

Note! Due to the frequency of 400 Hz, a true Rms voltmeter may read93VAC.

2,5 ms

123 V

123 V

Figure 5-2

5.3. Servo amplifier (Figure 5-7)There are two adjustment points in the servo amplifier PCB.

Note! During adjustment of the servo amplifier, the alarm may sound, buthas no significance.

5.3.1 Phase adjustment (R61)

This is the adjustment for the demodulator circuit to convert ACsignal from the pick up to DC signal and to decide the direction of theservo motor follow up.

1. Set the servo gain R21 to the minimum.

2. Start up the master compass with an adjusted inverter. Then wait aminute.

3. Rotate the rotor case slowly.

4. Confirm that the signal form between TP5-TP1, TP6-TP1 is inaccordance with Figure 5-3 when moving the case as in item 3.

5. Eventually adjust the wave form in item 4 as follows (Figure 5-3continuous lines).

Adjustment

20220414A 35

TP5-TP1

TP6-TP1

(The dotted lines show misadjustment)

Figure 5-3

6. Confirm the wave form becomes as follows (Figure 5-4) whenrotating the rotor case slowly in opposite direction to that of thestep 3.

TP5-TP1

TP6-TP1

Figure 5-4

5.3.2 Phase adjustment (R55)

Adjust R55 so that there is difference of 90° in phase between theoutput signal from the servo amplifier and the exciting phase of theservo motor.

1. Rotate the servo gain R21 by about ¼ CW, and close the servoloop.

2. Erect the rotor. (Apply a torque on the rotor case about its verticalaxis.)

3. Apply a torque on the phantom ring about its vertical axis.At this time, adjust R55 so that the phase difference between theexciting phase voltage and the control phase voltage becomes 90°.Figure 5-5.


36 20220414A

90°

Servo motor exciting phasevoltage (400 Hz, 100 V)

Servo motor controlphase voltage

Figure 5-5

5.3.3 Servo gain R21

After items 5.3.1 and 5.3.2 are completed, adjust the servo loop again.

1. Start the master compass and wait until the “RUNNING” lamp onthe panel comes on.

2. Generate hunting of the phantom ring by rotating R21 CWgradually.

3. When the phantom ring is hunting, rotate R21 CCW gradually andset it where the hunting stops.

4. After the item 3 is completed, confirm no hunting occurs at every45° with rotating the master compass by 360° (or rotating thesensitive element).

5.4. Panel (Figure 5-8)The Panel PCB requires adjustment of the latitude signal andillumination.

5.4.1 Adjustment of latitude signalvoltage (R46)

1. Turn the latitude corrector knob CW to the maximum.

2. Adjust R46 so that the voltage between TP7-TP1 becomes –10±0,5 VDC.

3. Turn the latitude corrector knob CCW to the maximum.

4. Confirm that the voltage between TP7-TP1 is +10±0,5 VDC.

Adjustment

20220414A 37

5.4.2 Adjustment of illumination (R13,R15, R6)

This trimmer is provided for adjusting preset illumination intensity.

1. Turn the “DIM +/–“ illumination switch to the darkest.

2. Adjust CR1 to CR4 by using R13.

3. Adjust CR5 to CR8 by using R15. (Seven segments).

4. R6 is provided to determine the frequency of the original adjustedto approximately 180 Hz, in the factory.

For jumper

The following jumper is set in the Panel PCB.

J1: C - STP jumper

5.5. I/F PCB (Figure 5-9)

Acceleration meter offset adjustment and torquer signal offsetadjustment are made on this PCB.

Note! During adjusting I/F PCB, the alarm may sound, but has nosignificance due to the adjustment.

Note! A tuned I/F PCB is delivered as standard when ordering areplacement element. This will need no adjustments.

5.5.1 Tilt signal offset adjustment (R25)

It is very difficult to adjust the tilt signal on board because the signallevel is very low. Therefore the offset adjustment of the tilt signalshould be made ashore.

The gyro compass settle point error may in a short period becomelarge when the offset adjustment of the tilt signal is not within thevalues shown in point 4 below.

1. Remove the case mounting screw to be able to open the mastercompass case easily.

2. Start the master compass and wait for more than 4 hours to settlethe compass completely.

3. After settling the compass, open the front case and measure thevoltage between TP9-TP1 on I/F PCB.

4. Make sure the measured voltage in 3 coincides with the valuecorresponding with the latitude of the ships location.

The voltage value corresponding to the latitude of the shipslocation is obtained by the formula below.

VL = (sin λ x K) ± 20 [mV]


38 20220414A

VL [mV]: Voltage corresponding to the latitude of the areabeing adjusted.

λ [degree] : Latitude of the area being adjusted.

K : For the North latitude –60

For the South latitude +60

(Example) For the North latitude 35°

VL = (sin35 x (–60)) ±20 = –34.41 ±20(mV)

Then adjust R25 so that VL becomes a value between –14.41 to-54.41 mV

Note! The tilt signal change by R25 is very slow. Then turn R25 a little andclose the front case at once.Leave as it is for at least 2 minutes. Then open the front case againand measure the voltage.Do not open the case except when measuring the voltage andadjusting R25.Always close the case during waiting.

Caution ! The position of the bubble level is also contributing to the tiltvoltage. Adjusting the voltage also changes the bubble level. Forbigger offset, bubble level weights have to be installed. In case ofproblems, contact Simrad Egersund AS.

5.5.2 Torquer signal offset adjustment(R40)This adjustment has been made correctly prior to shipment.

1. Turn R21 on the servo amplifier PCB to minimum.

2. Remove CN4 on I/F PCB.

3. Start the master compass and wait for more than 4 minutes.

4. Short circuit between no. 5 pin and no. 6 pin (or TP1) of CN4.

5. Adjust R40 so that the voltage between TP10-TP1 becomes avalue within 0±0.005 (V).

For jumper

The following jumpers are set in I/F PCB.

J1: C-S jumperJ2: C-S jumperJ3: jumper

Adjustment

20220414A 39

5.6. CPU PCB (Figure 5-10)

Each trimmer is very strictly adjusted before it is shipped from thefactory. Therefore, it requires no adjustment.

• Setting of DIP switches

S1 S2 S1 S2

1 OFF 1 OFF 1 OFF 1 OFF




5 OFF 5 ON 5 OFF 5 ON

6 OFF 6 OFF 6 ON 6 OFF

7 ON 7 OFF 7 ON 7 OFF

8 OFF 8 ON 8 OFF 8 ON

SW5x SW6xx

Note! During service exchange of element, note that for software versionV6xx, S1 no 6 and 7 are ON. For software version V5x, S1 no 6 isOFF. Software version follows the sensitive element.

• Jumper➀ J1: Jumper

➁ J2: Not required

➂ J3: Not required

➃ J4: Not required

5.7. Transmitter(Refer to paragraph 6.9.2 and 6.9.9)

This adjustment is necessary for synchronizing the master compassbearing (card reading) with the master compass bearing on the panel.

This adjustment should always be made when T/M PCB, the disc (Partno. 10230086-), the servo motor assembly and T/M assembly arereplaced.

This adjustment has been made correctly when shipment, however,confirm items in 5.7.2.

Caution ! Some wiring to the master compass may have to be removed for thisadjustment.Be fully careful to avoid an electric shock and not to short-circuitthe wiring.


40 20220414A

5.7.1 Zero adjustment

(Refer to Figure 5-11)

1. Make sure the rotor of the master compass is not running.

2. Turn R21 of the servo amplifier PCB (servo gain adjustingtrimmer) to minimum (fully CCW).

3. Remove the flexible wire connecting between the horizontal ringand the vertical ring for the phase power supply (8, 9 and 10) forthe master compass rotor by removing screws on the terminalboard.

4. Start the master compass after confirming the flexible wire in 3does not touch the terminal of the vertical ring etc.

5. Set the master compass card at 000 degree by rotating the card bymore than 5 degrees. If the master compass card reads 000 degreeswhen starting of the adjustment, rotate the card by more than 5degrees and set back to 000 degree again.

6. Select the master compass mode switch to read the compass cardheading (flashing decimal point).

7. When 5 and 6 are performed, adjust the disc (Part no. 10230086-)by rotating so that the number under the decimal point alwaysbecomes 0. In this adjustment, the integer of the master compassbearing may be any value. Make the number under the decimalpoint 0.

* For adjustment, unfasten once the set screw which fixes thedisc (10230086-) to the shaft, and rotate the disc only.

8. Upon completion of adjustment, fix the disc temporarily bytightening the set screw lightly.

9. Rotate the master compass card by more than 5 degrees and returnit to zero degree again and confirm that the adjustment in 7 hasbeen performed correctly. Then change the master compass cardslowly by ±5° (355° to 5°) and confirm the number under thedecimal point of the master compass bearing indication is 0 atevery 1 degree.

10. Turn the power supply of the master compass to OFF andreconnect the flexible wires removed in 3. Be careful not to makea mistake in terminal number 8, 9, 10.

11. Restart the master compass and adjust the servo gain described in5.3.3.

Adjustment

20220414A 41

5.7.2 Confirmation of the transmittersignal

(Repeater output signal)

1. Start the master compass, and wait at least 5 minutes.

2. Select the master compass mode switch to read the compass cardheading (flashing decimal point).

3. Confirm the number under the decimal point of the mastercompass bearing indication is 0 at every 1 degree of the mastercompass card.

4. At this time it is unnecessary to match the master compass cardreading with the master compass heading indication of the mastercompass panel.

5.7.3 Confirmation of the repeaterrotating direction

(Refer to Figure 5-12)

1. Start the master compass and wait at least 5 minutes.

2. Turn the power supply switch of the transmission unit to ON, andopen the lid of the transmission unit.

3. Select the repeater heading indication of the master compass panelindication by the mode switch.

4. Confirm that the LED (light emitting diodes) of the step amplifierPCB in the transmission unit comes on in the order shown in thetable below, when the repeater heading indication of the mastercompass panel increases in reading.


42 20220414A

Repeater indication →→→→ Reading increaseLED no.

***.0 ***.2 ***.3 ***.5 ***.7 ***.8 ***.0

CR2 (T1) o o x x x o o

CR12 (T2) x x x o o o x

CR22 (T3) x o o o x x x

o : light

x : putting out light

***: unsettled

Figure 5-6 Inverter Unit

R61

CN2

R55 R21

CN1U7

U8

CN

A

Q9 Q8 Q7 Q6

Phase 1 Phase 2 Gain

Figure 5-7 Servo Amplifier PCB

RV1 (voltage)

Adjustment

20220414A 43

R13R15

R6

R46

SW10

CN2

VR1 VR2

CN1CN3 CN4

Q2CR2

CR3CR4

CR1CR5CR6CR7CR8

SW7

SW6 SW5 SW4

SW1SW2

SW3

CR10

J1STPCSYC

DimmerLatitude

Figure 5-8 Panel PCB

S C G

J2S C G

J1

R25 R40

CN4CN5

CNA

K1

C12

U1

Tilt SignalOffset

Torquer SignalOffset

RD

Figure 5-9 I/F PCB

CR9 (NAV)

CR8 (FS)

CR7 (LEV)

CR6 (PS)CN8CN6CN5CN7

U3U1

CN1

CN3CN4

U21

U20

CN2

BZ1

K1 K2J1

R63 R60

R43

R59

R40R41

S1 S2

Figure 5-10 CPU PCB

5.8. Adjustment of Sensitive ElementPrior to adjustment of the sensitive element, the gyro must beswitched on for about 4 hours. For the adjusting points, refer to“Figure 5-13 Sensitive Element, Compass Balance Weights FittingProcedure”.

The balance has been adjusted prior to factory shipment, however, itmay change a little during installation. Therefore readjustment maybecome necessary after checking the following items.


44 20220414A

5.8.1 Adjustment of horizontal ring level

The East side of the horizontal ring shall stay risen by approx. 20minutes arc.

To check this, place a weight of 2.4 g (1 mm in thickness) on the Eastside (the pick up torquer side) of the horizontal ring after the gyro isswitched off and has stopped. Place the reference level in the centre ofthe standard surface on the North side (damper case side) of thehorizontal ring. Verify that the East-West balance reads zero on thereference level. If necessary, adjust the balance by putting weights onthe weight mounting screw on the East and West sides of thehorizontal level.

After making the balance, remove the 2.4 g weight on the East side ofthe horizontal ring.

This raises the East side of the horizontal ring by 20 minutes arc.

5.8.2 Adjustment of gyro rotor level

Confirm that the rotor bubble is at the level position which isequivalent to the latitude of the area where your ship is navigating byreferring to “Figure 5-14 Latitude-Rotor Tilt Graph”. The horizontallevel should be at 5 with one graduation representing 2 minutes.

When the difference is less than 5 minutes, no adjustment isnecessary.

If necessary, adjust the level position according to the procedures asshown below. In this case, refer to “Figure 5-15 Level Adjustment andAzimuth Correction Table” for the adjusting amount.

If the position of the level bubble is too high (with the North sideraised), apply the same amount of weight on each of the South sideupper screws.

By adding 0.5 g x 2, the bubble moves 10 minutes.

If the position of the level bubble is too low (with the South sideraised), apply the same amount of weight on each of the North sideupper screws.

Note! Be careful when adjusting the level bubble position, because it causesthe azimuth to shift. If necessary, adjust the reading of the azimuth bythe suspension twist wire.

Adjustment

20220414A 45

5.8.3 Azimuth adjustment

The adjustment of azimuth by means of turning the suspension wire isstrictly limited to an emergency adjustment and must not be madenormally.

The adjustment with the suspension wire is performed only when thefollowing conditions are fulfilled: The balance of the sensitiveelement is proper, the binnacle is installed in parallel with the ship’skeel and the power supply is normal and only in the case when anazimuth error has been caused at the stabilization point.

The adjustment is made at the tangent screw located in the uppersection of the sensitive element.

For adjusting value, refer to “Figure 5-15 Level Adjustment andAzimuth Correction Table”.

When the gyro azimuth is too high (westerly):

Rotate the tangent screw so that the suspension wire assembly rotatesin the counter-clockwise direction when viewing the suspensionbracket from above.

One rotation if the tangent screw changes the azimuth byapproximately 10 degrees.

When the gyro azimuth is too low (easterly):

The adjustment can be made in the same manner as shown above; inthis case, however, the tangent screw is turned so that the suspensionwire assembly rotates in the clockwise direction when viewed fromabove.

Note! Never touch other weights when making the adjustment, because theyhave been adjusted at the factory.


46 20220414A

Figure 5-11 Rear view of Master Compass


Adjustment

202

S

E

20414A

Figure 5-13 Sensitive Element, CFitting Pocedu

N

S

N

W

47

ompass Balance Weightre


48 20220414A

Figure 5-14 Latitude-Rotor Tilt Graph

Adjustment

20220414A 49

0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 0 1/8 1/4 3/8 1/2

REV. OF TANGENT SCREWBALANCE WEIGHT (g) (E,W TOTAL WEIGHT)

Correction curve A shows theshift level bubble position.

1.0°

2.0°

3.0°

4.0°

5'

10'

15'

20'

SHIF

T O

F LE

VEL

BUBB

LE

SHIF

T O

F AZ

IMU

TH

LEVEL BUBBLE POSITIONCORRECTION CURVE TABLE AZIMUTH CORRECTION TABLE

1.0°

2.0°

3.0°

4.0°

SHIF

T O

F AZ

IMU

TH

AB

Correction curve B shows theshift of azimuth.

A

B

Figure 5-15 Level Bubble Position & Azimuth Correction Table


50 20220414A


Principles of Gyrocompass

20220414A

6. PRINCIPLES OF GYROCOMPASSThe north-seeking action of the gyrocompass is produced by themutual action among the characteristics of the gyroscope, rotation ofthe earth, and gravity.

6.1. Rotation of Earth’s surfaceAs is well known, the earth rotates with the north and south poles asits axis and revolves around the sun. Consequently, any point on thesurface of the earth is also performing exactly the same movementreferred to above. Let us consider the above rotating motion. In thecase of a gyrocompass, only the rotating motion of the earth is relatedto its action and no paralleled motion is related to it. When a point atthe North pole and another point at the equator are considered, the twopoints are revolving around the sun while they themselves arerotating. From another point of view, the above can be expressed asfollows:

a. A point at the North pole rotates with a vertical line as its axis.

b. A point at the equator rotates with the NS line which passesthrough that point as its axis.

c. Any point on a latitude between the North pole and equator rotateswith a NS line as its axis, and at the same time, there is a rotationwhich uses a vertical line as the axis. When the rotatingmovement, due to the rotation of the earth, is divided intohorizontal and vertical components, the rotation which uses thevertical line as its axis becomes the vertical component, and therotation which uses the NS lineas its axis becomes the horizontalcomponent. If indicates the speedof the earth’s rotation (angularvelocity) Ω and if indicates thelatitude Φ, the horizontalcomponent (the rotation whichuses the vertical line as its axis)is shown as Ω sinΦ. Of the abovetwo, the one which is related tothe north-seeking action is thehorizontal component. Thevertical component determines thetilt of the gyro axis and has no direct relatioseeking action.

1
Figure 6-
51

nship to the north-


52 20220414A

6.2. Characteristics of GyroscopeIn the gyroscope which has three axis of angular freedom, as shown inFigure 6-2, the gyro G is supported by bearings 1-1 within thehorizontal ring, and the horizontal ring, in turn, is supported bybearings 2-2 within the vertical ring.

The vertical ring issupported so that it canfreely rotate with 3-3 as itsaxis. Each bearing is to befrictionless and axes 1-1,2-2 and 3-3 are to intersecteach other at right angles.Thus, gyro G is fully ableto freely rotate around 1, 2and 3. A gyroscope suchas this is called “thegyroscope with freedom ofthree axes.” In the above,the rotating axes of thegyro can freely pointtowards any direction andholds its own pointingdirection without beingaffected by any movement of the base.

A gyroscope which has three axis of angular freedom and is rotating ata high speed has the following two specific characteristics:

1. Gyroscopic inertia

The rotating gyro tends to hold the direction of its plane ofrotation in space.

2. Procession

When a force is applied to the axis of rotation 1, differing from anordinary matter, the axis turns in the direction at right angle to theaxis to which the force is applied. This turning movement iscalled procession.

Figure 6-2


20220414A

6.2.1 Gyroscope inertia

This characteristic may be explainedby Newton’s first law of motion whichsays, “Any body, which is notinfluenced by a force, continues itsstate of motion.” The state of motion isindicated by its velocity and direction,and in this case, the direction of therotating motion (the direction ofrotation) does not change. The term“space” referred to above is the spaceof universe.

Consequently, as shown in Figure 6-3,even when the gyro remains fixed inrelationship to space, its direction andtilt with respect to the earth changeevery moment. Under the aboveconditions, the gyro cannot beused as a compass.

6.2.2 Precession

As shown in Figure 6-4, if a force is appliedaxis, the rotating axis, without tilting, starts taxis, together with the vertical ring, horizontality. Also, when the vertical ring Figure 6-4, B, the vertical does not move, buring start tilting.

Figure 6-4

Vectors are used to express the relationshprecession, force and rotation. To define the

3
Figure 6-
53

to the end of the rotatingo turn around the verticalwhile maintaining itsis pushed, as shown int the gyro and horizontal

ip between a force and rotation of a gyro, let us


54 20220414A

consider the right-hand screw rule. When the screw is turned to theright, the direction of the screw advance is determined as the directionof rotating vector and is shown by arrow H in Figure 6-5. Next, let usconsider a torque as a force. Now, as shown in the drawing, if force Fis applied to the shaft end, a torque acts around axis 2. To express theabove as a vector, the direction of a right-hand screw advances whenthe screw is turned with a force such as referred to above and isdetermined as the direction of the vector and is indicated by arrow T,shown in the drawing.

1. The tip of vector H tends toprecess as to turn in thedirection of vector T.

2. The speed of precession isproportional to the magnitude oftorque and inverselyproportional to the momentumof rotation. In other words, thefaster the speed of rotation andgreater the moment of inertia,the less action by the forceexerted on the gyro.

6.3. North-seeking actionAs has been explained in Figure 6-2, the gyro with three axis ofangular freedom alone is not able to point to the true north on therotating earth. Therefore, a device which corrects this error isnecessary.

6.3.1 Fundamental construction

The principle of construction is shown in Figure 6-6. The rotor case inwhich the gyro ishoused is held by avertical axis within thevertical ring, and thevertical ring issupported by ahorizontal axis. Thevertical ring is providedwith liquid ballistics,two of which form oneset, and these liquidballistics are inter-connected by enairpipe (tube). Inpractice, two sets ofliquid ballistics are attached to the vertical ring. The ballistics are

Figure 6-5

Figure 6-6


20220414A 55

filled with liquid. When the vertical axis tilts together with the gyroaround the horizontal axis, the liquid ballistics also tilt. The liquidflows from one liquid ballistic to the other and a difference is createdin the amounts of liquid in the liquid ballistics. Due to gravity, atorque is created around the horizontal axis, and this torque acts on thegyro. As has been previously explained that the gyro, maintaining itstilt, turns around the vertical axis with the above torque. The above isan explanation of the principles of construction and operation. Thebalance of each component is perfectly adjusted, and the gravity of theentire equipment (including liquid) matches the intersecting point ofthe horizontal and vertical axes when the rotating axis of the gyro ishorizontal. Further, if the rotating direction of the gyro is indicated,the rotating vector becomes as shown in the drawing. The side whichis opposite to the vector direction points to the north. Thus, therotation of the gyro is clockwise as seen from the north.

6.3.2 Oscillation in the direction of eastand west (no damping motion)

Figure 6-7 is a drawing showing the processes by which the gyrogradually points to the north, as the earth rotates, after the gyro hasbeen placed on the equator with its axis horizontal and its north-seeking end pointed to the east at first.

Figure 6-7

In A of Figure 6-7, the gyro points to the east with its axis inhorizontal. Since the gyro axis is horizontal, the balance is perfect andno torque is affected. Consequently, the gyro holds a constantdirection in space. As the earth rotates, the gyro reaches B in Figure 6-7. Since the gyro is pointing towards one direction constantly, itmaintains the direction of A. However, as far as the point on thesurface of the earth, the gyro tilts towards an angle which correspondsto the rotation from A to B, and the north-seeking end slowly rises.


56 20220414A

With the above inclination of the gyro, the liquid in the north-sideliquid ballistic flows to the south-side liquid ballistic and causes adifference in the amounts of the liquid in the two liquid ballistics.Gravity acts on this difference, and a torque is applied to the gyro(around the horizontal axis). With the above torque, the gyro performsprecession and starts turning towards the north. After this, the gyrogoes through the same processes and gradually point to the true northand stop when it arrives at D in Figure 6-7.

6.3.3 The inclination of the gyro

To enable the gyro of Figure 6-6 to point to the north in the mannerdescribed above, first the gyro axis must tilt with respect to thehorizontal plane to cause the gyro to perform a precession toward thenorth. As can be seen from the explanation made in the precedingparagraphs, the above inclination is caused by the rotation of theearth’s surface. For instance, the rotation of the earth’s surface whichuses the NS line as the axis is the cause of the above inclination.However, since the turning of the gyro occurs at the right angle to theforce applied in accordance with the law of precession, the angle ofinclination does not change with the above turning movement of thegyro. Thus, all the angles of inclination are formed by the relativemovements of the gyro to the earth’s surface. For this reason, whenthe gyro is pointing to the east, the north-seeking end rises, and whenthe gyro is pointing to the west, the north-seeking end goes down. Thespeeds are faster when the angle of deviation from north is greater andbecomes slower when the gyro approaches the true north, and there isno change in the inclination when the gyro is pointing near the truenorth.

6.3.4 Explanation by using the projectingmethod

To make clear the relation between the processional movement andthe inclination, let us consider the locus of projected points. In figure6-8, the movement of the gyro axle is projected on the vertical planeof a sheet of paper. First, when the gyro is released from its horizontalposition while pointing east, as has been described, the north-seekingend rises causing the projected points to rise. Next, as the gyrocommences to process toward north, since the angle of deviationdecreases, the speed of rise becomes slower, but the angle ofinclination gradually accumulates. Consequently, the difference in theamounts of liquid in the liquid ballistics gradually increases and thespeed of precession slowly increases. Because of the above, the locusdraws an oval arc as shown in the drawing. When the gyro points tothe true north, the variation in the inclination tentatively disappears, asreferred to above, but the gyro continues its precession due to theaccumulated angle of inclination and here points towards the west.


20220414A 57

When the gyro points west, the north-seeking end begins to go downand its speed is symmetrical to that when the gyro is pointing east.

Figure 6-8

Thus, the locus drawn in this case also is an oval which is symmetricalwith that when the gyro is pointing east. Ultimately, the gyro axiscontinues to oscillate to east and west, while drawing an oval circle asshown in Figure 6-8. Because of the above, when the gyro is to beused as a gyrocompass, a damping device which attenuates the aboveoscillations and causes the gyro to point north and the stop becomesnecessary.

6.4. Damping actionIt is necessary, first of all, to consider the basic elements of an actualgyro compass in order to explain the precession about horizontal axis.Refer to the construction of the master gyro compass described inChapter 1. The tilt meter, ACC buffer amplifier, microcomputer (CPUboard) and pick-up torquer are attached to this gyro compass to give adamping action.

When the gyro frame is set to tilt to cause the north end axle to rise,the tilting angle detected by the tilt meter is amplified by the ACCbuffer amplifier and transmitted to the pick-up torquer via themicrocomputer. As a result, the pick-up torquer supplies the upwardtorque obtained in proportion to the tilting angle around the verticalaxis.

This causes the upward precession of the south side. On the otherhand, when the gyro frame is set to tilt to the opposite side, thedownward precession of the south side is caused.

Let us consider the same action in Figure 6-8. When the gyro isreleased while pointing to the north at the horizontal position, it beginsto tilt and then gradually turns toward the north. At this moment, therate of tilting is continuously reduced by the damping action asdescribed above. Therefore, different from the above case, the speedof precession becomes slower and the gyro axis returns to its


58 20220414A

horizontal position quickly. As a result, the obtained westerly angle ofdeviation is relative small in comparison with the original easterlyangle of deviation. In other words, the swing angle has beendiminished as such. At the next moment, the end of the gyro axispointing to the west begins to return to the east again. This movementfurther diminishes the swing angle. Through the repetition of thisaction, the gyro axis at last stops with its end pointing to the north.Figure 6-9 shows how the swing angle is diminished with elapse oftime.

Figure 6-9

6.5. Error Correction of Gyro CompassAzimuth errors that may occur to the master compass can be dividedinto three types: an error caused by the tilting of the horizontal surfaceof the spinning axis (such as a latitude error), ballistic deflectioncaused by the acceleration generated by the movement of a ship, andspeed error caused by a ship’s speed.

(Refer to the section 6-6 and 6-7 for details about errors.)

6.5.1 Error Correction of Master CompassInside the microcomputer which works as an electrical dampingcontrol device, a mathematical model equivalent to the equation ofmotion of the master compass and an estimation device whichfunctions is provided to make the mathematical model (Kalman filter)coincide with the movement of the master compass.

The estimation device has a function of estimating the bias elementscontained in the tilting angle.

As a result, you can correct the azimuth error caused by the bias valueoriginated in the tilting angle. In other words, you can be free from alatitude error and other similar errors.


20220414A 59

6.5.2 Error Correction of RepeaterCompass

The azimuth signal of a master compass contains errors such as aspeed error. Therefore, it cannot be transmitted to the repeatercompass as it is. The estimation device as described above estimatesnot only bias elements but also the speed error contained in the mastercompass by referring to its own azimuth signal. The azimuth signal ofthe repeater compass eliminates the speed error by subtracting theestimated speed error from the azimuth signal of the master compass.

In this way, the repeater compass can also be free from any speederrors.

6.6. Latitude error, Speed errorThis gyro compass provides means as described in the section 6-5, toreduce the possibility of error occurrence. Therefore, the followingerrors will not appear in the actual operation. However, let us explainthe outline of the errors so far recognized in order to make it easier tounderstand the above description.

6.6.1 Latitude error

The tilt of the gyro at the settled pointNow, let us consider the case in which the gyro at a certain latitude ispointing north and is resting in settled position. The earth’s surface, aspreviously explained, rotates about a vertical line because of thevertical component due to earth’s rotation. At the northern latitude, theearth’s surface rotates from east to west. Therefore, the fact that thegyro is pointing north and is at rest (to the earth’s surface) means, if itis considered with respect to space, that the gyro is precessing aboutits horizontal axis at the same rate as the earth’s rotation. Thisprecessional movement must always be exerted on the gyro.Horizontal earth rate causes the north end to rise and the excess liquidat the south end causes the precession to continue, and over time theliquid in the north reservoir is overbalanced by the south reservoir.Precession, therefore, is reversed. The angle of inclination will vary inaccordance with the latitudes; it will increase in proportion to theincrease in degrees of latitude, and the inclination near the 35 degreeis only 4 minutes. In southern latitude earth rate causes the north endto go down.

With the gyro at the equator and horizontal, the gyro and pendulumare balanced because there is no rotation of the earth’s surface aboutits vertical axis.


60 20220414A

Latitude errorAt any settled point other than the equator, the gyro has a constantinclination in accordance with the latitude. Therefore, the torquewhich is proportional to the inclination of the gyro is exerted about itsvertical axis by the damping weight. The gyro settles at the balancedposition between the torque and north seeking force, and an error istherefore introduced. This error is determined in accordance with thelatitude. The latitude error is proportional to the tangent of thelatitude, and in northern latitudes, the north gyro axis end is up and tothe east of the meridian. In southern latitudes, the north end is downand to the west of the meridian. This error increases to 1.4 degrees at35 degree of latitude and to 3.4 degrees at 60 degrees of north or southlatitude. No error is introduced at the equator and the gyro points attrue north, as explained in the preceding paragraphs. The gyro islevelled and placed in the meridian at the equator and therefore, as nodamping action is applied, there is no torque. Moreover, as the error issettled in accordance with the latitude corrector, then the error iseasily corrected. For the latitude error correction, refer to theparagraph of the master compass.

With this gyrocompass, this type of error does not occur as discussedin section 6.5.

6.6.2 Ship’s speed error

This error is determined by the ship’s speed, course and the latitude,and is proportional to the ship’s speed. When the vessel is travellingnorth or south, the error is maximum, because the ship’s speedproduces a resultant which is not parallel to the plane of earth’srotation. If the direction of travel is east or west, the error is negligibleand the error will increase in proportion to any increase in degrees oflatitude. Thus the error is determined by vessel’s movement and notrelated to the construction of the gyrocompass and its type.

N

W E

V

VR

NN'

VR

O

N1N1'

N2N2 '

VR O

a) b) c)

Figure 6-10

In Figure 6-10 (a), assume the vessel is travelling north of speed V. Asthe vessel is travelling over the earth’s surface, it becomes a rotary

Ω cos Φ


20220414A 61

movement. R denotes the radius of the earth, then the speed of the

rotation is denoted as RV and the direction of its vector is west.

Therefore, the speed of rotation RV is added to the speed of the

rotation Ω cos Φ which, at this point, rotates on its axis of NS line. InFigure 6-10 (b), ON' represents the actual plane of rotation due tocombined movement of earth and ship, which acts on thegyrocompass. In other words, any point on the earth's surface wherethe compass exists rotates on its axis of ON'.

The gyro, therefore, comes to rest in this direction and an errorcorresponding to the angle of NON' is produced consequently. Theabove is the case when the vessel is travelling north. However, whenthe vessel is travelling on any optional courses it is clear that thevelocity of components of north-south direction will act as has beenmentioned above. The error, therefore, is produced in connection withthe ship’s course. When the vessel is travelling east or west aspreviously explained the error is zero because the vessel's motion onlyadds to or subtracts from the earth's motion. At higher latitudes, asshown in Figure 6-10 (c).

The horizontal component (Ω cos Φ =ON2) due to earth's movementbecomes comparatively small. The new apparent meridian which is

compounded when the movement of RV is displayed further from the

actual meridian and a large correction is required. Thus the error isdetermined in accordance with the ship’s latitude speed and course.The ship’s speed error can be obtained from the attached speed errorgraph (Figure 2-4).

Note that repeater output signals are corrected for this kind of error asdiscussed in section 6.5.

6.7. Other Errors

6.7.1 Cardinal error

Actually this error is not introduced because of strict adjustment.However, we will explain this matter.

The sensitive element of the gyrocompass is supported by its gimbalring so as to keep an original plane when the vessel tilts. When thevessel rolls Or pitches, however, the gyro will also roll or pitchslightly because of the acceleration force, with the result that a smallamount of liquid, at the same time, is transferred. This accelerationforce tends to cause a continuous torque about the vertical axis of thecompass. Then the error is produced because the gyro comes to resetin a direction which is compounded of this torque and the north


62 20220414A

seeking force. This error will theoretically be maximum when thevessel rolls or pitches in the direction of 45 degrees from north. Whenthe vessel is rolling in a cardinal plane, no error is introduced. Thiserror, however, is avoided by careful design of the weight on thevertical ring, which controls the gyro as has already been explained.Therefore, no acceleration forces are generated and no torque aboutthe vertical axis of the compass is introduced by the swinging of thecompass in its gimbals. This correction, however, must be made at theplant by precise adjusting test.

6.7.2 Constant error

If a constant torque acts about the vertical axis of the compasscontinuously, the gyro tends to point to the direction which is at afixed angle from the settled point. This is called constant error. Thiserror may be caused by a twisting of suspension wiring, a variation ofbalancing, a fluctuation of rotor speed or a variation in amplifieradjustment. This error, in short, results from the fact that the balancingposition where the torque from outside and north-seeking forcebalance is the settled position,

6.7.3 Variable error

The north-seeking action of the gyro is obtained by a relativemovement of the gyro and earth’s rotation which causes the gyro totilt. If such inclination of the gyro is disturbed by a friction ofhorizontal axle, the north-seeking action is also disturbed andconsequently an error is introduced. As a force of friction has manyvariances, the error is accordingly.

6.7.4 Acceleration error

Increasing or decreasing of ship's speed and changing of ship’s coursemay cause an acceleration error. When the acceleration of north-southdirection is acting on the gyrocompass, the liquid flows from oneliquid ballistic to the others and therefore, an unbalancing of the liquidoccurs temporarily, causing the gyro to process and introducing errorsin the compass. The gyrocompass, as previously explained performsthe damped oscillation until the gyro tends to point north and comes torest. If there is no damping actions this oscillation will continue. Nowif we assume the period of oscillation to be 85 minutes (appropriatesize of liquid ballistics should be used in accordance with the size ofthe gyro and the rotor speed), it has been proved theoretically that noacceleration error is introduced. The gyrocompass is designed inconformity to this theory, This relationship, however, applies only atthe specific latitude as the period of oscillation varies in accordancewith the latitude. At latitude other than the specific position slighterror may be expected.


20220414A 63

This error, however, is not introduced at the lower latitudes and isrelatively greater at the higher latitudes. For the RGC11 gyrocompass,55 degrees is selected as the basic latitude in which no accelerationerror is produced. At this latitude, therefore, no acceleration error isgenerated because of liquid transfer. When the vessel is travelling atspeed of 15 knots at 35 degree of latitude and its course has beenchanged by 180 degrees from south to north (or north to south) anerror of approximately 1 degree is introduced. When the accelerationforce is applied to the gyrocompass, a torque about vertical axis ofcompass is introduced by the damping force, with the result that theacceleration error is also generated. The error introduced by liquidflow will appear as soon as the acceleration force is applied. The errorintroduced by the pendulum action will appear 20 minutes after theacceleration force is applied.

6.8. Outline Of Electric System (Refer to Figure 6-11)

The ship's 24 VDC power supply is connected to N+ and N– of themaster compass. The 24VDC emergency supply is connected to B+and B– and is taken from a battery or UPS (Uninterrupted PowerSupply). The 24 VDC input is supplied to the inverter, the powersource of CPU and the panel PCB via the power supply switch.

The inverter provides the power source (3-phase 400 Hz AC l00 V) tothe rotor and the control power to the servo amplifier PCB. Theinverter also detects the rotor current and transmits the rotor currentsignal to the CPU PCB.

The power source for the CPU supplies ±15 VDC and 5 VDC to theCPU PCB, I/F PCB and Panel PCB.

One single phase of the 3-phase 400 Hz power is provided asreference for the tiltmeter buffer amplifier PCB and excitation of theprimary pick-up transformer.

One single phase is also supplied to the excitation phase of the servomotor. The signal, which represents the amount of the deviationbetween the vertical ring (primary coil of pick-up torquer) and therotor case (secondary coil of pick-up torguer) is induced at thesecondary coil of pick-up torquer. This signal, according to theinstruction from the CPU is inputted to the servo amplifier via the I/FPCB.

The servo amplifier PCB amplifies the deviation signal afterdetermining its polarity to drive the servo motor. The servomotordrives the movable element through a gear train to make the compasscard follow the movement of the rotor case. Also the servo amplifierPCB, which is equipped with a constant current circuit, suppliestorquer current to the secondary coil of the pick up torquercorresponding to the signal from I/F PCB.


64 20220414A

The primary coil of the pick-up torquer consists of two pairs ofexcitation coils facing each other, iron-cores of these coils andpermanent magnets attached to the edges of the iron-cores. Thesecondary coil of the pick-up torquer is a coil which does not have aniron-core. The secondary coil is positioned between the two pairs ofprimary coils facing each other. (Refer to the following illustration.)

The two pairs ofsecondary coilsare pick-up coilsprovided for thefollow-upsignals whichare excited by asingle-phasescurrent with afrequency of 400Hz. The signalswhose phase is different from that of the secondary coil by 180degrees are induced in the primary coil corresponding to the directionin which deviation is produced. The difference between these twophases determines the rotational direction of the servo motor.

In addition, when direct current is applied to the secondary coil, a DCmagnetic field is generated and the magnetic force is producedbetween the secondary coil and the permanent magnets of theprimary coils. This force produces a torque around the vertical axis togive precession to the rotor case.

By controlling this direct current it is possible to provide electricaldamping movement.

The tilt meter and the tilt meter buffer amplifier are mounted on thevertical ring. The tilt detects North and South inclination of the rotorcase and sends the tilt signal to the buffer amplifier. The bufferamplifier generates DC ±15 V from a single phase 100 V 400 Hz forits own use.

The buffer amplifier converts the tilt signal into DC current signal assupply for the I/F PCB.

After performing proper filtering of the tilt signal, the I/F PCBsupplies the signal to the CPU PCB. Also the I/F PCB is equippedwith a constant current circuit which enables it to convert the torquersignal (voltage) received from CPU into a current signal to besupplied to the secondary coil of the pick-up torquer. I/F PCBprovides the switching circuit to supply the torquer signal from CPUto the constant current of the servo amplifier PCB and not through theconstant circuit in I/F PCB with the command of CPU.

In addition, I/F PCB is equipped with a switching circuit which sendsthe deviation signal from the secondary coil of the pick-up torquer tothe servo amplifier PCB according to an instruction issued by CPU.

Iron-core

Primary coil

Secondary coil

Permanent magnet

Direction in whichdeviation is produced

(Drawing of sensitive elementviewed from above)


20220414A 65

The encoder is connected to the follow-up motor shaft via a gear train.When the encoder begins to rotate (when it begins to follow the gyro),T/M PCB transmits the signal to CPU by every 1/6 degrees. Thesignal transmitted here is a three phase step signal (grey code). Thepower of T/M PCB is supplied from the Transmission Unit. The CPUPCB consists of a digital section, which performs arithmeticprocessing, and an analogue section specialized in input/outputprocessing. The tilt signal is inputted into the A/D converter to besupplied to CPU. The torquer signal is outputted via the D/A andsample & hold amplifier. The CPU reads the movement of the gyro inthe wake of the movement of the tilt signal and outputs the torquersignal after performing arithmetic processing on this movement.

The 1/6 degrees signal obtained from T/M PCB is adjusted to theazimuth angle initially established and is outputted as a repeater signalafter the speed error is corrected.

The CPU also receives information about the ship’s speed and latitude(manual setting or manual/automatic switching) from the arithmetic-processing panel for correction of heading.

In addition the CPU PCB is equipped with an alarm function whichmakes it possible to display an abnormality on the panel.

The panel PCB is equipped with a power supply switch, trimmer forinputting latitude, trimmer for inputting ship's speed and ship’s speedmanual/automatic changeover switch. When the ship’s speedchangeover switch is set to automatic, the CPU receives the signal of200 pulses pr. nautical mile (P/N.M.) When it is set to manual, CPUreceives an analogue signal from the ship’s speed trimmer. The panelPCB is also equipped with a display unit, switches for initial setting ofazimuth, fine adjustment of latitude, ENT (Enter), mode, buzzer stopand dim switches.

The display unit has a section where azimuth angle heading or otherinformation is displayed and indicating lamps which indicate thepresence or absence of the panel or repeater power supply.


66 20220414A

A/D

D/A

RAM

RO

M

CPU

12bi

t

Mod

e si

gnal

CPU

PC

B

DC

/DC

con

verte

rIn

verte

r Abno

rmal

roto

rro

tatio

n si

gnal

Inte

rface

Mod

e si

gnal

Con

stan

tcu

rrent

circ

uit

Con

stan

tcu

rrent

circ

uit

Pick

-up

torq

uer

Rot

or

Tilt

met

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lt m

eter

buffe

ram

plifi

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lt si

gnal

400H

z 10

0V 3

Ø

400H

z 10

0V 1

Ø

400H

z 10

0V 1

Ø

T/M

Serv

o am

plifi

er

Serv

o m

otor

Abno

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follo

w-

up s

igna

l

12bi

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Latit

ude

indi

catio

nM

aste

r com

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mut

han

gle

indi

catio

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ter a

zim

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's s

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indi

catio

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dica

tion

Pow

er s

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dica

tion

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Rot

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crea

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catio

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setti

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setti

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ip's

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l (3-

phas

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ater

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(200

pul

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(rect

ifier

)

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's p

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sup

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24 V

DC

Ship

's p

ower

sup

ply

24 V

DC

Back

-up

pow

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uppl

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atte

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24V

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50/

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ter c

ompa

ss

Figure 6-11 Schematic Diagram


20220414A 67

6.9. Each electric circuit (Refer to Fig. 9-6 ~ 9-15)

6.9.1 Servo amplifier (refer to circuitdiagram)

The servo amplifier circuit is shown in Figure 6-12.

SeromotorPower amp. 2

Power amp. 1Band passfilter amp. 2

Band passfilter amp. 1

DemodulatorServo compensatingamplifier

Gaincontrol

Servoamplifier

Comparator 2

Comparator 1

Torquersignal

400 Hz100 V

Band passfilter amp. 3

Phase shifter 2

Phase shifter 1

Constantcurrent cct.

Insulatingcct.

Modulator

Pickuptorquer

Figure 6-12 Servo amplifier

Band pass filter amplifier (B.P.F.A.1)This circuit consists of U1 1/2 (UPC 812G), peripheral capacitors andresistors, The secondary signal of the pick up is firstly supplied to thiscircuit. This circuit decides the cut off frequency for taking out the400 Hz component. The frequency characteristic is shown in Figure 6-13.

R2R2

A

12XxXC1XR1

12XxXC1XR1

5dB

Figure 6-13

ω=2xf


68 20220414A

Demodulator and phase shifter 1, comparator 1This circuit consists of U1 2/2 (UPC 812G), Q1, Q2 and peripheralcapacitors and resistors. This circuit has no amplifying function andconverts AC signal from B.P.F.A.1 to DC signal. It also distinguishesthe direction of displacement between the rotor case and the verticalring. Q1, Q2 provides switching operation with a frequency of 400Hz.

QI and Q2 are junction type PET, and when the gate potential isnegative, the source is off from the drain.

The gate signals for Q1, Q2 are supplied from the phase shifter 1 andthe comparator 1. The phase shifter 1 consists of U6 2/2 (UPC 812G),a trimmer (R61) and peripheral capacitors and resistors. Thefrequency signal is decided by (R61 + R62) and (C20 + CB) delays by90° in phase in this circuit.

The output of the phase shifter 1 is the input to the next UB(TA7523AS) comparator. U8 outputs two signals whose phases aredifferent by 180° in phase from each other. The U8 output supplies 0 -–15 V signal to Q1 and Q2 gates through 1/2 and 2/2 of CR8(1SS272). These operations can be confirmed with the signal forms atTP5 and TP6.

By cutting the servo loop (described later) and turning the rotor case,the waveforms shown in Figure 6-14 can be observed.

B.P.F.A.1 Output

Q1

Q2

OFF

ON ON

OFF

OFFOFF

ON ON

TP6

TP5

The waveform differs depending on the directionin which the rotor case rotates.

Figure 6-14

When the phase shifter adjustment is not correct in Figure 6-14. thewaveform becomes as shown in Figure 6-15. In this case, adjust byR61.


20220414A 69

“CB” is used to shift the adjusting central frequency by a certaindegree.

Q1

Q2

OFF

ON ON

OFF

OFFOFF

ON ON

TP6

TP5

ON: Gate voltage 0 V

OFF: Gate voltage -15 V

Figure 6-15

The signal with polarity discriminated by operation of Q1 and Q2 isconverted to DC by 2 steps at the low pass filters composed of R8 andC4, R9 and C5, R11, R12 and C6, and R13 and C6.

This circuit discriminates the polarity and also has a full-wave rectifierfunction.

Servo compensating amplifierThe servo compensating section is an important circuit which affectson the total servo loop. It has a differential and an integral circuit.

U2 1/2 (UPC 812G), and peripheral capacitors and resistors composesa DC amplifier.

The differential time constant is given by C8 x R16, and the integraltime constant is given by R18X (C9 + C21). The voltage amplificationfactor is given by R18/R16. R17 composes a filter with C8.

CPU controls Q3, Q4 (ON/OFF) through I/F PCB. And the output ofU2 1/2 is sent to CPU through R65. When some abnormality isgenerated in the servo loop, resulting in the follow up failure, thedeviation signal from the pick up torquer becomes large and theoutput of U2 1/2 also becomes large.

The magnitude of this output corresponds to the magnitude of theservo error.

During normal follow up, the output of U2 1/2 is approx. 0 V.


70 20220414A

Modulator phase shifter 2 and comparator 2The DC signal through the servo compensating circuit is converted toAC again for driving the servo motor. The DC signal is converted tosquare wave by ON-OFF of Q5 (400 Hz). Refer to Figure 6-16.

TP7

OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFFQ5

2,5 ms (400 Hz)

DC signal U2 1/2 (UPC 812G) output

0V

Figure 6-16

Operation of the phase shifter 2, comparator 2, CR9 1/2 and theperipheral parts is the same as that in 5-9.1.2. And in this phaseshifter, R55 is adjusted so that the phase difference between the servomotor exciting signal and the signal across TPB - TP9 (or servo motorcontrol phase terminal) becomes 90°. Refer to Figure 6-17.

90°

Servo motor exciting voltage(400 Hz, 100 V)

Signal acrossTP8-TP9

Figure 6-17


20220414A 71

Gain controlR21 decides the servo loop gain. The adjusting procedure is asfollows: After the rotor runs up, turn R21 fully CW to producehunting in the servo loop. Then turn R21 gradually CCW and setwhere the hunting stops. Next, confirm that no hunting is produced atevery 45° (0°, 45°... 315°, 0°) of the gyrocompass.

Band pass filter (B.P.F.2)This filter consists of U2 2/2 (UPC 812G), R24 - R27, C11 and C12.This circuit makes a different operation from previously mentionedB.P.F.A.1. Its band width is not so wide as that of B.P.F.A.1 and thecharacteristic is shown in Figure 6-18. The signal previously beingformed as a square wave in the modulator now becomes a 400 Hzpseudo sine wave.

Gain

0 w = 2xf

1

(R24//R25) x R26 x C1122XxX

R24//R25 = 1

1 1R24 R25

+

Figure 6-18

Power amplifier 1The pseudo sine wave made in the previous stage is buffered in thisamplifier to drive the servo motor. This amplifier also operates as alow pass filter.

The main components of the circuit are U3 1/2 (UPC 812G), Q6, Q7,CR1 1/2 2/2, CR2 and peripheral capacitors and resistors.

The low pass filter cut-off frequency is decided by C14 and R29. CR1,1/2 2/2 and R31, R32 compensate the voltage between base andsource of Qs6 and Q7. CR2, CR3 are provided to protect Q6 and U7


72 20220414A

from counter electric voltage spikes caused by the inductive load(servo motor) of this circuit.

Power amplifier 2The signal from the power amplifier 1 is phase-inverted and buffered(change the phase by 180°). Components are U3 2/2 (UPC 812G),CR4 1/2 2/2, Q8, Q9, CR5, CR6 and peripheral capacitors andresistors.

The circuit configuration and operation are the same as that of thepower amplifier 1, but it has no filter function.

Insulating circuit and band pass filter 3The insulating circuit receives 400 Hz 100 V square wave from theinverter. R6 is for protection of PC1 from excessive current and CR7is for protection of EC1 from excessive voltage.

The band pass filter is all the same as band pass filter 2 (B.P.F.2). Itscomponents are U5 1/2 (UPC 812G) and peripheral capacitors andresistors. The voltage dividing circuit composed by R47 and R48ensures that the input voltage to the band pass filter is not saturated.

This circuit changes the square wave to the pseudo sine wave. Thereason to change the reference signal to sine wave is that the phaseshifters of 1 and 2 do not operate well with the square wave input,

Constant current circuitThe constant current circuit consists of U4 2/2 (UPC 812G) andperipheral resistors.

U4 1/2 (UPC 812G) is a non-reverse circuit to receive the torquersignal with a high impedance, The constant current circuit outputs thecurrent in proportion to the input voltage (output of U4 1/2).

The relation between the input voltage Ei and the output current Io isgiven as follows.

Io = 42

4443(R

RR + x45R

Ei

provided that

434442

RRR+

= 4541

40RR

R+

The reason why the pick up signal is not affected when connecting theoutput of the constant current circuit to the secondary side of the pickup torquer is that it can be considered that the output impedance of theconstant current circuit is infinity. In addition, the current from theconstant current circuit is a direct current and does not enter into theservo loop because of presence of C1.


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6.9.2 Transmission PCB (T/M PCB)

This PCB transmits the repeater signals and consists of a constantvoltage circuit and photocouplers. Q1, CR1 and peripheral circuitconvert 24 V DC (power supply input to the master compass) to 12 VDC to supply to the emitting side diodes of PI1 to PI3.

There is a disk (10230086-) between the light-emitting diode and thelight-receiving side as shown in Figure 6-19. The disk is made oftransparent acrylic plate and the black fan shape is printed on every45°. By turning the disk, the light from the emitting diode to thereceiving side is cut in order.

PI1 to PI3 are made ON where the disk is transparent. The disk isturned by the azimuth axis the gear. ON-OFF status of PI1 to PI3 isshown in Figure 6-20.

ON

OFFP11

P12

P13

1 deg.1/6 deg.

Figure 6-19 Figure 6-20


74 20220414A

6.9.3 CPU PCB

This board controls all the functions of the master compass andprovides speed and latitude corrected repeater signals.

Input of tilt signalThe tiltsignal is received by the circuit which consists of U30 1/2, 2/2,U34, U33, U20 and U21.(U33 and U34 are sample & hold amplifiers.)

The tilt signal entrapped by U20 A/D converter is used for arithmeticprocessing. At the same time, it is outputted to U21 D/A as it is, andheld by U33.

The signal which is held by U33 and the tilt signal are compared witheach other and processed in U30 and the result is held by U34. Thesignal hold by U34 added to the tilt signal again through U30.

The repetition of this operation in a determined cycle makes itpossible to obtain a resolution of apparent A/D 12 bits or more.

Azimuth signalThe three-phase 1/6 degree signal transmitted from the encoder andT/M PCB is inputted into U28 and the resistor via CN6 to shape itswaveform and then transmitted to CPU. The CPU, through the phaserotation of the 3-phase signal, determines if the pointed azimuth ishigher or lower and adjusts it to the current azimuth to display theazimuth of the master compass on the panel. At the same time, CPUuses this signal for its arithmetic processing.

Entry of latitudeThe information about latitude can be obtained from the panel in theform of DC signals between +10 V for North latitude of 65 degreesand –10 V for South latitude of 65 degrees. The level of these signalsis converted into 0 to 5 V DC by U31 circuit configuration, andinputted in A/D of CPU U1 (CN2-1 and 2 pins). The output from U31circuit can be calculated by the following formula:

eo = – (7273

RR (ei–er) – er)

Where er = + terminal voltageeo = Outputer = Input


20220414A 75

Entry of ship's speed(A) Automatic

The 200 P/N.M contact signal is received at the CN3-7 andCN3-8 pins. When the contact point is closed, PC5 is turned onand its waveform is resharped by U25 1/6 to be sent into CPU.

(B) Manual

The input signal of 50 Kt/10 V is sent from the panel. Thissignal is inputted into CN2-3 and 4 pins to be divided by R76and R77, and inputted into CPU as a signal of 50 Kt/5 V DC.

Entry of alarm signal(A) Main power loss

The main power loss signal, detected by the Panel PCB, isinputted into CPU via CN1-46 and U25 3/6. (Voltage detectionat the master compass external wiring terminal board [N+].)

(B) Control power error (±l5 V DC)

Abnormal voltage detected by the circuit which consists of PC1,CR12 and CR13 is sent to CPU via U25 1/6.

(C) Servo error

If the servo loop does not close because of an error which occursin the follow-up system (pick-up torquer to servo amplifier toservo motor to follow-up ring), the error signal is inputted intoCN4-3 and 4 pins from the servo amplifier.

The inputted signal is level-converted by U32 1/2 2/2 (max. 5 VDC) and sent to CPU.

(D) Tilt error

If the level of the inputted tilt signal becomes approximately ±2degrees or more after it is converted into the rotor level, it isregarded as an error and an alarm is issued. (The tilt signal levelis approximately 1.2 V DC or more.) This alarm system beginsits monitoring operation in about 6 minutes after it is activated.

(E) Slowdown of rotor rotation

The inverter always monitors the current which flows throughthe rotor. If abnormally large current runs through the rotor, it isinputted into CPU PCB CN7 as a signal for the photo-coupler.

This alarm system begins its monitoring operation in about 4minutes after it is activated.


76 20220414A

Initial setting and update of azimuth angle and fine adjustmentof latitude setting

The information about “∆”, “∇ ”, “ENT” "MODE" and “B/S” switchesof the Panel PCB is sent to CPU via CN1-26, 28, 30, 32 and 34 pins.

Torquer signalThis signal is outputted from U21 D/A in determined cycles.

The outputted signal is sent to the constant current circuit of I/F PCBvia U35 sample & hold amplifier or sent further to the constant currentcircuit of the Servo Amplifier PCB after passing through I/F PCB.

Repeater signalThe repeater signal is outputted after its speed differential iseliminated. The output, a 1/6 degrees 3-phase signal, is outputted toCN3 via U22, U27, Q2 to Q4, and PC2 to PC4.

PC2 to PC4 provides insulation from external circuits.

Operation mode signalThis gyrocompass is normally operated through the following fourtypes of modes from the start to stop; start mode (PS mode). rise mode(LEV mode), short period mode (FS mode) and navigation mode(NAV mode). Corresponding to each mode, CPU outputs a modesignal to I/F PCB by way of CNS.

RS422 Serial signal transmissionThe serial output includes corrected heading information and a ship’sspeed.

It's transmitting interval is normally every second, however in turningcondition the interval for repeater signal is changed every 0.1 degree,changed. (Ship's speed is every second.)

This signal is transmitted at terminal board R1 and R2 of MasterCompass via 4, 5, 6 pins of CN3 from IC U1 and U2.

Please refer to CHAPTER 1 for signal specification.

Other unitsThis system is also equipped with a relay (K1) for driving the buzzerand a relay (K2) for driving the alarm display LED lamp if an erroroccurs.


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6.9.4 I/F PCB

This PCB controls the following signals corresponding to the modesignal transmitted from CPU; signal from the pick-up torquer, tiltsignal and torquer signal.

Control of the signal from the pick up torquerThe follow-up signal (AC 400 Hz) from the pick-up torquer isinputted into the band pass filter amplifier circuit which consists of U21/2, peripheral resistors and capacitors. The high pass side cut-offfrequency is approximately 200 Hz, while the low pass sideapproximately 800 Hz.

The half-wave rectification is performed on the signal which haspassed through the band pass filter amplifier circuit when the gyro isin the PS mode. The rectified signal is smoothed and amplified in U22/2 and the peripheral circuits and sent to the constant current circuitwhich consists of U1, Q1 and Q2.

The constant current circuit supplies the current to the pick-up torquervia K1 in proportion to the inputted voltage.

The PS mode duration is 4-6 seconds after activation.

The servo amplifier does not move during this period of time.

U6 and U8 are analogue switches and are closed when 0 V is appliedto the control terminal. In other words, 3-2 and 15-14 pins of U6 and2-3 and 10-11 pins of U8 are kept closed in the PS mode.

All the analogue switches are controlled by each mode to switch theflow of signal. Also, each mode signal is supplied to U13, U10 U11and U12 by CPU. This signal keeps the condition of its mode until thenext mode signal is supplied.In any mode other than PS mode, 6-7 pins of U8 are closed, and thefollow-up signal from the pick-up torquer is transmitted to the servoamplifier. During this time, the loop in the PS mode gives torque tothe pick-up torquer so that the follow-up deviation signal of the pick-up torquer may become 0 V. This allows the servo loop to be closedsmoothly when the PS mode is completed,

Control of tilt signalGenerally, no switching operation will be given to the tilt signal.However, there are two types of controls as shown below are appliedto it.

One control is as follows: When in the PS mode, it is, only once,separated from CPU at U7 through the use of a bias adjust signal.

At the same time, the tilt signal which goes to CPU is connected to thecommon line of the control power supply at U7. The other control isthat the time constant of the filter to be multiplied to the tilt signal is


78 20220414A

changed between the LEVEL mode and other modes. This change ismade at U7.

The tilt signal is supplied to R20 (RA) as a current by the tilt meterbuffer amplifier. This current is converted to a voltage by R20, (RA)and is amplified by U3 1/2.

The amplified tilt signal is wave-formed by the filter circuit (consistsof U3 2/2, R28, R29, R30, C12, C13 etc.) and sent to the CPU.

In the LEVEL Mode, the switch section of U7 1/4 is opened to changethe filter constant by separating C13 from the circuit.

Control of torquer signalThe torquer signal from the CPU is sent to the switch section via U41/2 and 2/2.

The gain of this signal is decreased by the analogue switch mountedon U4 2/2 when in the FS mode. After the PS mode is completed thegyro compass enters the LEV mode. In this mode the rotor case israised from its laying position when the gyro compass is started.

At this time, precession is used and during the raising operationextremely large torque is required. Therefore, when in the LEV mode,the instruction signal issued by CPU is supplied to the constant currentcircuit as it is by way of U6 switch. When in the FS mode, therequired torque is smaller than that in the LEV mode. Therefore, thegain is decreased as described above.

In the NAV mode, the gain recovers its original state again, but thetorquer signal is sent to U5 1/2 by U6. In this mode, K1 is turned offand the constant current circuit in I/F PCB is not used, The signal sentto U5 1/2 is inputted into the constant current circuit in the servoamplifier to supply current to the pick-up torquer. In the NAV mode,the torquer signal can be controlled by much smaller torque than in theFS mode. Therefore, the micro-constant current circuit in the servoamplifier is used. Current-voltage conversion performed in theconstant current circuit in I/F PCB is approximately 55 mA/10 V.

6.9.5 Panel PCB

The main functions of this PCB are to send information about latitudeand ship's speed (manual/automatic) to CPU and to displayinformation received from CPU.

Latitude informationThe latitude data between the North latitude of 70 degrees and theSouth latitude of 70 degrees is turned into a voltage between -10 Vand +10 V in VR1, and sent to CPU, The signal level can be fine-adjusted in U17 and R46.


20220414A 79

Ship’s speed informationThe ship’s speed is scaled as 50 kt/10 V DC and manually set by VR2.Also, when a switch, which is equipped on VR2, is set to maximumCCW, the ship’s speed can be inputted automatically.

The analogue voltage signal and the switch condition signal are sent tothe CPU. When the switch is set to manual adjustment, the CPU usesthe analogue voltage. When the switch is set to automatic adjustment,it uses the 200 P/N.M signal.

Display unitCR5 to CR8 are seven-segments, which display the master compassheading (azimuth angle), repeater heading, latitude, ship's speed andalarm codes.

CR2 is provided for power supply display, while CR3 for rotorrotation increase display, CR4 for PS, LEV, F/S modes display andCR1 for repeater power supply display.

CR10 is lit (red) if an error occurs.

Also, the “MODE”, "ENT" and other setting switches includes anLED.

CR11 to CR16 are provided for Panel backlighting.

* CR3 and CR4 light up corresponding to the signal sent from CPU.

Dimmer circuit, "DIM +/–" and "LAMP ON/OFF" switchesCR5 to CR8 and CR1 to CR4 are controlled by the pulse repetition(ON/OFF signals).

U2 is an oscillation circuit (of approximately 180 Hz). The signalreceived from U2 is sent to the one-shot multivibrator of U3 to beconverted into a signal whose duty cycle is different (approximately240 µs: 5.2 ms). This signal is sent to U15. On the other hand, thesignal from the dimmer switch is sent to the flip-flop of U1 via U5 3/64/6. U1 changes its condition each time the dimmer switch is pressed.The signals Q1 and Q2 are used as control signals of U15.

The signal outputted from the 2 and 7 pin side of U15 controls CR1 toCR4. CR1 to CR4 are turned on when the level of the signal is highand turned off when its level is low.

Therefore, these lamps are fully lit when the signal whose high level is5.2 ms is selected by U15. On the other hand, the signal outputtedfrom 10 and 15 pin side of U15 is used to control CR5 to CR8.Contrary to the case of CR1 to CR4, they are fully lit when the signalwhose low level in 5.2 ms is selected.

Also, the card illumination activates PC2 and turns on or off Q2corresponding to the signal received from U1. It controls the amountof current which flows through the lamp by using the difference ofresistance between R73 and R74.


80 20220414A

In other words, the lamp is fully lit when Q2 is turned on (PC2 isturned on).

Also, the lamp-off signal activates the relay via U1 and (Q7) to turnoff each of the power supplies of CR1 to CR4, CR5 to CR8 and thecard illumination lamp.

Display of repeater power supplyThe power supply for T/M PCB supplied from the transmission unit isalso sent to the panel PCB to drive PC1 and Q1 and lights CR1(repeater power supply indicating lamp).

Detection of main power supplyThe main power supply is connected to CN3-3 pins on the Panel PCBto drive PC50. The signal for driving PC50 is sent to CPU to givealarms when PC50 is turned off.

6.9.6 Tilt meter buffer amplifier

This amplifier consists of the tilt meter control section and the powersupply section.

Power supply sectionThe transformer of the power supply section receives a single-phasepower from the 3-phase power supply provided for the rotor. Afterbeing rectified in the transformer this single-phase power is sent to U2and U3 to be turned into the constant voltage of ±15 V DC.

Tilt meter control sectionQ1 and the peripheral circuits of this section supplies excitationcurrent to the primary pick-up in the tilt meter.

The amplifier circuit which consists of U1 amplifies the signal in thesecondary pick-up in the tilt meter. The amplified signal is fed back tothe tilt meter torquer.

The tilt meter torquer is connected to TQH and TQL. This torquercurrent is fed into the resistance in I/F PCB and converted intovoltage. The peak to peak voltage applied to the resistance in I/F PCBis approximately 2 V/rad at the small angle of the rotor.

6.9.7 CPU P/S Pan

This PCB is equipped with a DC/DC converter. It supplies ±15 V DCand +5 V DC for the CPU PCB and I/F PCB.


20220414A 81

6.9.8 Inverter unit

The inverter unit supplies the rotor power for the master compass,together with the ±15 V (DC) control voltage. The input voltage is 24V (DC).

The inverter configuration is shown in Figure 6-21.

Linefilter Switching 1

Controller 1Aux. powersupply 1

Voltagesensing 1

Rectifiersmoothing 1

Aux. powersupply 4

Rectifiersmoothing 2

Constantvoltage cct.

Aux. powersupply 2

Aux. powersupply 3

Switching 2

Controller 2

Rotor currentsensing

(L1) (Q2-Q9)

(U1, RV1)

(CR2-CR5)

(CR1, Q1)

(PC21, Q31, R43)

(Q21-29)

(CR21, C22, L21)

(CR37, R22) (U21, 22, RV21)

(CR22, 23, C23, L22)

(CR21, C22, L21)

(CR51-54, C52, L51-52) (U51-52)

±15VDC

To panel

400Hz100V 3Ø

+

-

INV-OCTPCB

Figure 6-21

Auxiliary power supplyThis consists of Q1, CR1, CR7 and peripheral capacitors and resistors.The circuit supplies approx. 11 V (DC) stabilized power for theController 1 input from 24 V DC (ship's power supply).

Controller 1, voltage sensingThis consists of U1 and peripheral circuits. U1 is a IC for switchingregulation and varies the duty cycle of the output pulse of El, E2 (No.9, 10 pins). The internal oscillating frequency of this IC is determinedby C10, R7 and obtained by the formula below:.

fosc = 61042.1710817.01

−+ xxRxC (Hz)

The oscillating frequency is approx. 190 kHz with C10 = 0,001 µFand R7 = 4,7 KΩ. E1, E2 are taken out with 1/2 of the fosc, then theprimary side switching frequency of this inverter becomes 95 kHz.

The reference voltage of 5 V (DC) is output from U1 No. 14 pin. Thisreference voltage is divided by R3 and R5 to be input to No. 2 pin.The voltages of No. 2 and No. 1 are always compared and when thevoltage of No. I pin becomes higher than that of No. 2 pin (2.5 V DC),"H" level pulse widths of E1. E2 become narrower. And, the referencevoltage is connected to No. 4 pin through C11 and C8. The standard


82 20220414A

duty ratios of E1, E2 are decided by No. 4 pin voltage. When No. 4pin is 0 V, output signals of El, E2 are shown in Figure 6-22.

Approx.10,6 us(95KHz)

E1

E2

Figure 6-22

Actually, the divided voltage by R8, R6 is applied and the waveformbecomes as shown in Figure 6-31 with dotted lines. At the momentwhen the power supply is switched on, the voltage waveform becomesas shown in Figure 6-23 due to existence of C11 and, starts with avery narrow width pulse (soft start).

E1

Start

No. 4 pinvoltage waveform

Figure 6-23

The constant voltage operation is controlled by the voltage differencebetween No. 1 and No. 2 of U1. When the load decreases, the voltageof the sensing circuit is increased. The voltage is converted to DC byCR4, CR5, C17 and L2. A voltage drop of approx. 10 V is generatedby CR2 and CR3 and is inputted to No. 1 pin of U1 through RV1.

The voltage of No. 2 pin is kept at approx. 2,5 V by R3 and R5. As theNo. 1 pin voltage becomes higher than the No. 2 pin voltage, pulsewidths of El and E2 become narrower. In reverse, when the loadincreases, the No. 1 pin voltage becomes lower than the No. 2 voltage,pulse widths of El and E2 becomes wider. Consequently, by selecting


20220414A 83

a suitable ratio of RV1 to R40 the output voltage can be kept at asuitable level. For load variation, No. 1 pin voltage of U1 becomesequal to the No. 2 pin voltage by the feed back operation.

U1 No. 2 pinvoltage

U1 No. 1 pinvoltageShift by adjusting RV1

U1 No. 9 pin (E1)

U1 No. 10 pin (E2)

Figure 6-24

As shown in Figure 6-24 when the load is heavy the pulse widthbecomes wider to supply more power, and when the load is light thepulse width becomes narrower to supply less power resulting inkeeping the output voltage (400 Hz 100 V 3ϕ) constant. The No. 16pin is connected for protection in the way that El and E2 become 0 Vwhen the sensed voltage is abnormally high.

CR6 is arranged to use the sensed voltage for the controller Powersupply to protect Q1 from overheating during normal operation.

Switching 1This circuit consists of four transistors (push-pull operation), fourFETs (parallel operation), snubber circuits of R16 and C12, R17 andC16, and peripheral capacitors and resistors.

R12 is provided to protect Q2, Q3 from excessive current and reversecurrent which are generated by ON.OFF operation of Q6 and Q7 dueto capacitance existed between gates and drains of Q6, Q7. C13, C14and C15 operate as a filter and compensates the drain current at themoment of FET turned ON.


84 20220414A

Rectifying, SmoothingThe voltage of approx. 160V (peak value) 95 kHz is generatedbetween No. 8 and No. 9 of the transformer T1 (secondary side).(Figure 6-25)

The voltage is converted to approx. 130 VDC by CR22, CR23, C23and L22.

Approx. 160 V

Approx. 160 V

95 KHz ~ 100 KHz

Figure 6-25

Auxiliary Power Supply 4The circuit composed by CR21, L21 and C22 generates a higher DCvoltage, approximately 15V higher than the 130V rectified, smoothedvoltage from “switch 1”.

This voltage is used as gate voltage for the FET switch circuittransistors to make sure that the transistor are fully on whenconducting.

Auxiliary Power Supply 3This circuit consists of CR37, R22 and C24, and supplies 12V DCvoltage to the controller 2.

Auxiliary Power Supply 2This circuit consists of Q30, CR36, R27 and R28, and converts theauxiliary power supply 3 voltage of 12 V to approx. 11V DC which isused as a gate voltage of FET in the switching 2 circuit (describedlater).

Controller 2 and switching 2This circuit consists of U21, U22 and peripheral capacitors andresistors.

U2l, RV2l, R36, R37 and C25 configure an oscillating circuit. Theoscillating frequency is obtained by the formula:

fosc = 25)3723621(

44.1xCXRRRV ++

(Hz)

When RV is 2.87 kΩ, the frequency is 2.4 kHz. The 2.4 kHz pulsesignal is input as a clock of D22 (QUAD “D” TYPE FLIP FLOP). Therelation of the input pulse and the output is shown in Figure 6-26.


20220414A 85

1 2 3 4 5 6 1 2 3 4 5 6

Input pulse(2.4 kHz)

1Q U22(No. 2 pin)

3Q U22(No. 10 pin)

2Q U22(No. 6 pin)

Figure 6-26

These outputs become gate signals for Q27, Q28 and Q29 excitationpulses for the switching-2 circuit. The equivalent switching operationis shown in Fig. 6-27.

RotorXYZ

E

S1 S2 S3

S1 S2 S3

Figure 6-27

Sl~S3, 1S ~ 3S in Figure 6-27 correspond to the following FET.

S1= Q21 S2= Q23 S3= Q25

1S = Q22 2S = Q24 3S = Q26

The explanation is given by corresponding Figure 6-26 to Figure 6-27.

When the output from U22 is "H", then S1, S2 and S3 are ON.

When the input pulse is 1, then S1, S2 and 3S are ON, and 1S , 2Sand S3 are OFF. At this time the current flows from 1S , 2S →X, Y→gyro rotor → Z → S3.


86 20220414A

When the input pulse is 2, then S1, 2S , 3S are ON, and 1S , S2 andS3 are OFF. At this time the current flows from S1 → X → gyro rotor→ Y, Z → 2S , 3S .

When the input pulse is 3, then S1, 2S and S3 are ON, and 1S , S2and 3S are OFF. At this time the current flows from S1, S3 → X, Z→ gyro rotor →Y→ 2S .

When the input pulse is 4, then 1S , 2S and S3 are ON, and S1, S2and 3S are OFF. At this time the current flows from S3 → Z → gyrorotor→ X, Y → 1S , 2S .

When the input pulse is 5, then 1S , S2 and S3 are ON, and S1, 2Sand 3S are OFF. At this time the current flows from S2, S3 → Y, Z→ gyro rotor → X → 1S .

When the input pulse is 6, then 1S , S2 and 3S are ON, and S1, 2Sand S3 are OFF. At this time the current flows S2 → Y → gyro rotor→ X, Z → 1S , 3S . These operations are repeated by every pulseinput, and is shown in Figure 6-28.

ON ON

ON

ON ON

Q21

Q23

Q25

X-Y (X COM,)

Y-Z (Y COM,)

Z-X (Z COM,)

2.5ms (400Hz)

120°

120°

Figure 6-28


20220414A 87

As shown in Figure 6-28, the gyro rotor power supply is a squarewave.

The actual switching operation is as follows. When IQ (no. 2 pin) ofU22 is “H” level Q27 becomes ON and Q22 becomes OFF. OFF ofQ22 makes Q21 ON by the gate voltage from R24.

Reversibly, when IQ (no, 2 pin) of U22 is "L" level, Q27 becomesOFF and Q22 becomes ON. Q21 gate voltage becomes "L" level forQ21 to be OFF.

In addition because Q22 drain current flows through CR25, thereverse bias is given between the gate and the drain of Q21 whichmakes Q21 completely OFF.

The effective value of the output voltage is shown by the formulabelow.

E

-E

323χχ

χ

Vrms=χ

(O+E2+(-E)2)χ3

Then, to make the output voltage 100 Vrms E = 123 is required.

C27 between 3Q (no. 10 pin) and CLR (no. 1 pin) of U22 is providedto prevent malfunction.

When 3Q changes from "H" level to "L" level, all are cleared. Even ifthere is any miss during shifting the signal, this can recover the signalwithin 2π.

Sensing the rotor currentThe rotor current is sensed by the voltage drop resistor R43, connectedin series with the power supply line of the switching circuit. (Thecurrent flowing through R43 is DC due to ON of at least one of Q21,Q23 and Q25.)

When the voltage drop across R43 becomes less than approx. 1.5 V,Q31 turns OFF. When Q31 is OFF, PC21 turns ON through R45. Theemitter and collector of PC21 are connected to CPU PCB.


88 20220414A

Rotor overload shut-downThe INV-OCT PCB has a resetable timer function and providesautomatic shut-down of the gyro.

When the gyro is switched on, 24 VDC is applied to the static inverterand the timer on INV-OCT PCB starts to run. As the power is appliedto the rotor, this starts to run.

Three minutes after gyro switch-on and normal rotor speed isobtained, the opto coupler PC21 on the Inverter PCB turns on andresets the Inv-Oct timer via transistor Q1.

If however the rotor does not reach full speed, sensed by R43, notimer reset level is generated and approximately 4,5 minutes after gyroswitch-on the timer reaches time-up and causes the inverter to stop.Hence the rotor supply is shut-down.

Rectifying, smoothing 2, constant voltage circuitThe outputs of T1 secondary side No. 10, 11 and 12 are fully rectifiedby CR51 to CR54 and are smoothed by L51, L52, C51 and C52. U51is a 3 terminal regulator for positive voltage and U52 for negativevoltage. The ±15 V DC output is used as control power supply for theservo amplifier etc.

R40, R41, R42, C30, C31 and C32 are functioned as a snubber circuit,and L23 to L25, C33 to C35 are provided for noise protection (filter).

6.9.9 Step amplifier PCB

This PCB is in the transmission unit, and amplifies the repeater signalfrom the master compass (transmitted from T/M PCB) to the powerlevel required to drive the repeater motor.

A 12 V DC stabilized power supply is provided for the internal powersupply of PCB.

Constant voltage circuitThis circuit consists of Q31, CR31 and peripheral capacitors andresistors. This circuit stabilizes the ship's power supply as 12 V DC bythe Zener voltage of CR31. The 12 V DC generated here is used forthe control power supply of PCB inside, and is also used for thephotocoupler power supply for the repeater signal output of CPUPCB.


20220414A

Repeater driving switchingThe input terminals T1, T2, T3 are connected to CN3 of CPU PCBthrough the external wiring terminal board T1, T2, T3 of the mastercompass respectively. Let's consider the case that PC2 (photocoupler)of CPU PCB is ON (the input terminal T1 ON). The anode side ofCR1 becomes approx. 11 V DC, and No. 1 pin of U1 also becomesapprox. 11 V DC through R2.

When the voltage level of No. 1 pin of C1 becomes higher than thevoltage (4.8 V) of No. 2 pin, the output of U1 becomes +12 V DCthrough R5 to make Q1 ON.

At this time, No. 1 phase coil of the repeater motor connected to theoutput terminal No.1 of PCB is excited.

CR2 is used to check if the circuit to U1 is operating.

CR3, CR4 connected to the drain of Q1 protect Q1 from the reversevoltage from the repeater motor.

O1, Q11 and Q21 are N channel enhancement power MOS FETS.

ON-OFF hysteresis of U1 is shown in Figure 6-29.

∆V = (VCC – 1.5) 103

3+R

R

where R3 : kΩ

In this circuit,

∆V = (12 – 1.5) 109.3

9.3+

= 3.0 V

Since V is 3 V, OFF voltage of U1 is:

3.3 – 20.3 = 1.8 V

ON voltage is:

+ 20.3 = 4.8 V

Vout

1.8V 4.8V

V

Vref(3,3V)

Vin

Figure 6-29

89


90 20220414A


Maintenance

20220414A 91

7. MAINTENANCE

7.1. GeneralThe section describes daily checks and periodical inspections formaintenance of the Simrad RGC11 Gyro Compass. Since correcthandling is the only way to maintain good characteristics of the GyroCompass over a long period, it is most important to follow thedirections and precautions given in this manual.

7.2. Routine InspectionPerform the following checks at least once a day:

1. Check synchronization between the reading of the master compasscard and the gyro heading on the panel. Synchronize them whenthere is a deviation.

2. Check synchronization between the repeater heading on the paneland the repeater compass. Synchronize them when there is adeviation.

3. Check if the latitude indication on the panel is correct. Correct itwhen there is a deviation,

4. When the manual speed setting, check if the speed indication onthe panel is correct. Correct it when there is a deviation.

5. Check the Compass by azimuth observation when possible.

6. Make sure that the supply voltage is constantly maintained.

7. Masters Compass

Normal operation of the Master Compass is that it shall notproduce noise, vibration or overheating. With this in mind, theoperator should observe the performance of the Gyro Compassand make the necessary precautions should any malfunctionoccur.

Also, observe that the position of the air bubble in the levelindicates correct inclination of the Gyro Compass as determinedby the local latitude (Figure 5-13 and Figure 5-14).

With the exception of the above-described routine inspection, theGyro Compass seldom requires special maintenance cheeks. It isadvisable, however, to check for loose connections, adhering oiland component wear from time to time and to make adjustmentswhen necessary.


92 20220414A

7.3. Periodical InspectionThe gyrocompass comprises a high-speed running rotor and othermoving parts. These moving parts are lubricated with a high-gradelubricating oil. The oil will however progressively deteriorate overtime. The packings and other parts may also be degraded.

Therefore, the gyrocompass needs periodical inspection and cleaningoverhaul by the hand of a Simrad service engineer. Please contactyour nearest service station when the time for periodical inspectioncomes.

Recommend that every 1-2 years the sensitive element is cleaned andrelubricated.

The cleaning overhaul requires special technology, equipment andtools, therefore, never disassemble the gyro compass by yourself as itway cause further trouble. Be sure to call one of our trained serviceengineers when you need the cleaning overhaul.

Special technique is required to overhaul the sensitive element, andreplacement of parts other than bearings needs resetting of ROM inthe CPU PCB with using the special equipment in the factory.

Troubleshooting

20220414A 93

8. TROUBLESHOOTING

8.1. GeneralFor failures of the gyrocompass careful attention should be paid forearly discovery of abnormalities such as vibration, noise and over-heating. The cause of gyro compass failure can be classified aselectrical or mechanical malfunction. It is therefore important toobserve and become familiar with the normal working conditions.

The failure status caused from electrical failure will appear as no goodrunning condition, and that caused from mechanical failure enablesthe gyro to continue running although with some reading error.

8.2. Troubleshooting chartPossible failures of RSG11 are described in this chapter using chartsfor each fault symptom.

Correct reference to these charts should enable the operator to identifythe failures of each unit speedily.

Items

1. Master compass operation is no good.

2. Master compass does not start.

3. Compass error

4. No follow up

5. Servo amplifier is no good.

6. Excessive output difference of inverter unit from normal value.

7. Master compass RUNNING indication does not light.

8. Panel PCB is no good.

9. Follow up at all repeaters is no good.

10. Follow up of only one repeater is no good,

11. Check of I/F PCB

12. Check of ACC BUP PCB


94 20220414A

Error code

E1 Power supply of ±15 V DC in CPU PCB is abnormal.

Pin U14-2 in CPU PCB is abnormal at L (0 V DC).

E2 Rotor rotation is abnormal.

Pin U14-4 in CPU PCB is abnormal at L (0 V DC).

E3 Servo loop is abnormal.

Pin Ul-40 in CPU PCB is abnormal at H (5 V DC) orL (0 V DC), normally 2.5 V DC. (Pin U2 1/2-1 inservo amplifier PCB is abnormal at +10 V DC andabove or –10 V DC and above, normally ±2 V DC orbelow).

E4 Inclination is abnormal.

Voltage between TP7 and TP17 (A GND) in CPUPCB is abnormal at approx. +5 V DC Or –5 V DC orabove.

E5 Power is lost.

Pin U1-41 in CPU PCB is abnormal at L (0 V DC).(Voltage at master compass external terminal "N+” isdetected).

Troubleshooting

20220414A 95

Trouble shooting chart 1


96 20220414A

Troubleshooting Chart 2


Troubleshooting

20220414A 97



98 20220414A

Troubleshooting Chart 5-1

Troubleshooting

20220414A 99



100 20220414A


Troubleshooting

20220414A 101



102 20220414A


Troubleshooting

20220414A 103



104 20220414A


Troubleshooting

20220414A 105



106 20220414A


Troubleshooting

20220414A 107



108 20220414A


Troubleshooting

20220414A 109



110 20220414A


Parts List

20220414A 111

9. PARTS LIST

9.1. GENERALThis section contains parts list for the RGC11 in the form of assemblydrawings and wiring board drawings. The assembly drawings providea list of all mechanical parts that go into manufacturing of theassembly, together with physical identification and location of eachpart by part callout (PC) numbers.

In addition, the quantity of each part required per assembly is giventogether with the part number of each part comprising the assembly.Electrical parts data are shown on the wiring board drawings.

9.2. The following drawings are includedFigure 9-1 RGC11 Gyrocompass.................................................... 112Figure 9-2 RGC11 Master Compass ............................................... 113Figure 9-3 Sensitive Element .......................................................... 114Figure 9-4 Rotor and rotor case....................................................... 116Figure 9-5 Rotor .............................................................................. 116Figure 9-6 Vertical Ring ................................................................. 119Figure 9-7 Tilt meter ass’y .............................................................. 120Figure 9-8 ACC Buffer Amplifier PCB .......................................... 121Figure 9-9 Horizontal ring................................................................ 123Figure 9-10 Binnacle....................................................................... 124Figure 9-11 Phantom ring ............................................................... 126Figure 9-12 Base Plate .................................................................... 127Figure 9-13 Upper Base Plate ......................................................... 129Figure 9-14 Lower Base Plate......................................................... 132Figure 9-15 Shock Absorber ........................................................... 134Figure 9-16 Servo Motor Ass’y ...................................................... 137Figure 9-17 T/M PCB ..................................................................... 138Figure 9-18 Servo Amplifier ........................................................... 139Figure 9-19 Servo Amplifier PCB .................................................. 140Figure 9-20 CPU I/F PCB ............................................................... 141Figure 9-22 RGC10/11 Inverter (Common type)............................. 143Figure 9-23 RGC10/11 Inverter PCB Ass’y (Common type)......... 144Figure 9-24 Case ............................................................................. 146Figure 9-25 Panel ............................................................................ 148


112 20220414A

Figure 9-26 Panel PCB.................................................................... 149Figure 9-27 CPU PCB..................................................................... 150Figure 9-28 CPU P.S. PCB ............................................................. 151Figure 9-29 Transmission Unit ....................................................... 154Figure 9-30 Step amplifier .............................................................. 155Figure 9-31 Step amplifier PCB...................................................... 156Figure 9-32 INV - OCT PCB .......................................................... 157

9.3. Requests or requisitions for replacementparts

All requests or requisitions for replacement parts should include thefollowing data:

Mechanical parts: NAME and DRAWING NUMBER

Electrical parts: NAME DRAWING NUMBER and WIRING SYB. MARK

List of units of the system

Syb. mark PC No. Nomenclature No. req’d Description Part no.

1 Master Compass 1 10239004-

2 Transmission Unit 1 10239092-

Figure 9-1 RGC11 Gyrocompass

Parts List

20220414A 113

RGC11 Master Compass


Master Compass 1 10239004-

1 Sensitive element ass’y 1 10239023-

2 Binnacle ass’y 1 10239034-

3 Case ass’y 1 10239043-

Figure 9-2 RGC11 Master Compass


114 20220414A

Sensitive Element


Sensitive element ass’y 1 10239023-

1 Rotor & rotor case 1 10239121-

2 Vertical ring ass y 1 10239127-

3 Horizontal ring ass’ y 1 10239133-

Figure 9-3 Sensitive Element

Parts List

20220414A 115

Rotor and rotor case


Rotor & rotor case 1 10239121-

1 Stopper 1 10230004-

2 Screw, PAN M3xl0 2 000503102

3 Weight 1 10230336-

4 Screw, PAN M3x10 1 000503102

5 Case, rotor N SIDE 10230325-

6 Window 10210209-

7 Case, rotor S SIDE 10230326-

8 Screw, PAN M3x10 5 000503102

9 Supporter 1 10210206-

10 Plate, seat 1 10210204-

11 Spring 1 10210205-

12 Rotor ass’y 1 10219103-

13 Stator ass’y 1 10219104-

14 Axis,vertical 1 10210210-

15 Screw, flat M3x6 3 000630062

16 Screw, PAN M3x25 3 000503252

17 Washer,spring M3 6 003830002

18 Nut, lock M3 6 002530002


116 20220414A


19 Screw, PAN M3x25 3 000503202

20 Supporter 1 S SIDE 10210203-

21 Terminal board ass’y 1 10219105-

22

23 Screw, PAN M3x10 2 000503102

Wire holder 1 011700031

Figure 9-4 Rotor and rotor case

Rotor


Rotor ass’y 1 10219103-

1 Nut 1 N SIDE 10210221-

2 Nut 1 S SIDE 10210222-

3 Bearing, ball 2 10Øx30Øx9 10210236-

4 Rotor ass’y 1 10219106-

Figure 9-5 Rotor

Parts List

20220414A 117

Vertical Ring


118 20220414A


Vertical ring ass’y 1 10239127-

1 Ring, verticalr 1 10230327-

2 Bearing ass’y 1 10239400-

3 Housing 1 10230410-

4 Bearing, ball 1 10210326-

5 Plate, retainer 1 10210308-

6 Screw, flat M2x6 3 000620062

7 Shim For gap 10230012-

8 Screw, PAN M3x10 3 000503102

9 Suspension wire ass’y 1 10219119-

10 Screw, flat M4x8 3 000640082

11 Suspension wire supporterass’y

1 102393061

12 Supporter, suspension wire 1 10230328-

13 Bearing ball 1 10210326-


15 Screw, flat M3x6 3 000630062

16 Screw, PAN M3x14 3 000503142

17 Plate, tangent arm 1 10230337-

18 Screw, PAN M3x14 1 000503142

19 Nut, lock 2 10210407-

20 Screw, tangent 2 10210322-

21 Weight 2 10210105-

22 Screw, PAN M3x14 2 000503142

23 Screw, PAN M3x10 2 000503102

23 Terminal board 1 10210313-

24 Screw, PAN M3x10 2 000503102

25 Terminal Board ass’y 1 10219113-

26 Screw, PAN M3x16 1 000503162

27 Stopper 1 10230225-

28 Screw, PAN M3x20 1 000503202

29 Washer, spring M3 1 003830002

30 Washer M3 1 003530002

31 Nut, lock M3 1 002530002

32 Primary coil ass’y 1 10239342-

Parts List

20220414A 119


33 Secondary coil ass’y 1 10239345-

34 Harness 1 10239349-

35 Shim 1 For gap 10230226-

36 Screw, PAN M3x10 2 000503102

R1 37 Screw, PAN M3x14 3 000503142

38 Harness 1 10239355-

39 Wire holder 1 10230377-

40 Axix, horizontal 1 East side 10210310-

41 Screw, flat M3x10 3 000630102

42 Axix, horizontal 1 West side 10210311-

43 Screw, flat M3x10 3 000630102

44 Harness 1 10239356-

45 Wire holder 1 10210804-

46 Screw, PAN M3x10 1 000503102

47 Level ass’y 1 10219120-

48 Screw, PAN M3x10 2 000503102

49 Liquid ballistic ass’y 1 10239204-

50 Air pipe 1 10230011-

51 “O” ring 2 008000417

52 Screw, PAN M3x16 8 000503162

53 Tilt meter ass’y 1 10239213-

54 Screw, PAN M3x14 2 000503142


56 Insulation seat 1 10221578-

57 Wire holder 1 10230377-

58 Screw, PAN M3x14 2 000503142

59 Harness 1 10239350-

60 Wire holder 2 01170003-

61 Screw, PAN M3x10 1 000503102

Figure 9-6 Vertical Ring


120 20220414A

Tilt meter ass’y


Tilt meter ass’y 1 10239214-

1 Tilt meter 1 10239217-

2 Plate 1 67120012-

3 Screw, PAN M3x10 2 000503102

4 Screw, PAN M3x14 2 000503142

5 Base plate 1 10230551-

6 Support 2 20022003

7 ACC buffer amplifier PCB 1 10239511-

8 Screw, PAN M3x8 2 000503082

Figure 9-7 Tilt meter ass’y

Parts List

20220414A 121

ACC Buffer Amplifier PCB


ACC buffer amplifier PCB 1 10239511-

1 Printed wiring board 1 400 Hz 10230302-

T1 2 Transformer 1 10230320-

CN1 3 Connector 1 4 pin 20038186-

Figure 9-8 ACC Buffer Amplifier PCB


122 20220414A

Horizontal ring


Horizontal ring ass’y 1 10239133-

1 Case 1 Damper case 10230038-

2 Cover 1 10230039-

3 Screw, PAN M3x10 2 000503102

4 Ring, horizontal 1 10230035-

5 Screw, PAN M3x10 2 For balance weight 000503102

6 Wire holder 2 10210804-

7 Screw, PAN M3x10 2 000503102

8 Bar 1 10210810-

9 Terminal Board 2 10030927-


11 Wire holder 2 01170003-

12 Screw, PAN M3x14 4 000503142

13 Bearing ball 2 6øx19øx6 01200049-

14 Retainer 2 006901372

Parts List

20220414A 123


15 Nut 1 West side 10210805-

16 Bearing ass’y 2 10239315

17 Screw, PAN M3x14 6 000503142

18 Harness 1 From East sideterminal board

10239357-

19 Harness 1 From West sideterminal board

10239358-

20 Wire holder 2 For harness 10230400-

21 Housing 2 10230036-

22 Bearing, ball 2 6øx19øx6 10210326-

23 “O” ring 2 For #16 10210846-

24 Outer holder 2 10230037-

Figure 9-9 Horizontal ring


124 20220414A

Binnacle


Binnacle ass’y 1 10239034-

1 Phantom ring ass’y 1 10239138-

2 Base plate ass’y 1 10239147-

3 Servo motor ass’y 1 10239156-

4 Servo amplifier ass’y 1 10239163-

5 Inverter ass’y 1 10239172-

Figure 9-10 Binnacle

Parts List

20220414A 125

Phantom ring


Phantom ring ass’y 1 10239138-

1 Wire holder 4 10230377-



4 Screw, PAN M3x14 4 000503142

5 Screw, PAN M3x8 2 000530082

6 Washer spring M3 2 003830002

7 Relay PCB 1 10230227-

8 Card 1 102301343

9 Cover 1 10230341-

10 Screw, PAN M3x10 2 Black 000503102

11 Phantom ring 1 102300402

12 Axis 1 S side 10210812-

13 Screw, PAN M3x14 3 000503142

14 Slip ring 1 10239346-

15 Slip ring supporter 1 10230114-

16 Screw, flat M3x6 2 000630062


126 20220414A


17 Nut 1 10220418-

18 Screw, flat M3x6 1 000630062

19 Phantom ring axis 1 10230041-

20 Screw, flat M4x14 4 000640142

21 Shim 10210840-

22 Axis 1 N side 10210811-

23 Screw, PAN M3x14 4 000503142

24 Spur gear 1 102300423

25 Screw, flat M4x14 4 000640142

26 Bearing 1 10230044-

27 Bearing 1 007262011

28 Harness 1 10239387

29 Spacer 2 11470157-

30 Shim 10210827-

31 Shim 10210828-

32 Terminal plate 1 10230045-


34 Wire holder 2 10230400-

Figure 9-11 Phantom ring

Parts List

20220414A 127

Base Plate


Base plate ass’y 1 10239147-

1 Upper base plate ass’y 1 10239144-

2 Lower base plate ass’y 1 10239143-

3 Shock absorber ass’y 1 10239367-

Figure 9-12 Base Plate


128 20220414A

Upper Base Plate

Parts List

20220414A 129


Upper base plate ass’y 1 10239144-

1 Base plate 1 10230329-

2 Brush ass’y (3) 1 10239379-

3 Brush ass’y (4) 1 10239380-

4 Screw, PAN M4x14 2 000504142

5 Rubber line stand 1 10230343-

6 Screw, PAN M3x10 4 000503102

7 Plate, light interception 1 10230344-

8 Screw, PAN M3x10 4 000503102

9 Speed clamp 4 10038885-

10 Rubber line 1 10230361-

11 Support 2 20022017-

12 Screw, PAN M3x8 2 Black 000503082

13 Socket 1 10038811

14 Lamp 1 081019014

15 Screw, PAN M3x10 1 000503102

16 Terminal Board 1 10030928-


18 Screw, PAN M3x10 2 000503102

19 Connector stand 1 10230230-

20 Screw, PAN M4x12 2 000504122

21 Screw, PAN M2.6x18 2 000526182

22 Weight 1 10230332-

23 Weight 1 10230397-

24 Screw, PAN M3x25 3 000593252

25 Harness 1 10239382-

26 Harness 1 10239363-

27 Screw, PAN M3x6 16 For shockabsorber

000503062

28 Weight 1 10230334-

29 Screw, PAN M3x14 3 000503142

Figure 9-13 Upper Base Plate


130 20220414A

Lower Base Plate

Parts List

20220414A 131


Lower base plate ass’y 1 10239141-

1 Support plate 1 10230330-

2 Filter 1 20030584-

3 Capacitor fixed 3 6.8µF SM50T6R8BP

4 Screw, M4x8 2 000504082

5 Plate mounting 2 10230350-

6 Screw, M4x16 2 000504162

7 Plate, mounting 1 10230349-

8 Capacitor 2 0,1µF CF-KH22E-104H

9 Screw, PAN M3x10 2 000503102


11 Screw, M3x14 2 000503142


13 Support 2 20022039-

14 Support 2 20022038-

15 Cover 1 10230352-

16 Screw, PAN M4x12 4 000504122

17 Wire holder 1 10230362-

18 Screw, PAN M4x12 2 000504122

19 Plate, ground 1 10230364-

20 Screw, PAN M4x12 2 000504122

21 Nut 2 002540002


23 Screw, PAN M5x30 2 000505302

24 Plate, ground 2 10230365-

25 Nut 4 002550002

26 Washer M5 2 003550002


28 Cover 1 10230351-

29 Screw, PAN M4x12 4 000504122

30 Base plate 1 10230346-

31 Screw, PAN M4x8 5 000504082

32 Harness 1 10239381-

33 Plate, mounting 1 10230342-

34 Screw, PAN M4x12 2 000504122


132 20220414A


35 Capacitor fixed 1 6.8µF SM50T6R8BP

36 Capacitor fixed 3 10µF TCD51E1H

37 Terminal Board 1 ML-3182-10P

Figure 9-14 Lower Base Plate

Parts List

20220414A 133

Shock Absorber


134 20220414A


Shock absorber ass’y 4 10239367-

1 Washer, spring 4 003860002

2 Nut 4 002560002

3 Side plate 4 10230360-

4 Spring, leaf 8 10230993-


6 Screw, PAN M3x6 16 000503062

7 Nut 4 002512902


9 Support 4 10230371-

10 Retainer 8 006902352

11 Stopper 4 10230234-

12 Plate 4 10220616-

13 Spring 4 10230291-

14 Slide bearing 4 10230235-

15 Friction plate 4 10230053-

16 Cushion 4 10230049-

17 Spring 4 10230292-

18 Cup 4 10220986-

19 Spring 4 10230293-

20 Seat 4 10220985-

21 Interference rubber 4 10230050-

22 Spring, leaf 48 10230995-

Figure 9-15 Shock Absorber

Parts List

20220414A 135

Servo Motor


136 20220414A


Servo motor ass’y 1 10239156-

1 Support plate 1 10230338-

2 Screw, PAN M4x12 4 000504122

3 Gear ass’y 3 10239372-

4 Screw, PAN M4x10 3 000504102

5 Servo motor 1 10350151-

6 Capacitor ass’y 1 0.22µF 10239364

7 Clamp 3 10230075-

8 Screw, PAN M3x10 3 000503102

9 Plate, mounting 1 10230340

10 Support 3 10230374-

11 Screw, PAN M4x12 3 000504122

12 Screw, flat M4x10 3 000640102

13 Housing 2 12010220-

14 Bearing 4 10221503-

15 Screw, PAN M3x10 6 000503102

16 Gear ass’y 1 33T 10239323-

17 Set screw 2 20021151-

18 Gear ass’y 1 135T 10239324-

19 Set screw 2 20021151-

20 Shim 1 10212792

21 Gear ass’y 1 48T 10239321-

22 Set screw 2 20021151-

23 Gear ass’y 1 132T 10239322-

24 Set screw 2 20021151-

25 Shaft 2 10230067-

26 Gear 1 26T 10230090-

27 Shielding plate 1 10230080

28 Spacer 1 10230081-

29 Housing 1 10230423-

30 Bearing 2 10230077-

31 Gear ass’y 1 120T 10239326-

32 Pin, roll 1 004920162

33 Spacer 1 10230081-

Parts List

20220414A 137


34 Spacer 1 10230089-

35 Shim 1 10212792-

36 Disk ass’y 1 10239526-

37 Set screw 2 20021151-

38 T/M PCB 1 10239526-

39 Screw, PAN M3x10 3 000503102

40 Disk 1 10230359-

41 Screw, flat M2x8 3 000620082

42 Holder 1 10230088-

43 Boss 1 10230087-

Figure 9-16 Servo Motor Ass’y


138 20220414A

T/M PCB


T/M PCB 1 10239526-

1 Printed wiring board 1 10230378-

Q1 2 Transistor 1 2SC3421Y

3 Mounting plate (1) 10230356-

4 Screw, PAN M3x6 3 000503062

5 Mounting plate (2) 1 10230357-

Figure 9-17 T/M PCB

Parts List

20220414A 139

Servo Amplifier


Servo Amplifier Ass’y 1 10239163-

1 Servo Amplifier PCB 1 10239506-

2 Support 5 20022019-

3 CPU I/F PCB 1 10239519-

4 Screw, PAN M3x10 5 000503102

5 Radiation seat 4 20565708-


7 Screw, PAN M3x14 2 000503142

Figure 9-18 Servo Amplifier


140 20220414A

Servo Amplifier PCB


Servo Amplifier PCB 1 10239506-


Figure 9-19 Servo Amplifier PCB

Parts List

20220414A 141

CPU I/F PCB


CPU I/F PCB 1 10239519-


Figure 9-20 CPU I/F PCB


142 20220414A

RGC11 Inverter (Blue mark)


RGC11 Inverter Ass’y 1 44166437

Figure 9-21 RGC11 Inverter (Blue mark)

Parts List

20220414A 143

RGC10/11 Inverter (Common type)


RGC10/11 Inverter Ass’y 1 44141760

Figure 9-22 RGC10/11 Inverter (Common type)


144 20220414A

RGC10/11 Inverter PCB (Common type)

Syb. Mark PC No. Nomenclature No. req’d Description Part no.

Inverter PCB 1 101695336

1 Printed wiring board 1 101605115

Figure 9-23 RGC10/11 Inverter PCB Ass’y (Common type)

RGC10/11 Inverter PCB, Jumper settings

Jumpers are indicated with grey symbols ( ) on the drawing above.

JUMPER JP1 JP2 JP3 JP4 JP5 JP6 JP7 JP8

SETTING X 0 0 0 0 0 X X

0 = Open

X = Short

Parts List

20220414A 145

Case


146 20220414A


Case ass’y 1 10239043-

1 Blind cover 2 10230100-

2 Screw, PAN M5x50 2 000550502

3 Panel ass’y 1 10239061-

4 Panel 1 10230331-

5 Name plate 2 10230213-

6 Packing 1 10230092-

7 Glass 1 10230093-

8 Case (2) 1 10230288-

9 Screw, PAN M3x10 6 000503102

10 Case (1) 1 10230281-

11 Knob 4 10038901-

12 Push plate 2 10230096-

13 Packing 2 10230097-

14 Screw, PAN M3x8 4 000503082

15 Push plate 2 10230385-

16 Packing 2 102300952

17 Screw, PAN M3x8 4 000503082

18 Name plate 1 10230251-

19 CPU PCB 1 10239517-

20 Collar 4 11470157-

21 Shield cover 1 10230198-

22 Support 4 20022066-

23 Screw, PAN M3x10 2 000503102

24 CPU P.S: PCB 1 10239531-

25 Collar 4 11470157-

26 Radiator 1 10230294-

27 Support 4 20022066-

28 Screw, PAN M3x10 4 000503102

29 Screw, SET M3x14 6 000830142

30 Wire holder 2 DKN-13

Figure 9-24 Case

Parts List

20220414A 147

Panel


148 20220414A


Panel ass’y 1 10239043-

1 Name plate 1 English 10230159-

Name plate 1 Japanese 10230160-

2 Push plate 1 11480230-

3 Knob 2 10038889-

4 Packing 2 11420027-

5 Panel PCB 1 10239531-

6 Screw, PAN M3x10 8 000503102

7 Harness 1 10239376-

Figure 9-25 Panel

Parts List

20220414A 149

Panel PCB


Panel PCB 1 10239533-


Figure 9-26 Panel PCB


150 20220414A

CPU PCB


CPU PCB 1 10239517-


Figure 9-27 CPU PCB

Parts List

20220414A 151

CPU P.S. PCB


CPU P.S. PCB 1 10239531-


Figure 9-28 CPU P.S. PCB


152 20220414A

Transmission Unit

Parts List

20220414A 153


Transmission Unit 1 10239092-

1 Cover 1 10230383-

2 Pacing 1 10230163-

3 Hinge 2 10230381-

4 Screw, PAN M3x8 8 000503082

5 Washer, plain 4 003530002

6 Nut 4 002530002

7 Mounting screw 1 01020141-

8 Washer 1 12010496-

9 Washer 1 10230170-

10 Fuse holder 7 082315111

11 Fuse 7 2A 082315015

12 Name plate 1 10230256-

13 LED lamp 1 10033034-

14 Toggle switch 1 11160036-

15 Fuse holder 1 082315111

16 Fuse 1 15A 10038617-

17 Step amplifier 1 10239182-

18 Screw, PAN M5x12 5 000505122

19 Case 1 10230379-

20 Line filter 1 ZAC221500U

21 Screw, PAN M4x12 2 000504122


23 Mounting plate 2 10230166-


25 Support 2 200220470


27 Support 2 200220390

28 Washer, plane 4 003540002


30 Screw, PAN M4x16 4 000504162

31 Screw, PAN M5x30 1 000505302

32 Nut 3 002550002

33 Washer, plain 2 003550002



154 20220414A


35 Harness 1 102393664

36 Resistor 1 2.7K ½ W 148212272


Parts List

20220414A 155

Step amplifier


Step amplifier 1 10239182-

1 Radiation seat 3 205657090

2 Radiation seat 1 205657080

3 Plate 1 10230177-

4 Screw, PAN M3x12 5 000503122

5 Screw, PAN M3x10 5 000503102

6 Step amplifier PCB 1 10239504-

7 Plate 1 10230384-

8 Filter (Capacitor) 3 20032359-

9 Screw, PAN M4x12 3 000504122

Figure 9-30 Step amplifier


156 20220414A

Step amplifier PCB


Step amplifier PCB 1 10239504-


Figure 9-31 Step amplifier PCB

Parts List

20220414A 157

RGC11 INV-OCT PCB


RGC11 INV-OCT PCB 1 44141703


Figure 9-32 INV - OCT PCB


158 20220414A


Drawings

20220414A 159

10. DRAWINGSFigure 10-1 Master Compass .......................................................... 160Figure 10-2 Package of Sensitive Element ..................................... 161Figure 10-3 Transmission Unit ....................................................... 162Figure 10-4 Spare Parts Box .......................................................... 163Figure 10-5 Inter Unit Wiring Diagram .......................................... 164Figure 10-6 Rectifier Unit (Option) ................................................ 165Figure 10-7 Servo Amplifier PCB - Circuit Diagram..................... 166Figure 10-8 Acc. Buffer Amplifier PCB – Circuit Diagram........... 167Figure 10-9 T/M PCB – Circuit Diagram ....................................... 168Figure 10-10 Panel PCB Circuit Diagram (Page 1 of 2)................. 169Figure 10-11 Panel PCB – Circuit Diagram (Page 2 of 2 ............... 170Figure 10-12 CPU PCB – Circuit Diagram (Page 1 of 2)............... 171Figure 10-13 CPU PCB – Circuit Diagram (Page 2 of 2)............... 172Figure 10-14 I/F PCB – Circuit Diagram........................................ 173Figure 10-15 CPU P.S PCB – Circuit Diagram .............................. 174Figure 10-16 RGC11 Inverter PCB (blue mark) – Circuit Diagram175Figure 10-17 RGC11 INV -OCT PCB – Circuit Diagram.............. 176Figure 10-18 RGC10/11 Inverter PCB (common type) – Circuit

Diagram .................................................................................... 177Figure 10-19 Step Amplifier PCB – Circuit Diagram..................... 178Figure 10-20 Master Compass- Wiring Diagram............................ 179Figure 10-21 Transmission Unit – Wiring Diagram ....................... 180Figure 10-22 Rectifier Unit – Wiring Diagram............................... 181Figure 10-23 Repeater & Dimmer Unit – Connections .................. 182Figure 10-24 RP-41-1 Bearing Repeater – Dimensions.................. 183Figure 10-25 MB Repeater Holder – Dimensions .......................... 184Figure 10-26 BB Repeater Holder – Dimensions ........................... 185Figure 10-27 Gyro Selector – Dimensions & Electrical Diagram .. 186Figure 10-30 AR68 Steering Repeater – Dimensions & Panel cut-out

.................................................................................................. 189Figure 10-31 AR77 Steering Repeater – Dimensions & Panel cut-out

.................................................................................................. 190Figure 10-32 BH Repeater Stand – Dimensions ............................. 191Figure 10-33 RGC11 Gyrocompass – Spare parts .......................... 192


160 20220414A

Figure 10-1 Master Compass

Drawings

20220414A 161

Figure 10-2 Package of Sensitive Element


162 20220414A


Drawings

20220414A 163

Figure 10-4 Spare Parts Box


164 20220414A

Figure 10-5 Inter Unit Wiring Diagram

Drawings

20220414A 165

Figure 10-6 Rectifier Unit (Option)


166 20220414A

Figure 10-7 Servo Amplifier PCB - Circuit Diagram

Drawings

20220414A 167

Figure 10-8 Acc. Buffer Amplifier PCB – Circuit Diagram


168 20220414A

Figure 10-9 T/M PCB – Circuit Diagram

Drawings

20220414A 169

Figure 10-10 Panel PCB Circuit Diagram (Page 1 of 2)


170 20220414A

Figure 10-11 Panel PCB – Circuit Diagram (Page 2 of 2

Drawings

20220414A 171

Figure 10-12 CPU PCB – Circuit Diagram (Page 1 of 2)


172 20220414A

Figure 10-13 CPU PCB – Circuit Diagram (Page 2 of 2)

Drawings

20220414A 173

Figure 10-14 I/F PCB – Circuit Diagram


174 20220414A

Figure 10-15 CPU P.S PCB – Circuit Diagram

Drawings

20220414A 175

Figure 10-16 RGC11 Inverter PCB (blue mark) – Circuit Diagram


176 20220414A

Figure 10-17 RGC11 INV -OCT PCB – Circuit Diagram

Drawings

20220414A 17

Figure 10-18 RGC10/11 Inverter PCB (common type) – Circuit Diagram

JP8

JP7

JP6

JP5

JP4

JP3

JP2

JP1

JUM

PER

XX

00

00

0X

NG

0 =

Ope

n

X =

Sho

r t

7

SETT

I


178 20220414A

Figure 10-19 Step Amplifier PCB – Circuit Diagram

Drawings

20220414A 179

Figure 10-20 Master Compass- Wiring Diagram


180 20220414A

Figure 10-21 Transmission Unit – Wiring Diagram

Drawings

20220414A 181

Figure 10-22 Rectifier Unit – Wiring Diagram


182 20220414A

Figure 10-23 Repeater & Dimmer Unit – Connections

Drawings

20220414A 183

Figure 10-24 RP-41-1 Bearing Repeater – Dimensions


184 20220414A

Figure 10-25 MB Repeater Holder – Dimensions

Drawings

20220414A 185

Figure 10-26 BB Repeater Holder – Dimensions


186 20220414A

Figure 10-27 Gyro Selector – Dimensions & Electrical Diagram

Drawings

20220414A 187

Figure 10-28 RSR68 Steering Repeater – Dimensions & Panel Cut-out


188 20220414A

Figure 10-29 DR75 Digital Repeater – Dimensions & Panel cut-out

Drawings

20220414A 189

pfjo^a=^oSU

SIMRAD

Vishey Sfernice PE30 Series 2K2 3 Wa tt

192

192

209

234 97

186

163

80

50

122

77

Figure 10-30 AR68 Steering Repeater – Dimensions & Panel cut-out

PANEL CUT-OUT:

187x187mm.

ALLOW 90MMCLEAR FOR D-TYPECONNECTOR AND

CABLE BEND.


190 20220414A

Vishey Sfernice PE30 Series 2K2 3 Wa tt

144

144

160

188 97

138

128

50

122

75

pfjo^a=^oTT

Figure 10-31 AR77 Steering Repeater – Dimensions & Panel cut-out

PANEL CUT-OUT:

139x139mm.

ALLOW 90MMCLEAR FOR D-TYPECONNECTOR AND

CABLE BEND.

Drawings

20220414A 191

Figure 10-32 BH Repeater Stand – Dimensions


192 20220414A

Figure 10-33 RGC11 Gyrocompass – Spare parts

RGC11

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