Instruction Manual

Instruction Manual
This manual is intended as a reference guide for correctly
installing and maintaining the RGC11 Gyrocompass.

Please take time to read this manual to get a thorough

understanding of the gyrocompass.

Other documentation material that is provided with your

system includes a warranty card. This must be filled out by
the authorized dealer that performed the installation and
mailed in to activate the warranty.

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Robertson RGC11 Gyrocompass

Document revisions

Documentation Hardware/Software Project/Product

department design Management
Rev Date Sign Date Sign Date Sign
– June 1995
A 12.05.00 12.05.00 12.05.00

Document history

Rev. – First edition.

A New layout. Modified text. Modifications to the following Circuit diagrams
and parts list: Servo Amplifier PCB, T/M PCB, Panel PCB, CPU PCB, CPU I/F
PCB, Inverter PCB, Step Amplifier PCB, INV-OCT PCB and Spare Parts list.
Gyro Repeater drawings included.

2 20220414A
 Instruction Manual

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................................................................................... 17
2.2.4 Caution in running ............................................................................... 18
2.2.5 Monitoring during voyage .................................................................. 18
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................................................................................... 19

3 Technical specifications..................................................................................................... 23
3.1 Accuracy ................................................................................................................ 23
3.2 General specifications .......................................................................................... 23
3.3 RS422 output (option).......................................................................................... 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

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Robertson RGC11 Gyrocompass

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

4.6 Confirm after Assembly....................................................................................... 28

5 Adjustment........................................................................................................................... 33
5.1 Inverter Unit ......................................................................................................... 33
5.1.1 Voltage adjustment (RV1).................................................................... 33
5.1.2 Frequency adjustment (RV21)............................................................. 33
5.2 Servo amplifier (Figure 5-6) ................................................................................ 34
5.2.1 Phase adjustment (R61)........................................................................ 34
5.2.2 Phase adjustment (R55)........................................................................ 35
5.2.3 Servo gain R21....................................................................................... 35
5.3 Panel (Figure 5-7) ................................................................................................. 35
5.3.1 Adjustment of latitude signal voltage (R46) ...................................... 36
5.3.2 Adjustment of illumination (R13, R15, R6) ........................................ 36
5.4 I/F PCB (Figure 5-8) .............................................................................................. 36
5.4.1 Tilt signal offset adjustment (R25) ...................................................... 36
5.4.2 Torquer signal offset adjustment (R40).............................................. 37
5.5 CPU PCB (Figure 5-9) .......................................................................................... 38
5.6 Transmitter............................................................................................................ 38
5.6.1 Zero adjustment.................................................................................... 39
5.6.2 Confirmation of the transmitter signal .............................................. 40
5.6.3 Confirmation of the repeater rotating direction ............................... 40
5.7 Adjustment of Sensitive Element....................................................................... 42
5.7.1 Adjustment of horizontal ring level ................................................... 42
5.7.2 Adjustment of gyro rotor level............................................................ 43
5.7.3 Azimuth adjustment............................................................................. 43

6 Principles of Gyrocompass................................................................................................ 49
6.1 Rotation of Earth’s surface .................................................................................. 49
6.2 Characteristics of Gyroscope............................................................................... 50
6.2.1 Gyroscope inertia.................................................................................. 50
6.2.2 Precession............................................................................................... 51
6.3 North-seeking action ........................................................................................... 52
Fundamental construction.................................................................................. 52
6.3.2 Oscillation in the direction of east and west (no damping motion)53
6.3.3 The inclination of the gyro .................................................................. 54

4 20220414A
 Instruction Manual

6.3.4 Explanation by using the projecting method.................................... 54

6.4 Damping action .................................................................................................... 55
6.5 Error Correction of Gyro Compass .................................................................... 56
6.5.1 Error Correction of Master Compass.................................................. 56
6.5.2 Error Correction of Repeater Compass .............................................. 57
6.6 Latitude Error, Speed Error................................................................................. 57
6.6.1 Latitude error......................................................................................... 57
6.6.2 Ship’s speed error ................................................................................. 58
6.7 Other Errors .......................................................................................................... 59
6.7.1 Cardinal error ........................................................................................ 59
6.7.2 Constant error ....................................................................................... 60
6.7.3 Variable error......................................................................................... 60
6.7.4 Acceleration error.................................................................................. 60
6.8 Outline Of ElectriC System (Refer to Figure 6-11)........................................... 61
6.9 Each Electric Circuit (Refer to Fig. 9-6 ~ 9~15)................................................ 65
6.9.1 Servo amplifier (refer to circuit diagram) .......................................... 65
6.9.2 Transmission PCB (T/M PCB).............................................................. 71
6.9.3 CPU PCB ................................................................................................ 72
6.9.4 I/F PCB.................................................................................................... 74
6.9.5 Panel PCB............................................................................................... 76
6.9.6 Tilt meter buffer amplifier ................................................................... 78
6.9.7 CPU P/S Pan .......................................................................................... 78
6.9.8 Inverter unit........................................................................................... 78
6.9.9 Step amplifier PCB................................................................................ 87

7 MAINTENANCE ................................................................................................................ 89
7.1 General................................................................................................................... 89
7.2 Routine Inspection ............................................................................................... 89
7.3 Periodical Inspection............................................................................................ 90

8 TROUBLESHOOTING...................................................................................................... 91
8.1 General................................................................................................................... 91
8.2 Troubleshooting Chart ........................................................................................ 91

9 Parts List ............................................................................................................................. 109

9.1 GENERAL............................................................................................................ 109

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Robertson RGC11 Gyrocompass

9.2 The following drawings are included ............................................................. 109

9.3 Requests or requisitions for replacement parts .............................................. 110

10 Drawings ............................................................................................................................ 159

6 20220414A
 Introduction

1 INTRODUCTION

1.1 General

The RGC11 Gyrocompass has been designated for medium and small
vessels to get higher accuracy and reliability. It is based on the
Tokimec ES series gyrocompass of which more than 20,000 sets
already have been installed.
RGC11 has a performance that complies with IMO A.424 (XI) and
Wheel Mark Specifications. The gyrocompass automatically corrects a
speed error by inputting the speed signal (200 pulses/NM) from the
outside unit.
It is also compact in size, easy to install and to operate. In addition it
features fewer failures and simple maintenance.
RGC11 basically consists of a master compass and a transmission unit.
Seven repeater circuits can be connected to the transmission unit.

1.2 Configuration
The Master Compass is supplied from the factory in two units, the
Master Compass harness and the gyrosphere (rotor). The rotor is
mounted in the Master Compass harness during installation. This
rotor is tuned to the Master Compass.
Transmission unit and repeaters with different mounting brackets
may also be supplied. Item description is as follows:
Master Compass w/rotor: Robertson RGC11
Transmission unit: Type TR-102-1
Repeater: Type RP-41-1
Repeater Mounting: Type MB-21-1
Repeater Mounting: Type BB-21-1
One spare parts box is also supplied.
Dimensional drawings are shown in Chapter 10.

1.3 Construction

The construction of each unit is explained below. Refer to attached

drawings in the end of this chapter.

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Robertson RGC11 Gyrocompass

1.3.1 Master compass

The master compass is classified to three assemblies of a sensitive

element, a binnacle and a case.
The sensitive element consists of a gyro rotor which is the most
important part of the gyrocompass and is located at the centre of the
element. Further it consists of a vertical ring which is supporting the
gyro rotor with freedom around the vertical axis, a stabilizer which
generates the north-seeking action, and a horizontal ring which
supports the vertical ring with freedom around the horizontal axis.
The gyro rotor is a rotating body, 110 mm in diameter and 60 mm in
thickness. It is supported by very precise bearings at both ends in the
rotor case, and rotates at 12000 r.p.m. Special grease for lubrication
provides long service intervals. In order to minimize the gyro rotor
vibration, precise balance adjustment has been made at the factory.
The gyro rotor is suspended from the vertical ring by a suspension
wire and the vertical axes located on top and bottom of the case are
supported by vertical bearings fixed to the vertical ring. The rotating
torque produced by those bearings seriously affects the gyrocompass
accuracy. A special oil is used to lubricate these bearings. The upper
end of the suspension wires can be adjusted. There is a window and a
level on the north side of the rotor case to observe the rotor rotation
and to indicate the rotor inclination. The level is scaled in 2 minutes
increments.
On the west side of the rotor case the stopper for the rotor case
vertical axis and the damping weight for producing damping action is
fixed.
On the south side of the rotor case and the vertical ring, the flexible
wires for the rotor power supply are mounted in the way that no
torque about the vertical ring is transferred to the rotor case.
On the east side of the rotor case and the vertical ring, the pick-up
torquer is mounted.
The primary of the pick up is mounted on the rotor case and the
secondary is mounted on the vertical ring together with the phantom
ring and the horizontal ring to follow up to the rotor case.
Also, the application of direct current to the secondary coil allows the
rotor case to generate the torque around its vertical axis that is
required to perform damping control or other necessary controls.
On the north side of the upper end of the vertical ring, the
inclinometer and the inclinometer buffer amplifier are mounted.
The tilt meter detects an inclination angle around the vertical axis to
convert it into an electrical signal. This electrical signal is amplified
through the ACC buffer amplifier.

8 20220414A
 Introduction

The amplified signal is used for controls of various kinds such as

damping control.
There are stabilizers made of transparent plastic vessels fixed on the
north and south sides of the vertical ring. The vessel contains the
special liquid having a heavy specific gravity and both vessels are
connected with pipes.
The liquid flows to the lower side due to the inclination in the
direction of south and north and a weight difference is produced. The
weight difference produces the torque in proportion to the inclination
to generate the north-seeking action.
The horizontal axes are fixed on the east and west end of the vertical
ring and each axis is supported by the horizontal bearings of the
horizontal ring.
The rotating torque of these bearings greatly affects the gyrocompass
accuracy too, and the same special lubricating oil as for the vertical
ring is used. Flexible wires for the rotor power supply and the pick-up
signal are wired on the horizontal axis bearing part in the way that no
torque about the horizontal axis is generated.
There is a transparent half sphere plastic vessel on the south side of
the horizontal ring into which high velocity silicon oil is put during
installation. This generates a damping effect with the damping bar
mounted on the outer gimbal axis to damp vibration caused from
rolling and pitching of the ship.
The binnacle consists of a phantom ring that supports the sensitive
element, a base plate that supports the phantom ring, shock absorbers
and a base stand.
A large bearing on the centre of the base plate supports the phantom
ring, and slip rings are mounted on the lower side of the base plate to
supply power to the sensitive element.
The outer gimbal axis on the phantom ring supports the sensitive
element assembly. On the lower side of the phantom ring, an azimuth
gear is mounted, and a card is mounted on the upper side.
On the lubber line stand, standing beside the shock absorbers, a
lubber line for reading azimuth and illumination lamp is mounted.
On the base plate, the Servo Amplifier PCB, the Interface PCB and a
servomotor assembly with a gear train are mounted.
A transmitter assembly that outputs step-transmitting signals as
heading information to the microcomputer is also mounted on the
servomotor assembly.
The base plate is supported by four shock absorbers to protect the
sensitive element parts on the shock absorbers from vibration and
shock of the hull.

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Robertson RGC11 Gyrocompass

The base stand includes shock absorbers fixing, contains an inverter at

the bottom, and terminal blocks for external connections at the side.
Adjacent to the terminal block noise prevention filters are mounted.
On top of the case assembly a glass window allows for observation of
the compass card. The operation panel is located adjacent to the
window.
The case assembly can be separated in a front portion and a rear
portion, and general maintenance check can be made with only the
front portion opened.
The case can be opened by removing the knobs for the case fixing on
the mounting hole of the base stand, and fixing screws hidden under
the two rubber covers at the upper side.

1.3.2 Transmission unit

The transmission unit consists of a Step Amplifier PCB that buffers the
received grey code heading signal and provides seven fused outputs.
The received grey code signals are corrected for speed and latitude
error in the CPU PCB.
On the front panel of the unit, the power switch, power on lamp, and
fuses 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 BB

bracket. Refer to Figure 10-24 and Figure 10-25. The compass scale is
marked in one-degree increments and heading resolution is 1/6
degree (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
of the repeater.
The MB type provides angular mounting of the repeater. The angle
can be adjusted for ease of readability. The Dimmer Unit is made as a
separate part, common for both the MB and BB mounting bracket. An
OFF/ON switch for repeater alignment (adjustment) is also included
on the Dimmer Unit.
The BB type provides mounting of the repeater for bearing
measurement. Connection diagram is shown on Figure 10-22.
Dimensional drawing is shown on Figure 10-23.

10 20220414A
 Introduction

Figure 1-1 Master Compass

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Robertson RGC11 Gyrocompass

Running Lamp

Power Switch

Power Supply Fuse

Repeater Fuse

Filter Capacitor Step Amplifier PCB

Terminal Board Grounding Terminal

Figure 1-2 Transmission Unit

12 20220414A
 Operation

2 OPERATION

2.1 Master compass control panel

For location of the various controls and details of the compass control
panel 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 the
middle, with North latitude from zero, increasing with CW
direction and South latitude from zero and CCW direction.
The setting is shown in the display when Latitude mode is
selected as indicated below by "Latitude display" example".
After setting the present latitude, press ENTER to enable the
processor computation. Latitude changes are now automatically
computed by the processor, based on ships speed and heading.
Corrections must be made by the ▼ and ▲ buttons, followed by
ENTER!
3. Speed corrector
The speed corrector knob has two functions. When set fully CCW,
the speed is set for AUTOMATIC, using 200 pulses/nautical mile as
control signal from the ship's log if connected.
When setting the knob to the ship's current speed, the automatic
function is switched off and the gyrocompass is corrected
manually by the set speed.

Note ! Allways set the speed corrector properly as the automatic latitude
correction is controlled by the speed signal.
4. Mode Switch
By pressing this switch, a number of information is called up in
the display. The information is shown in the following order:
1. Latitude
2. Master Compass heading
3. Repeater heading

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Robertson RGC11 Gyrocompass

4. Ships speed
5. Error codes
When the latitude is displayed, a leading character indicating an
"L", is shown either on the upper half of the display for northern
latitudes 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 compass
card, and not compensated for speed/latitude. When the dot is not
flashing, the heading readout is compensated for speed/heading,
and is the same as any repeater heading (step repeaters are
calibrated to this heading)
Example:
FLASHING DOT NO FLASHING DOT

Compass Card heading Gyro heading (Repeater display)

(No correction) (Corrected for latitude/speed)

Ships speed display

The speed is displayed in knots with a leading symbol indicating a
V 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

14 20220414A
 Operation

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

Example:

ABNORMAL ROTOR LEVEL

5. Lamp Switch
By pressing this button, all indicator lamps, the display and the
compass card illumination lamps are switched ON and OFF.
6. Illumination switch
The indicator lamps, display and compensation card illumination
lamps 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. The
audible alarm, given by a buzzer, is cancelled by pressing the
switch, while the alarm light will stay on for as long as the failure is
present.
8. "UP" and "DOWN" switches
These switches are used to set the latitude, longitude and also the
gyro heading (during start-up, see Start Procedure)
Pressing ▼ decreases and pressing ▲ increases the numerical
value.

Note ! The switch functions will only be enabled when LATITUDE/

LONGITUDE mode or MASTER COMPASS AZIMUTH mode is
selected by the MODE switch (ref. to paragraph 4).
9. "ENTER" switch
All values of the set latitude/longitude and speed are stored in the
electronic memory when pressing this switch.
10. Display
The following information are shown by the 7 segment, 4 digits
display:
1. Latitude
2. Master Compass Heading
3. Repeater Compass Heading
4. Ship's speed
5. Error code
(Refer also to paragraph 4)

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Robertson RGC11 Gyrocompass

11. Power supply indicator lamp

Indicates that the 24V DC Mains Power is present when the Power
switch is "ON".
12. Rotor Running Lamp
When the lamp is "ON" it indicates that the gyro element rotor has
reached the normal speed.
13. Fast settling (short settlement state) mode indication lamp
This lamp indicates that the master compass is in the "Short
Settlement State". Note that the lamp will be switched on when the
gyro compass is started, but the "Short Settlement State" is not
commenced before the "RUNNING" lamp comes on, approx. 5
minutes after the gyrocompass is started.
14. Repeater power supply indicating lamp
Indicates that the power to the repeater transmission unit is present
when 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 automatic
speed correction).
3. Turn the power switch on.
4. The "START" and "FAST" indicating lamps comes on to indicate that
the start sequence is activated to initiate the north seeking function.
When the north seeking function is started with a heading error
deviating from the true bearing by 30 degrees or less at the latitude
of 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 settlement
movement.
NAV mode: Normal navigation state.

The "RUNNING" indicator lamp comes on within 5 minutes after

the "START" indicator lamp lights up, indicating that the gyro rotor
has reached the normal revolution.

16 20220414A
 Operation

5. After the "START" indicator lamp comes on, confirm that the master
compass has been set to the latitude display mode (L is displayed on
the first digit), and make fine adjustment of the set latitude by using
▼ or ▲ switch. The latitude can be set up to 70 degrees.
After setting the Latitude, press the "ENT" switch to complete the
setting. If you do not press this switch, the master compass will
operate on the value set prior to the new setting.

Note ! If you do not press the "ENT" switch within 10 seconds after the new
latitude has been set, the value automatically returns to the one prior to
the new setting.
6. Select display function for Master Compass Heading mode (decimal
point begins to flash), by pressing the mode switch and set the
compass display heading to the value shown by the compass card
by using Up or Down (▼ or ▲) fine adjustment switches.
After setting the value, press the "ENT" switch to complete the
setting. If you do not press this switch, the master compass will
operate on the value set prior to the new setting.

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

2.2.2 Transmission Unit and Repeater Compass

Refer to Figure 2-2 at the end of this chapter to identify the controls of
the transmission unit and repeaters.
1. After having completed the display setting for the master compass
heading, 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", and
verify that the "REPEATER" lamp on the master compass comes on.
3. To synchronize a repeater, turn the switch on the Dimmer Unit to
the OFF position. Push in and turn the adjustment knob on the
repeater for correct heading. Release the adjustment knob and turn
the switch on the Dimmer Unit to the ON position.
4. Check the readings of the repeater and the master compass
repeater display 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.

2.2.3 Optional rectifier

Turn on the optional rectifier unit before turning on the master

compass and the transmission unit.

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Robertson RGC11 Gyrocompass

2.2.4 Caution in running

1. When the ship's speed signal is supplied from a speed log, the
speed/latitude error can be corrected for automatically.
It is, however, necessary to check the latitude at regular intervals. If
there is any discrepancy between the actual latitude of the ship
and the latitude set on the master compass, select the latitude
display mode by pressing the mode switch on the control panel of
the master compass and correct the present latitude by using the ▲
(Up) or ▼ (Down) switch. Do not forget to press the "ENT" switch
after the setting.

Note ! If manual correction of the latitude must be made, make sure that the
correction is made before the latitude error exceeds 10 degrees, else gyro
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 of
speed error by using the ship's speed as an input signal from the
log (200 pulses/mile), or by manual control. Corrected heading
signals are then transmitted to the repeaters.
At regular intervals, check that the ship's speed is correctly
displayed at the master compass display. Press the mode switch to
select ship's speed and eventually correct the display readout by
adjusting the "SPEED"-knob. The speed correction can be set to a
maximum of 50 knots.

Note ! When setting the speed correction manually, make sure that the
correction is made before the difference between the set speed correction
and the new speed exceeds 20 kts, else gyro error will be introduced.
The amount of speed error can be obtained by the attached "Figure
2-4 Speed Error Graph".
3. An error may be generated in the gyro compass if a sharp turn or a
rapid change of speed is made while the "FAST" indicator lamp is
lit. It is therefore recommended to wait until the "FAST" indicator
lamp 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 reading
after a heading correction.

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.

18 20220414A
 Operation

4. The "ALARM" indicating lamp is off

2.2.6 Alarm

If a failure occurs in the master compass, both the audible buzzer and
the visual alarm light will be activated.
If the alarm should be of instantaneous nature, both the audible and
visual alarm will be cancelled when pressing the "BUZZER STOP".
If the alarm light is still on after pressing the Buzzer Stop, select Error
Codes by the Mode Switch. There are 5 different faults that may be
displayed:
1. E-1 Abnormal control voltage
2. E-2 Abnormal rotor speed
3. E-3 Abnormal servo loop
4. E-4 Abnormal rotor level
5. 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. Check the
mains power.
If one failure leads to another failure, the fault code will include a
maximum 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 the
failure 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 switch
in the transmission unit to "OFF".

2.3.3 Optional rectifier

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

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Robertson RGC11 Gyrocompass

Master Compass Operating Panel

11 14 10 4

GYROCOMPASS
12 START REPEATER SPEED LATITUDE POWER
MODE

RUNNING FAST

S N OFF ON
20 0
10
10
10 30 20 20
ALARM
30 30
LAMP DIM
0 40 40 40
ENT
13 50
60
50
60
AUTO 50KT 70 70

5 6 7 8 9 3 2 1

1. Power Supply Switch 8. Up Down Switch

2. Latitude Corrector 9. Enter Switch
3. Speed Corrector 10. Display
4. Mode Switch 11. Power Supply Indicator
5. Lamp Switch 12. Rotor Running Indicator
6. Illumination Switch 13. Fast Settling Mode Indicator
7. Buzzer Stop Switch 14. Repeater Power Supply Indicator

Figure 2-1 Master Compass Operating Panel

20 20220414A
 Operation

Running Lamp

Power Switch

Power Supply Fuse

Repeater Fuse

Figure 2-2 Operating Panel of Transmission Unit

Power Supply Indicator Power Supply Switch

Figure 2-3 Operating Panel of Rectifier (Option)

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Robertson RGC11 Gyrocompass

How to obtain speed error

Speed error (example 1.15°) can be obtained at the point where the
speed error graduation line intersects with the line which is extended
from the ship’s speed (example 16 knots) across the intersection of the
line between the course (example 30°) and latitude (example 40°) with
the slanted solid line.
Accordingly, the true bearing is 30°-1.15°=28.9°. (See notes)
Ship's heading (degrees)

30 - 150 - 210 - 330

40 - 140 - 220 - 320

50 - 130 - 230 - 310

60 - 120 - 240 - 300

70 - 110 - 250 - 290

80 - 100 - 260 - 280

90 - 90 - 270 - 270
10 - 170 - 190 - 350
20 - 160 - 200 - 340
( )

0 - 180 - 190 - 0
(+)
30
(+)
( )
28 0

26 0.2

0.4
24
0.6

22
0.8

20 1.0

Speed error (degrees)

Ship's speed (knots)

1.2
18
1.4

16
1.6

14 1.8

2.0
12

2.2
10
2.4

8
2.6

6 2.8

3.0
4
3.2

2
3.4

0 3.6

90 80 70 60 50 40 30 20 10 0 3.8
Latitude (degrees)

Figure 2-4 Speed Error Graph

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

22 20220414A
 Technical Specifications

3 TECHNICAL SPECIFICATIONS

3.1 Accuracy

Settling 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 specifications

Repeater 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 at
the time of starting.
Speed error correction:..........................Automatic
(When 200 pulse/mile is
inputted)
or manual
0 ~ 50 Knot
Only the repeater compass is
corrected
Main power supply: ..............................24VDC (for master compass)
Starting condition 300 VA
Normal running 150 VA
24VDC (for repeater compass)
1A for each repeater compass
Voltage fluctuation: ...............................+30% ~ -20%
Ambient temperature: ...........................–10ºC ~ +50ºC

20220414A 23
Robertson RGC11 Gyrocompass

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 real time

transmission if bearing change
is occurred.

24 20220414A
 Installation

4 INSTALLATION

4.1 Caution in Installation

This gyrocompass shipped from the factory may consist of the

following units: base stand of the master compass, sensitive element
of the master compass, a spare part box and eventually a transmission
unit.
For each external dimension, refer for Figure 10-1 “Master Compass”,
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, separately
from the binnacle, in foamed styrol packing material to protect it from
shock and vibration.

Note ! Never throw away the packing case and the packing material of the sensitive
element even after the installation. They may be used at the time 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 upper
surface of the master compass coincides with the number of the
sensitive element that has been sent together with the master
compass.

4.2 Installation notes

1. 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 up
accurately with the fore and after centre line of ship.
However, the switch panel should be located at the operator’s
side.

20220414A 25
Robertson RGC11 Gyrocompass

3. Install the rectifier unit and the transmission unit at an

appropriate place so that they may be operated for starting or
stopping the equipment.
4. Units should not be located at a place of high humidity and high
temperature, it is desirable to install them in a well ventilated
place.
5. Be sure to install the recommended cables separated according to
the function of each cable, as shown in the inter unit wiring
diagram.
6. Be sure to install all the equipment cables more than 5 m away
from radio equipment feeders.
If impossible, install the cable as far from feeders as possible.
7. Unless otherwise designated, cable is not furnished with the
equipment.
8. Connect terminals marked with to the ground terminals of the
ship.
Shield end of shield cable is to be finished close to the terminal
board and connected to the ground terminals of the ship.
9. Since semiconductor elements are used in the equipment, do not
use a megger for any tests.

4.3 Notes when the Sensitive Element is Assembled

After mounting the binnacle, it is necessary to mount the sensitive

element in it. Installing of the sensitive element should be done in a
place free from dust and easy to work in.

Note ! Special attention should be given to the following points when

assembling 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 be used at
the time of periodical inspection or repair.

4.4 Opening package of the Sensitive Element

Refer to Figure 4-1 “Packing of Sensitive Element” in the end of this

chapter when opening the package.

26 20220414A
 Installation

1. Put the package case (made of foamed styrol) on the level place
and 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 with
the 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.
7. Remove the protection cover from the ball-bearing section of the
horizontal ring.
8. Remove the cover of the damper case.
9. Remove the spacer from between the lower part of the rotor case
and the vertical ring.
10. Inject damper oil into the damper case. After the injection, the
sensitive element should not be inclined by an angle of 45 degrees
or more.
11. After all the above procedures have been made, the sensitive
element is ready to be mounted in the binnacle.

4.5 Unpacking of Binnacle and Assembling Sensitive Element

to Binnacle

Carry out the following procedures by referring to Figure 4-2 “Outline

of Master Compass” and Figure 4-3 “Package of Binnacle”.
1. Remove the two rubber covers from the upper surface of the case
with a small screwdriver, and fully unscrew the fixed screws
under the rubber covers.
2. Remove the two locking screws from the lower part of this side of
the front case.
3. This allows you to open the front case, but don’t open it by force
because the harness is connected inside the case. If necessary, you
can also remove the ear case by removing the set screw from the
lower part of the rear case and then removing the fixing screw
inside.
4. Make sure the number of the sensitive element sticked on the
shield case for CPU PCB in the front case coincides with the
number of the sensitive element going to be mounted now.
(ROM (U3) in the CPU PCB are for the corresponding sensitive
element and a combination with different numbers cannot
guarantee a correct performance of the gyrocompass.)

20220414A 27
Robertson RGC11 Gyrocompass

5. Cut off the band which fixes the phantom ring.

(Note: Never cut off any bands other than specified, because they
are provided for clamping the harness.)
6. Remove the stopper which fixed the shock absorbing seat
together with the vinyl tape.
7. Remove the paper from around the phantom ring.
8. Remove the fixing screws from the two installing axes of the
sensitive element (horizontal ring) which is mounted on the
phantom ring.
9. Remove the damper bar which is attached to one axis with a
screwdriver.
10. With the grease applied to the axes as it is, push out each of the
axes toward the exterior of the phantom ring until the edges of
the axes and the inside surface of the phantom ring coincide with
one another.
11. In this condition, install the sensitive element.
The sensitive element should be installed so that the damper case
comes to the south.
12. Rotate the axis on the south side a little, and insert to fix the
damper bar which was removed at step 9.
13. Rotate the axes so that the damper bar goes into the case vertically
and fix the north-south axis.
14. Install the cover on the damper case.
15. Connect the terminals of flexible lead cable coming from the
horizontal ring of the sensitive element to the terminal board in
the north 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 sensitive
element
(Note: Never cut off any bands other than specified because they are
provided for clamping the harness.)
17. Arrange the lead wires used for each moving part of the sensitive
element so that they may not be twisted or crossed.
This completes the assembling of the sensitive element into the
binnacle.

4.6 Confirm after Assembly

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

28 20220414A
 Installation

Confirm the horizontal ring does not touch surroundings by moving

up and down, and the rotor by moving in the direction of N-S. In
addition, 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 power
switch for a few seconds to verify that the rotor rotates clockwise
when viewed from the north side (the rotor level side). After
confirming the rotational direction of the gyro meter, turn on the
power switch again to confirm that each lamp works correctly and
check that the servo system follows. After confirming all above, install
the case.

Figure 4-1 Package of the Sensitive

Element

20220414A 29
Robertson RGC11 Gyrocompass

Figure 4-2 Outline of Master Compass

30 20220414A
 Installation

Figure 4-3 Package of Binnacle

20220414A 31
Robertson RGC11 Gyrocompass

This page is intentionally left blank

32 20220414A
 Adjustment

5 ADJUSTMENT

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

5.1 Inverter Unit

In the inverter unit, the rotor power supply voltage and frequency are
adjusted.

5.1.1 Voltage adjustment (RV1)

1. Supply the power to the master compass and confirm the input
voltage is 24VDC +30% - –20%. Then wait until the rotor is
running up.
2. After about 5 minutes, adjust RV1 so that voltages between
phantom ring terminals 8-9, 9-10, 8-10 are 100V rms AC (Figure 5-
1)

Note ! Due to the frequency of 400 Hz, an true Rms voltmeter may read 93VAC.

123 V

123 V

2,5 ms

Figure 5-1

5.1.2 Frequency adjustment (RV21)

1. Supply the power to the master compass and confirm the input
voltage is 24VDC +30% - 20% (between terminals + and –).
2. Adjust RV21 so that the frequency between phantom ring
terminals 8 and 9 is 400±2Hz

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

20220414A 33
Robertson RGC11 Gyrocompass

5.2 Servo amplifier (Figure 5-6)

There are two adjustment points in the servo amplifier PCB.

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

5.2.1 Phase adjustment (R61)

This is the adjustment for the demodulator circuit to convert AC

signal from the pick up to DC signal and to decide the direction of the
servo motor follow up.
1. Set the servo gain R21 to the minimum.
2. Start up the master compass with an adjusted inverter. Then wait
a minute.
3. Rotate the rotor case slowly.
4. Confirm that the signal form between TP5-TP1, TP6-TP1 is in
accordance with Figure 5-2 when moving the case as in item 3.
5. Eventually adjust the wave form in item 4 as follows (Figure 5-2
continuous lines).

TP5-TP1

TP6-TP1

(The dotted lines show misadjustment)

Figure 5-2

6. Confirm the wave form becomes as follows (Figure 5-3) when

rotating the rotor case slowly in opposite direction to that of the
step 3.

TP5-TP1

TP6-TP1

Figure 5-3

34 20220414A
 Adjustment

5.2.2 Phase adjustment (R55)

Adjust R55 so that there is difference of 90° in phase between the

output signal from the servo amplifier and the exciting phase of the
servo motor.
1. Rotate the servo gain R21 by about ¼ CW, and close the servo
loop.
2. Erect the rotor. (Apply a torque on the rotor case about its vertical
axis.)
3. Apply a torque on the phantom ring about its vertical axis.
At this time, adjust R55 so that the phase difference between the
exciting phase voltage and the control phase voltage becomes 90°.
Figure 5-4.

Servo motor exciting phase

voltage (400 Hz, 100 V)

Servo motor control

phase voltage

90°

Figure 5-4

5.2.3 Servo gain R21

After items 5.2.1 and 5.2.2 are completed, adjust the servo loop again.
1. Start the master compass and wait until the “RUNNING” lamp on
the panel comes on.
2. Generate hunting of the phantom ring by rotating R21 CW
gradually.
3. When the phantom ring is hunting, rotate R21 CCW gradually
and set it where the hunting stops.
4. After the item 3 is completed, confirm no hunting occurs at every
45° with rotating the master compass by 360° (or rotating the
sensitive element).

5.3 Panel (Figure 5-7)

The Panel PCB requires adjustment of the latitude signal and

illumination.

20220414A 35
Robertson RGC11 Gyrocompass

5.3.1 Adjustment of latitude signal voltage (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.

5.3.2 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 adjusted
to approximately 180 Hz, in the factory.
For jumper
The following jumper is set in the Panel PCB.
J1: C - STP jumper

5.4 I/F PCB (Figure 5-8)

Acceleration meter offset adjustment and torquer signal offset

adjustment are made on this PCB.

Note ! During adjusting I/F PCB, the alarm may sound, but has no significance due
to the adjustment.

5.4.1 Tilt signal offset adjustment (R25)

It is very difficult to adjust the tilt signal on board because the signal
level is very low. Therefore the offset adjustment of the tilt signal
should be made ashore.
The gyro compass settle point error may in a short period become
large when the offset adjustment of the tilt signal is not within the
values shown in 4 below.
1. Remove the case mounting screw to be able to open the master
compass case easily.
2. Start the master compass and wait for more than 4 hours to settle
the compass completely.
3. After settling the compass, open the front case and measure the
voltage between TP9-TP1 on I/F PCB.

36 20220414A
 Adjustment

4. Make sure the measured voltage in 3 coincides with the value

corresponding with the latitude of the ships location.
The voltage value corresponding to the latitude of the ships
location is obtained by the formula below.
VL = (sin λ x K) ± 20 [mV]
VL [mV]: Voltage corresponding to the latitude of the area
being 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 and
close the front case at once.
Leave as it is for at least 2 minutes. Then open the front case again and
measure the voltage.
Do not open the case except when measuring the voltage and adjusting
R25.
Always close the case during waiting.

Caution ! The position of the bubble level is also contributing to the tilt voltage.
Adjusting the voltage also changes the bubble level. For bigger offset,
bubble level weights have to be installed. In case of problems, contact
Simrad Robertson AS.

5.4.2 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 a value
within 0±0.005 (V).
For jumper
The following jumpers are set in I/F PCB.
J1: C-S jumper
J2: C-S jumper
J3: jumper
20220414A 37
Robertson RGC11 Gyrocompass

5.5 CPU PCB (Figure 5-9)

Each trimmer is very strictly adjusted before it is shipped from the

factory. Therefore, it requires no adjustment.
• Setting of DIP switches

S1 S2 S1 S2
1 OFF 1 OFF 1 OFF 1 OFF
2 OFF 2 OFF 2 OFF 2 OFF
3 OFF 3 OFF 3 OFF 3 OFF
4 OFF 4 OFF 4 OFF 4 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
SW53 SW632

Note ! During service exchange of element, note that for software version V632,
S1 no 6 and 7 are ON. For software version V53, S1 no 6 is OFF.
Software version follows the sensitive element.
• Jumper
➀ J1: Jumper
➁ J2: Not required
➂ J3: Not required
➃ J4: Not required

5.6 Transmitter
(Refer to paragraph 6.9.2 and 6.9.9)
This adjustment is necessary for synchronizing the master compass
bearing (card reading) with the master compass bearing on the panel.
This adjustment should always be made when T/M PCB, the disc
(Part no. 10230086-), the servo motor assembly and T/M assembly are
replaced.
This adjustment has been made correctly when shipment, however,
confirm items in 5.6.2.

Caution ! Some wiring to the master compass may have to be removed for this
adjustment.
38 20220414A
 Adjustment

Be fully careful to avoid an electric shock and not to short-circuit the

wiring.

5.6.1 Zero adjustment

(Refer to Figure 5-10)

1. Make sure the rotor of the master compass is not running.
2. Turn R21 of the servo amplifier PCB (servo gain adjusting
trimmer) to minimum (fully CCW).
3. Remove the flexible wire connecting between the horizontal ring
and the vertical ring for the phase power supply (8, 9 and 10) for
the master compass rotor by removing screws on the terminal
board.
4. Start the master compass after confirming the flexible wire in 3
does not touch the terminal of the vertical ring etc.
5. Set the master compass card at 000 degree by rotating the card by
more than 5 degrees. If the master compass card reads 000 degrees
when starting of the adjustment, rotate the card by more than 5
degrees and set back to 000 degree again.
6. Select the master compass mode switch to read the compass card
heading (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 always
becomes 0. In this adjustment, the integer of the master compass
bearing may be any value. Make the number under the decimal
point 0.
* For adjustment, unfasten once the set screw which fixes the
disc (10230086-) to the shaft, and rotate the disc only.
8. Upon completion of adjustment, fix the disc temporarily by
tightening the set screw lightly.
9. Rotate the master compass card by more than 5 degrees and
return it to zero degree again and confirm that the adjustment in 7
has been performed correctly. Then change the master compass
card slowly by ±5° (355° to 5°) and confirm the number under the
decimal point of the master compass bearing indication is 0 at
every 1 degree.
10. Turn the power supply of the master compass to OFF and
reconnect the flexible wires removed in 3. Be careful not to make a
mistake in terminal number 8, 9, 10.
11. Restart the master compass and adjust the servo gain described in
5.2.3.

20220414A 39
Robertson RGC11 Gyrocompass

5.6.2 Confirmation of the transmitter signal

(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 card
heading (flashing decimal point).
3. Confirm the number under the decimal point of the master
compass bearing indication is 0 at every 1 degree of the master
compass card.
4. At this time it is unnecessary to match the master compass card
reading with the master compass heading indication of the master
compass panel.

5.6.3 Confirmation of the repeater rotating direction

(Refer to Figure 5-11)

1. Start the master compass and wait at least 5 minutes.
2. Turn the power supply switch of the transmission unit to ON, and
open the lid of the transmission unit.
3. Select the repeater heading indication of the master compass
panel indication by the mode switch.
4. Confirm that the LED (light emitting diodes) of the step amplifier
PCB in the transmission unit comes on in the order shown in the
table below, when the repeater heading indication of the master
compass panel increases in reading.

LED no. Repeater indication → Reading increase

***.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

40 20220414A
 Adjustment

RV1 (Voltage) RV21 (Frequency)

Fuse

Figure 5-5 Inverter Unit

Phase 1 Phase 2 Gain

R61 R55 R21

CN2

U7 CN1

U8

CNA
Q9 Q8 Q7 Q6

Figure 5-6 Servo Amplifier PCB

Dimmer
Latitude

R46 R15 R13

CR1 CR2
CR8 CR7 CR6 CR5
CR4 CR3 Q2
SW7
R6 CR10
SW10
VR2 SW2 SW1
VR1

SW6 SW5 SW4 SW3

CN2 STP CN3 CN4
CN1 J1 C
SYC

Figure 5-7 Panel PCB

20220414A 41
Robertson RGC11 Gyrocompass

Tilt Signal Torquer Signal

Offset Offset

R25 R40
C12

CN5 CN4

U1

J1

K1 SCG
J2
CNA
SCG RD

Figure 5-8 I/F PCB

CN2 CN1

U20

R41
R40 U1 U3
R43
U21
BZ1

R63 R60 R59 CR9 (NAV)

K1 K2 S1 S2 CR8 (FS)
J1
CR7 (LEV)
CN4 CN3 CN7 CN5 CN6 CN8 CR6 (PS)

Figure 5-9 CPU PCB

5.7 Adjustment of Sensitive Element

Prior to adjustment of the sensitive element, the gyro must be

switched on for about 4 hours. For the adjusting points, refer to
“Figure 5-12 Sensitive Element, Compass Balance Weights Fitting
Procedure”.
The balance has been adjusted prior to factory shipment, however, it
may change a little during installation. Therefore readjustment may
become necessary after checking the following items.

5.7.1 Adjustment of horizontal ring level

The East side of the horizontal ring shall stay risen by approx. 20
minutes arc.
To check this, place a weight of 2.4 g (1 mm in thickness) on the East
side (the pick up torquer side) of the horizontal ring after the gyro is
switched off and has stopped. Place the reference level in the centre
of the standard surface on the North side (damper case side) of the
horizontal ring. Verify that the East-West balance reads zero on the
reference level. If necessary, adjust the balance by putting weights on

42 20220414A
 Adjustment

the weight mounting screw on the East and West sides of the
horizontal level.
After making the balance, remove the 2.4 g weight on the East side of
the horizontal ring.
This raises the East side of the horizontal ring by 20 minutes arc.

5.7.2 Adjustment of gyro rotor level

Confirm that the rotor bubble is at the level position which is

equivalent to the latitude of the area where your ship is navigating by
referring to “Figure 5-13 Latitude-Rotor Tilt Graph”. The horizontal
level should be at 5 with one graduation representing 2 minutes.
When the difference is less than 5 minutes, no adjustment is
necessary.
If necessary, adjust the level position according to the procedures as
shown below. In this case, refer to “Figure 5-14 Level Adjustment and
Azimuth Correction Table” for the adjusting amount.
If the position of the level bubble is too high (with the North side
raised), apply the same amount of weight on each of the South side
upper 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 side
raised), apply the same amount of weight on each of the North side
upper screws.

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

5.7.3 Azimuth adjustment

The adjustment of azimuth by means of turning the suspension wire

is strictly limited to an emergency adjustment and must not be made
normally.
The adjustment with the suspension wire is performed only when the
following conditions are fulfilled: The balance of the sensitive element
is proper, the binnacle is installed in parallel with the ship’s keel and
the power supply is normal and only in the case when an azimuth
error has been caused at the stabilization point.
The adjustment is made at the tangent screw located in the upper
section of the sensitive element.
For adjusting value, refer to “Figure 5-14 Level Adjustment and
Azimuth Correction Table”.
When the gyro azimuth is too high (Westerly):

20220414A 43
Robertson RGC11 Gyrocompass

Rotate the tangent screw so that the suspension wire assembly rotates
in the counter-clockwise direction when viewing the suspension
bracket from above.
One rotation if the tangent screw changes the azimuth by
approximately 10 degrees.
When the gyro azimuth is too low (Easterly):
The adjustment can be made in the same manner as shown above; in
this case, however, the tangent screw is turned so that the suspension
wire assembly rotates in the clockwise direction when viewed from
above.

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

Figure 5-10 Rear view of Master Compass

44 20220414A
 Adjustment

Figure 5-11 Transmission Unit

20220414A 45
Robertson RGC11 Gyrocompass

E W

Figure 5-12 Sensitive Element, Compass Balance Weight

Fitting Pocedure

46 20220414A
 Adjustment

Figure 5-13 Latitude-Rotor Tilt Graph

20220414A 47
Robertson RGC11 Gyrocompass

LEVEL BUBBLE POSITION

CORRECTION CURVE TABLE AZIMUTH CORRECTION TABLE
B A
20' 4.0° 4.0°
SHIFT OF LEVEL BUBBLE

SHIFT OF AZIMUTH

SHIFT OF AZIMUTH
15' 3.0° 3.0°

10' 2.0° 2.0°

5' 1.0° 1.0°

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

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

A Correction curve A shows the

shift level bubble position.

B Correction curve B shows the

shift of azimuth.

Figure 5-14 Level Bubble Position & Azimuth Correction Table

48 20220414A
 Maintenance

6 PRINCIPLES OF GYROCOMPASS

The north-seeking action of the gyrocompass is produced by the

mutual action among the characteristics of the gyroscope, rotation of
the earth, and gravity.

6.1 Rotation of Earth’s surface

As is well known, the earth rotates with the north and south poles as
its axis and revolves around the sun. Consequently, any point on the
surface of the earth is also performing exactly the same movement
referred to above. Let us consider the above rotating motion. In the
case of a gyrocompass, only the rotating motion of the earth is related
to its action and no paralleled motion is related to it. When a point at
the North pole and another point at the equator are considered, the
two points are revolving around the sun while they themselves are
rotating. From another point of view, the above can be expressed as
follows:
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 passes
through that point as its axis.
c. Any point on a latitude between the North pole and equator
rotates with a NS line as its axis, and at the same time, there is a
rotation which uses a vertical line as the axis. When the rotating
movement, due to the rotation of the earth, is divided into
horizontal and vertical components, the rotation which uses the
vertical line as its axis becomes the vertical component, and the
rotation which uses the NS line
as its axis becomes the horizontal
component. If indicates the
speed of the earth’s rotation
(angular velocity) Ω and if
indicates the latitude Φ, the
horizontal component (the
rotation which uses the vertical
line as its axis) is shown as
Ω sinΦ. Of the above two, the
one which is related to the north-
seeking action is the horizontal
component. The vertical Figure 6-1
component determines the tilt of

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Robertson RGC11 Gyrocompass

the gyro axis and has no direct relationship to the north-seeking

action.

6.2 Characteristics of Gyroscope

In the gyroscope which has three axis of angular freedom, as shown

in Figure 6-2, the gyro G is supported by bearings 1-1 within the
horizontal ring, and the horizontal ring, in turn, is supported by
bearings 2-2 within the vertical ring.
The vertical ring is
supported so that it can
freely rotate with 3-3 as its
axis. Each bearing is to be
frictionless and axes 1-1, 2-
2 and 3-3 are to intersect
each other at right angles.
Thus, gyro G is fully able
to freely rotate around 1, 2
and 3. A gyroscope such as
this is called “the
gyroscope with freedom
of three axes.” In the
above, the rotating axes of
the gyro can freely point
towards any direction and
holds its own pointing Figure 6-2
direction without being
affected by any movement
of the base.
A gyroscope which has three axis of angular freedom and is rotating
at a high speed has the following two specific characteristics:
1. Gyroscopic inertia
The rotating gyro tends to hold the direction of its plane of
rotation in space.
2. Procession
When a force is applied to the axis of rotation 1, differing from an
ordinary matter, the axis turns in the direction at right angle to
the axis to which the force is applied. This turning movement is
called procession.

6.2.1 Gyroscope inertia

This characteristic may be explained by Newton’s first law of motion

which says, “Any body, which is not influenced by a force, continues
its state of motion.” The state of motion is indicated by its velocity and

50 20220414A
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direction, and in this case, the

direction of the rotating motion
(the direction of rotation) does
not change. The term “space”
referred to above is the space of
universe.
Consequently, as shown in Figure
6-3, even when the gyro remains
fixed in relationship to space, its
direction and tilt with respect to
the earth change every moment.
Under the above conditions, the
gyro cannot be used as a compass.
Figure 6-3
6.2.2 Precession

As shown in Figure 6-4, if a force is applied to the end of the rotating

axis, the rotating axis, without tilting, starts to turn around the vertical
axis, together with the vertical ring, while maintaining its
horizontality. Also, when the vertical ring is pushed, as shown in
Figure 6-4, B, the vertical does not move, but the gyro and horizontal
ring start tilting.

Figure 6-4

Vectors are used to express the relationship between a force and

precession, force and rotation. To define the rotation of a gyro, let us
consider the right-hand screw rule. When the screw is turned to the
right, the direction of the screw advance is determined as the
direction of rotating vector and is shown by arrow H in Figure 6-5.
Next, let us consider a torque as a force. Now, as shown in the
drawing, if force F is applied to the shaft end, a torque acts around
axis 2. To express the above as a vector, the direction of a right-hand
screw advances when the screw is turned with a force such as

20220414A 51
Robertson RGC11 Gyrocompass

referred to above and is determined as the direction of the vector and

is indicated by arrow T, shown in the drawing.
1. The tip of vector H tends to
precess as to turn in the
direction of vector T.
2. The speed of precession is
proportional to the magnitude
of torque and inversely
proportional to the momentum
of rotation. In other words, the
faster the speed of rotation and
greater the moment of inertia,
the less action by the force Figure 6-5
exerted on the gyro.

6.3 North-seeking action

As has been explained in Figure 6-2, the gyro with three axis of
angular freedom alone is not able to point to the true north on the
rotating earth. Therefore, a device which corrects this error is
necessary.

6.3.1 Fundamental construction

The principle of
construction is shown
in Figure 6-6. The
rotor case in which
the gyro is housed is
held by a vertical axis
within the vertical
ring, and the vertical
ring is supported by a
horizontal axis. The
vertical ring is
provided with liquid
ballistics, two of
which form one set,
and these liquid Figure 6-6
ballistics are inter-
connected by en airpipe (tube). In practice, two sets of liquid ballistics
are attached to the vertical ring. The ballistics are filled with liquid.
When the vertical axis tilts together with the gyro around the
horizontal axis, the liquid ballistics also tilt. The liquid flows from one
liquid ballistic to the other and a difference is created in the amounts
of liquid in the liquid ballistics. Due to gravity, a torque is created
around the horizontal axis, and this torque acts on the gyro. As has
52 20220414A
 Maintenance

been previously explained that the gyro, maintaining its tilt, turns
around the vertical axis with the above torque. The above is an
explanation of the principles of construction and operation. The
balance of each component is perfectly adjusted, and the gravity of
the entire equipment (including liquid) matches the intersecting point
of the horizontal and vertical axes when the rotating axis of the gyro
is horizontal. Further, if the rotating direction of the gyro is indicated,
the rotating vector becomes as shown in the drawing. The side which
is opposite to the vector direction points to the north. Thus, the
rotation of the gyro is clockwise as seen from the north.

6.3.2 Oscillation in the direction of east and west (no

damping motion)

Figure 6-7 is a drawing showing the processes by which the gyro

gradually points to the north, as the earth rotates, after the gyro has
been 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 in
horizontal. Since the gyro axis is horizontal, the balance is perfect and
no torque is affected. Consequently, the gyro holds a constant
direction in space. As the earth rotates, the gyro reaches B in Figure 6-
7. Since the gyro is pointing towards one direction constantly, it
maintains the direction of A. However, as far as the point on the
surface of the earth, the gyro tilts towards an angle which
corresponds to the rotation from A to B, and the north-seeking end
slowly rises.
With the above inclination of the gyro, the liquid in the north-side
liquid ballistic flows to the south-side liquid ballistic and causes a
difference in the amounts of the liquid in the two liquid ballistics.
Gravity acts on this difference, and a torque is applied to the gyro
20220414A 53
Robertson RGC11 Gyrocompass

(around the horizontal axis). With the above torque, the gyro
performs precession and starts turning towards the north. After this,
the gyro goes through the same processes and gradually point to the
true north and 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 manner
described above, first the gyro axis must tilt with respect to the
horizontal plane to cause the gyro to perform a precession toward the
north. As can be seen from the explanation made in the preceding
paragraphs, the above inclination is caused by the rotation of the
earth’s surface. For instance, the rotation of the earth’s surface which
uses 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 the
force applied in accordance with the law of precession, the angle of
inclination does not change with the above turning movement of the
gyro. Thus, all the angles of inclination are formed by the relative
movements of the gyro to the earth’s surface. For this reason, when
the gyro is pointing to the east, the north-seeking end rises, and when
the gyro is pointing to the west, the north-seeking end goes down.
The speeds are faster when the angle of deviation from north is
greater and becomes slower when the gyro approaches the true
north, and there is no change in the inclination when the gyro is
pointing near the true north.

6.3.4 Explanation by using the projecting method

To make clear the relation between the processional movement and

the inclination, let us consider the locus of projected points. In figure
6-8, the movement of the gyro axle is projected on the vertical plane
of a sheet of paper. First, when the gyro is released from its horizontal
position while pointing east, as has been described, the north-seeking
end rises causing the projected points to rise. Next, as the gyro
commences to process toward north, since the angle of deviation
decreases, the speed of rise becomes slower, but the angle of
inclination gradually accumulates. Consequently, the difference in the
amounts of liquid in the liquid ballistics gradually increases and the
speed of precession slowly increases. Because of the above, the locus
draws an oval arc as shown in the drawing. When the gyro points to
the true north, the variation in the inclination tentatively disappears,
as referred to above, but the gyro continues its precession due to the
accumulated angle of inclination and here points towards the west.
When the gyro points west, the north-seeking end begins to go down
and its speed is symmetrical to that when the gyro is pointing east.

54 20220414A
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Figure 6-8

Thus, the locus drawn in this case also is an oval which is symmetrical
with that when the gyro is pointing east. Ultimately, the gyro axis
continues to oscillate to east and west, while drawing an oval circle as
shown in Figure 6-8. Because of the above, when the gyro is to be
used as a gyrocompass, a damping device which attenuates the above
oscillations and causes the gyro to point north and the stop becomes
necessary.

6.4 Damping action

It is necessary, first of all, to consider the basic elements of an actual

gyro compass in order to explain the precession about horizontal axis.
Refer to the construction of the master gyro compass described in
Chapter 1. The tilt meter, ACC buffer amplifier, microcomputer (CPU
board) and pick-up torquer are attached to this gyro compass to give a
damping 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 ACC
buffer amplifier and transmitted to the pick-up torquer via the
microcomputer. As a result, the pick-up torquer supplies the upward
torque obtained in proportion to the tilting angle around the vertical
axis.
This causes the upward precession of the south side. On the other
hand, when the gyro frame is set to tilt to the opposite side, the
downward precession of the south side is caused.
Let us consider the same action in Figure 6-8. When the gyro is
released while pointing to the north at the horizontal position, it
begins to tilt and then gradually turns toward the north. At this
moment, the rate of tilting is continuously reduced by the damping

20220414A 55
Robertson RGC11 Gyrocompass

action as
described above.
Therefore,
different from the
above case, the
speed of
precession
becomes slower
and the gyro axis
returns to its
horizontal
position quickly. Figure 6-9
As a result, the
obtained westerly angle of deviation is relative small in comparison
with the original easterly angle of deviation. In other words, the
swing angle has been diminished as such. At the next moment, the
end of the gyro axis pointing to the west begins to return to the east
again. This movement further diminishes the swing angle. Through
the repetition of this action, 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 of time.

6.5 Error Correction of Gyro Compass

Azimuth errors that may occur to the master compass can be divided
into three types: an error caused by the tilting of the horizontal
surface of the spinning axis (such as a latitude error), ballistic
deflection caused by the acceleration generated by the movement of a
ship, and speed 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 Compass

Inside the microcomputer which works as an electrical damping

control device, a mathematical model equivalent to the equation of
motion of the master compass and an estimation device which
functions 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 elements
contained in the tilting angle.
As a result, you can correct the azimuth error caused by the bias value
originated in the tilting angle. In other words, you can be free from a
latitude error and other similar errors.

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6.5.2 Error Correction of Repeater Compass

The azimuth signal of a master compass contains errors such as a

speed error. Therefore, it cannot be transmitted to the repeater
compass as it is. The estimation device as described above estimates
not only bias elements but also the speed error contained in the
master compass by referring to its own azimuth signal. The azimuth
signal of the repeater compass eliminates the speed error by
subtracting the estimated speed error from the azimuth signal of the
master compass.
In this way, the repeater compass can also be free from any speed
errors.

6.6 Latitude Error, Speed Error

This gyro compass provides means as described in the section 6-5, to

reduce the possibility of error occurrence. Therefore, the following
errors will not appear in the actual operation. However, let us explain
the outline of the errors so far recognized in order to make it easier to
understand the above description.

6.6.1 Latitude error

The tilt of the gyro at the settled point

Now, let us consider the case in which the gyro at a certain latitude is
pointing north and is resting in settled position. The earth’s surface,
as previously explained, rotates about a vertical line because of the
vertical component due to earth’s rotation. At the northern latitude,
the earth’s surface rotates from east to west. Therefore, the fact that
the gyro is pointing north and is at rest (to the earth’s surface) means,
if it is considered with respect to space, that the gyro is precessing
about its horizontal axis at the same rate as the earth’s rotation. This
precessional movement must always be exerted on the gyro.
Horizontal earth rate causes the north end to rise and the excess
liquid at the south end causes the precession to continue, and over
time the liquid in the north reservoir is overbalanced by the south
reservoir. Precession, therefore, is reversed. The angle of inclination
will vary in accordance with the latitudes; it will increase in
proportion to the increase in degrees of latitude, and the inclination
near the 35 degree is only 4 minutes. In southern latitude earth rate
causes the north end to go down.
With the gyro at the equator and horizontal, the gyro and pendulum
are balanced because there is no rotation of the earth’s surface about
its vertical axis.

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Robertson RGC11 Gyrocompass

Latitude error
At any settled point other than the equator, the gyro has a constant
inclination in accordance with the latitude. Therefore, the torque
which is proportional to the inclination of the gyro is exerted about its
vertical axis by the damping weight. The gyro settles at the balanced
position between the torque and north seeking force, and an error is
therefore introduced. This error is determined in accordance with the
latitude. The latitude error is proportional to the tangent of the
latitude, and in northern latitudes, the north gyro axis end is up and
to the east of the meridian. In southern latitudes, the north end is
down and to the west of the meridian. This error increases to 1.4
degrees at 35 degree of latitude and to 3.4 degrees at 60 degrees of
north or south latitude. No error is introduced at the equator and the
gyro points at true north, as explained in the preceding paragraphs.
The gyro is levelled and placed in the meridian at the equator and
therefore, as no damping action is applied, there is no torque.
Moreover, as the error is settled in accordance with the latitude
corrector, then the error is easily corrected. For the latitude error
correction, refer to the paragraph of the master compass.
With this gyrocompass, this type of error does not occur as discussed
in item 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 travelling
north or south, the error is maximum, because the ship’s speed
produces a resultant which is not parallel to the plane of earth’s
rotation. If the direction of travel is east or west, the error is negligible
and the error will increase in proportion to any increase in degrees of
latitude. Thus the error is determined by vessel’s movement and not
related to the construction of the gyrocompass and its type.
N
N' N N 1' N1

W E

Ω cos Φ
N2 ' N2
V

V V O V
R R R O

a) b) c)

Figure 6-10

In Figure 6-10 (a), assume the vessel is travelling north of speed V. As

the vessel is travelling over the earth’s surface, it becomes a rotary

58 20220414A
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movement. R denotes the radius of the earth, then the speed of the
V
rotation is denoted as and the direction of its vector is west.
R
V
Therefore, the speed of rotation is added to the speed of the
R
rotation Ω cos Φ which, at this point, rotates on its axis of NS line. In
Figure 6-10 (b), ON' represents the actual plane of rotation due to
combined movement of earth and ship, which acts on the
gyrocompass. In other words, any point on the earth's surface where
the compass exists rotates on its axis of ON'.
The gyro, therefore, comes to rest in this direction and an error
corresponding to the angle of NON' is produced consequently. The
above is the case when the vessel is travelling north. However, when
the vessel is travelling on any optional courses it is clear that the
velocity of components of north-south direction will act as has been
mentioned above. The error, therefore, is produced in connection
with the ship’s course. When the vessel is travelling east or west as
previously explained the error is zero because the vessel's motion only
adds to or subtracts from the earth's motion. At higher latitudes, as
shown in Figure 6-10 (c).
The horizontal component (Ω cos Φ =ON2) due to earth's movement
becomes comparatively small. The new apparent meridian which is
V
compounded when the movement of is displayed further from the
R
actual meridian and a large correction is required. Thus the error is
determined in accordance with the ship’s latitude speed and course.
The ship’s speed error can be obtained from the attached speed error
graph (Figure 2-4).
Note that repeater output signals are corrected for this kind of error as
discussed 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 gimbal
ring so as to keep an original plane when the vessel tilts. When the
vessel rolls Or pitches, however, the gyro will also roll or pitch slightly
because of the acceleration force, with the result that a small amount
of liquid, at the same time, is transferred. This acceleration force tends
to cause a continuous torque about the vertical axis of the compass.
Then the error is produced because the gyro comes to reset in a

20220414A 59
Robertson RGC11 Gyrocompass

direction which is compounded of this torque and the north seeking

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

6.7.2 Constant error

If a constant torque acts about the vertical axis of the compass

continuously, the gyro tends to point to the direction which is at a
fixed angle from the settled point. This is called constant error. This
error may be caused by a twisting of suspension wiring, a variation of
balancing, a fluctuation of rotor speed or a variation in amplifier
adjustment. This error, in short, results from the fact that the
balancing position where the torque from outside and north-seeking
force balance is the settled position,

6.7.3 Variable error

The north-seeking action of the gyro is obtained by a relative

movement of the gyro and earth’s rotation which causes the gyro to
tilt. If such inclination of the gyro is disturbed by a friction of
horizontal axle, the north-seeking action is also disturbed and
consequently an error is introduced. As a force of friction has many
variances, the error is accordingly.

6.7.4 Acceleration error

Increasing or decreasing of ship's speed and changing of ship’s course

may cause an acceleration error. When the acceleration of north-south
direction is acting on the gyrocompass, the liquid flows from one
liquid ballistic to the others and therefore, an unbalancing of the
liquid occurs temporarily, causing the gyro to process and
introducing errors in the compass. The gyrocompass, as previously
explained performs the damped oscillation until the gyro tends to
point north and comes to rest. If there is no damping actions this
oscillation will continue. Now if we assume the period of oscillation to
be 85 minutes (appropriate size of liquid ballistics should be used in
accordance with the size of the gyro and the rotor speed), it has been
proved theoretically that no acceleration error is introduced. The
gyrocompass is designed in conformity to this theory, This
relationship, however, applies only at the specific latitude as the
period of oscillation varies in accordance with the latitude. At latitude
other than the specific position slight error may be expected.

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This error, however, is not introduced at the lower latitudes and is

relatively greater at the higher latitudes. For the RGC11 gyrocompass,
55 degrees is selected as the basic latitude in which no acceleration
error is produced. At this latitude, therefore, no acceleration error is
generated because of liquid transfer. When the vessel is travelling at
speed of 15 knots at 35 degree of latitude and its course has been
changed by 180 degrees from south to north (or north to south) an
error of approximately 1 degree is introduced. When the acceleration
force is applied to the gyrocompass, a torque about vertical axis of
compass is introduced by the damping force, with the result that the
acceleration error is also generated. The error introduced by liquid
flow will appear as soon as the acceleration force is applied. The error
introduced by the pendulum action will appear 20 minutes after the
acceleration 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 the

master compass. The 24VDC emergency supply is connected to B+
and B– and is taken from a battery or UPS (Uninterrupted Power
Supply). The 24 VDC input is supplied to the inverter, the power
source of CPU and the panel PCB via the power supply switch.
The inverter provides the power source (3-phase 400 Hz AC l00 V) to
the rotor and the control power to the servo amplifier PCB. The
inverter also detects the rotor current and transmits the rotor current
signal to the CPU PCB.
The power source for the CPU supplies ±15 VDC and 5 VDC to the
CPU PCB, I/F PCB and Panel PCB.
One single phase of the 3-phase 400 Hz power is provided as
reference for the tiltmeter buffer amplifier PCB and excitation of the
primary pick-up transformer.
One single phase is also supplied to the excitation phase of the servo
motor. The signal, which represents the amount of the deviation
between the vertical ring (primary coil of pick-up torquer) and the
rotor case (secondary coil of pick-up torguer) is induced at the
secondary coil of pick-up torquer. This signal, according to the
instruction from the CPU is inputted to the servo amplifier via the I/F
PCB.
The servo amplifier PCB amplifies the deviation signal after
determining its polarity to drive the servo motor. The servomotor
drives the movable element through a gear train to make the compass
card follow the movement of the rotor case. Also the servo amplifier
PCB, which is equipped with a constant current circuit, supplies
torquer current to the secondary coil of the pick up torquer
corresponding to the signal from I/F PCB.

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Robertson RGC11 Gyrocompass

The primary coil of the pick-up torquer consists of two pairs of

excitation coils facing each other, iron-cores of these coils and
permanent magnets attached to the edges of the iron-cores. The
secondary coil of the pick-up torquer is a coil which does not have an
iron-core. The secondary coil is positioned between the two pairs of
primary coils facing each other. (Refer to the following illustration.)
The two pairs of Iron-core
secondary coils
are pick-up coils Primary coil
provided for the
follow-up Direction in which
signals which deviation is produced
are excited by a Permanent magnet
single-phases
current with a
frequency of 400 Secondary coil (Drawing of sensitive element
Hz. The signals viewed from above)
whose phase is different from that of the secondary coil by 180
degrees are induced in the primary coil corresponding to the
direction in which deviation is produced. The difference between
these two phases determines the rotational direction of the servo
motor.
In addition, when direct current is applied to the secondary coil, a
DC magnetic field is generated and the magnetic force is produced
between the secondary coil and the permanent magnets of the
primary coils. This force produces a torque around the vertical axis to
give precession to the rotor case.
By controlling this direct current it is possible to provide electrical
damping movement.
The tilt meter and the tilt meter buffer amplifier are mounted on the
vertical ring. The tilt detects North and South inclination of the rotor
case and sends the tilt signal to the buffer amplifier. The buffer
amplifier generates DC ±15 V from a single phase 100 V 400 Hz for its
own use.
The buffer amplifier converts the tilt signal into DC current signal as
supply for the I/F PCB.
After performing proper filtering of the tilt signal, the I/F PCB
supplies the signal to the CPU PCB. Also the I/F PCB is equipped with
a constant current circuit which enables it to convert the torquer
signal (voltage) received from CPU into a current signal to be
supplied to the secondary coil of the pick-up torquer. I/F PCB
provides the switching circuit to supply the torquer signal from

62 20220414A
20220414A

Master compass
Panel Option
24VDC Ship's power supply
Power switch Power unit 100/220V 50/60Hz
24VDC (rectifier)
400Hz 100V 3Ø
Inverter DC/DC converter
Latitude indication
Master compass azimuth
angle indication
Abnormal rotor CPU PCB Repeater azimuth angle
rotation signal indication
Ship's speed indication
Figure 6-11 Schematic Diagram

400Hz 100V 1Ø CPU Ship's power supply 24 VDC

Error code indication
Mode signal Back-up power supply (battery)
Alarm indication
Tilt meter 12bit
Tilt meter Interface Power source indication
buffer Tilt signal Repeater power source
amplifier A/D indication
Constant Rotor rotation increase
current
Mode signal
indication
circuit 12bit Ship's power supply 24 VDC
Short-period operation
indication
Pick-up
Rotor D/A
torquer Constant Latitude setting
current Master compass azimuth
circuit
angle setting
Ship's speed auto/manual
RAM change-over
Ship's speed manual setting
Abnormal follow-
400Hz 100V 1Ø up signal

ROM
Servo amplifier

1/6 degree repeater signal (3-phasse) To each repeater

Transmission unit

Maintenance
RS422 digital output signal
Servo motor (Option)
Ship's speed signal
T/M (200 pulse/N.M, contact)
63
Robertson RGC11 Gyrocompass

CPU to the constant current of the servo amplifier PCB and not
through the constant circuit in I/F PCB with the command of CPU.
In addition, I/F PCB is equipped with a switching circuit which sends
the deviation signal from the secondary coil of the pick-up torquer to
the servo amplifier PCB according to an instruction issued by CPU.
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. The
signal transmitted here is a three phase step signal (grey code). The
power of T/M PCB is supplied from the Transmission Unit. The CPU
PCB consists of a digital section, which performs arithmetic
processing, and an analogue section specialized in input/output
processing. The tilt signal is inputted into the A/D converter to be
supplied to CPU. The torquer signal is outputted via the D/A and
sample & hold amplifier. The CPU reads the movement of the gyro in
the wake of the movement of the tilt signal and outputs the torquer
signal after performing arithmetic processing on this movement.
The 1/6 degrees signal obtained from T/M PCB is adjusted to the
azimuth angle initially established and is outputted as a repeater
signal after 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 which
makes it possible to display an abnormality on the panel.
The panel PCB is equipped with a power supply switch, trimmer for
inputting latitude, trimmer for inputting ship's speed and ship’s
speed manual/automatic changeover switch. When the ship’s speed
changeover switch is set to automatic, the CPU receives the signal of
200 pulses pr. nautical mile (P/N.M.) When it is set to manual, CPU
receives an analogue signal from the ship’s speed trimmer. The panel
PCB is also equipped with a display unit, switches for initial setting of
azimuth, fine adjustment of latitude, ENT (Enter), mode, buzzer stop
and dim switches.
The display unit has a section where azimuth angle heading or other
information is displayed and indicating lamps which indicate the
presence or absence of the panel or repeater power supply.

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6.9 Each Electric Circuit (Refer to Fig. 9-6 ~ 9-15)

6.9.1 Servo amplifier (refer to circuit diagram)

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

Servo compensating Band pass

Demodulator amplifier filter amp. 2 Power amp. 1

Pickup
torquer
Band pass
filter amp. 1 Gain
control

Modulator Sero
Torquer motor
signal Power amp. 2
Constant
current cct.
Phase shifter 1

400 Hz Band pass Comparator 1

100 V filter amp. 3

Phase Comparator 2 Servo

Insulating shifter 2 amplifier
cct.

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 and
resistors, The secondary signal of the pick up is firstly supplied to this
circuit. This circuit decides the cut off frequency for taking out the 400
Hz component. The frequency characteristic is shown in Figure 6-13.
A
R2 5dB
R2

ω=2xf

1 1
2XxXC1XR1 2XxXC1XR1

Figure 6-13

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Robertson RGC11 Gyrocompass

Demodulator and phase shifter 1, comparator 1

This circuit consists of U1 2/2 (UPC 812G), Q1, Q2 and peripheral
capacitors and resistors. This circuit has no amplifying function and
converts AC signal from B.P.F.A.1 to DC signal. It also distinguishes
the direction of displacement between the rotor case and the vertical
ring. Q1, Q2 provides switching operation with a frequency of 400
Hz.
QI and Q2 are junction type PET, and when the gate potential is
negative, the source is off from the drain.
The gate signals for Q1, Q2 are supplied from the phase shifter 1 and
the comparator 1. The phase shifter 1 consists of U6 2/2 (UPC 812G), a
trimmer (R61) and peripheral capacitors and resistors. The frequency
signal is decided by (R61 + R62) and (C20 + CB) delays by 90° 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 are
different 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 at TP5 and
TP6.
By cutting the servo loop (described later) and turning the rotor case,
the waveforms shown in Figure 6-14 can be observed.

TP5

The waveform differs

depending on the direction
in which the rotor case rotates.

TP6
B.P.F.A.1 Output

Q1 OFF ON OFF ON
Q2 ON OFF ON OFF

Figure 6-14

When the phase shifter adjustment is not correct in Figure 6-14. the
waveform becomes as shown in Figure 6-15. In this case, adjust by
R61.

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 Maintenance

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

degree.

TP5

TP6

Q1 OFF ON OFF ON ON: Gate voltage 0 V

Q2 ON OFF ON OFF OFF: Gate voltage -15 V

Figure 6-15

The signal with polarity discriminated by operation of Q1 and Q2 is

converted to DC by 2 steps at the low pass filters composed of R8 and
C4, R9 and C5, R11, R12 and C6, and R13 and C6.
This circuit discriminates the polarity and also has a full-wave rectifier
function.

Servo compensating amplifier

The servo compensating section is an important circuit which affects
on the total servo loop. It has a differential and an integral circuit.
U2 1/2 (UPC 812G), and peripheral capacitors and resistors composes
a DC amplifier.
The differential time constant is given by C8 x R16, and the integral
time constant is given by R18X (C9 + C21). The voltage amplification
factor is given by R18/R16. R17 composes a filter with C8.
CPU controls Q3, Q4 (ON/OFF) through I/F PCB. And the output of
U2 1/2 is sent to CPU through R65. When some abnormality is
generated in the servo loop, resulting in the follow up failure, the
deviation signal from the pick up torquer becomes large and the
output of U2 1/2 also becomes large.
The magnitude of this output corresponds to the magnitude of the
servo error.
During normal follow up, the output of U2 1/2 is approx. 0 V.

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Robertson RGC11 Gyrocompass

Modulator phase shifter 2 and comparator 2

The DC signal through the servo compensating circuit is converted to
AC again for driving the servo motor. The DC signal is converted to
square wave by ON-OFF of Q5 (400 Hz). Refer to Figure 6-16.

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

0V

2,5 ms (400 Hz)

TP7

Q5 OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF

Figure 6-16

Operation of the phase shifter 2, comparator 2, CR9 1/2 and the

peripheral parts is the same as that in 5-9.1.2. And in this phase
shifter, R55 is adjusted so that the phase difference between the servo
motor exciting signal and the signal across TPB - TP9 (or servo motor
control phase terminal) becomes 90°. Refer to Figure 6-17.

Servo motor exciting voltage

(400 Hz, 100 V)

Signal across
TP8-TP9

90°

Figure 6-17

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Gain control
R21 decides the servo loop gain. The adjusting procedure is as
follows: After the rotor runs up, turn R21 fully CW to produce
hunting in the servo loop. Then turn R21 gradually CCW and set
where the hunting stops. Next, confirm that no hunting is produced
at every 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 mentioned
B.P.F.A.1. Its band width is not so wide as that of B.P.F.A.1 and the
characteristic is shown in Figure 6-18. The signal previously being
formed as a square wave in the modulator now becomes a 400 Hz
pseudo sine wave.
Gain

0 w = 2xf

1
2XxX (R24//R25) x R26 x C112

1
R24//R25 =
1 1
+
R24 R25

Figure 6-18

Power amplifier 1
The pseudo sine wave made in the previous stage is buffered in this
amplifier to drive the servo motor. This amplifier also operates as a
low 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.

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Robertson RGC11 Gyrocompass

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 and source
of Qs6 and Q7. CR2, CR3 are provided to protect Q6 and U7 from
counter electric voltage spikes caused by the inductive load (servo
motor) of this circuit.

Power amplifier 2
The 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 and resistors.
The circuit configuration and operation are the same as that of the
power amplifier 1, but it has no filter function.

Insulating circuit and band pass filter 3

The insulating circuit receives 400 Hz 100 V square wave from the
inverter. R6 is for protection of PC1 from excessive current and CR7 is
for protection of EC1 from excessive voltage.
The band pass filter is all the same as band pass filter 2 (B.P.F.2). Its
components are U5 1/2 (UPC 812G) and peripheral capacitors and
resistors. The voltage dividing circuit composed by R47 and R48
ensures that the input voltage to the band pass filter is not saturated.
This circuit changes the square wave to the pseudo sine wave. The
reason to change the reference signal to sine wave is that the phase
shifters of 1 and 2 do not operate well with the square wave input,

Constant current circuit

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

The relation between the input voltage Ei and the output current Io is
given as follows.
( R 43 + R 44 Ei
Io = x
R 42 R 45
provided that
R 42 R 40
=
R 44 + R 43 R 41 + R 45
The reason why the pick up signal is not affected when connecting
the output of the constant current circuit to the secondary side of the
pick up torquer is that it can be considered that the output impedance
of the constant current circuit is infinity. In addition, the current from

70 20220414A
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the constant current circuit is a direct current and does not enter into
the servo loop because of presence of C1.

6.9.2 Transmission PCB (T/M PCB)

This PCB transmits the repeater signals and consists of a constant

voltage circuit and photocouplers. Q1, CR1 and peripheral circuit
convert 24 V DC (power supply input to the master compass) to 12 V
DC to supply to the emitting side diodes of PI1 to PI3.
There is a disk (10230086-) between the light-emitting diode and the
light-receiving side as shown in Figure 6-19. The disk is made of
transparent acrylic plate and the black fan shape is printed on every
45°. By turning the disk, the light from the emitting diode to the
receiving side is cut in order.
PI1 to PI3 are made ON where the disk is transparent. The disk is
turned by the azimuth axis the gear. ON-OFF status of PI1 to PI3 is
shown in Figure 6-20.

ON
P11
OFF

P12

P13
Figure 6-19
1/6 deg.
1 deg.

Figure 6-20

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Robertson RGC11 Gyrocompass

6.9.3 CPU PCB

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

Input of tilt signal

The 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 arithmetic
processing. At the same time, it is outputted to U21 D/A as it is, and
held by U33.
The signal which is held by U33 and the tilt signal are compared with
each other and processed in U30 and the result is held by U34. The
signal hold by U34 added to the tilt signal again through U30.
The repetition of this operation in a determined cycle makes it
possible to obtain a resolution of apparent A/D 12 bits or more.

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

Entry of latitude
The information about latitude can be obtained from the panel in the
form of DC signals between +10 V for North latitude of 65 degrees
and –10 V for South latitude of 65 degrees. The level of these signals is
converted into 0 to 5 V DC by U31 circuit configuration, and inputted
in A/D of CPU U1 (CN2-1 and 2 pins). The output from U31 circuit
can be calculated by the following formula:
R 73
eo = – ( (ei–er) – er)
R72

Where er = + terminal voltage

eo = Output
er = Input

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Entry of ship's speed

(A) Automatic
The 200 P/N.M contact signal is received at the CN3-7 and CN3-
8 pins. When the contact point is closed, PC5 is turned on and
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. This signal
is inputted into CN2-3 and 4 pins to be divided by R76 and 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, is
inputted into CPU via CN1-46 and U25 3/6. (Voltage detection
at 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 occurs
in the follow-up system (pick-up torquer to servo amplifier to
servo motor to follow-up ring), the error signal is inputted into
CN4-3 and 4 pins from the servo amplifier.
The inputted signal is level-converted by U32 1/2 2/2 (max. 5 V
DC) and sent to CPU.
(D) Tilt error
If the level of the inputted tilt signal becomes approximately ±2
degrees or more after it is converted into the rotor level, it is
regarded as an error and an alarm is issued. (The tilt signal level
is approximately 1.2 V DC or more.) This alarm system begins its
monitoring operation in about 6 minutes after it is activated.
(E) Slowdown of rotor rotation
The inverter always monitors the current which flows through
the rotor. If abnormally large current runs through the rotor, it
is inputted into CPU PCB CN7 as a signal for the photo-coupler.
This alarm system begins its monitoring operation in about 4
minutes after it is activated.

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Robertson RGC11 Gyrocompass

Initial setting and update of azimuth angle and fine adjustment

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

Torquer signal
This signal is outputted from U21 D/A in determined cycles.
The outputted signal is sent to the constant current circuit of I/F PCB
via U35 sample & hold amplifier or sent further to the constant
current circuit of the Servo Amplifier PCB after passing through I/F
PCB.

Repeater signal
The repeater signal is outputted after its speed differential is
eliminated. The output, a 1/6 degrees 3-phase signal, is outputted to
CN3 via U22, U27, Q2 to Q4, and PC2 to PC4.
PC2 to PC4 provides insulation from external circuits.

Operation mode signal

This gyrocompass is normally operated through the following four
types 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
mode signal to I/F PCB by way of CNS.

RS422 Serial signal transmission

The serial output includes corrected heading information and a ship’s
speed.
It's transmitting interval is normally every second, however in turning
condition 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 Master
Compass via 4, 5, 6 pins of CN3 from IC U1 and U2.
Please refer to CHAPTER 1 for signal specification.

Other units
This system is also equipped with a relay (K1) for driving the buzzer
and a relay (K2) for driving the alarm display LED lamp if an error
occurs.

6.9.4 I/F PCB

This PCB controls the following signals corresponding to the mode

signal transmitted from CPU; signal from the pick-up torquer, tilt
signal and torquer signal.

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Control of the signal from the pick up torquer

The follow-up signal (AC 400 Hz) from the pick-up torquer is inputted
into the band pass filter amplifier circuit which consists of U2 1/2,
peripheral resistors and capacitors. The high pass side cut-off
frequency is approximately 200 Hz, while the low pass side
approximately 800 Hz.
The half-wave rectification is performed on the signal which has
passed through the band pass filter amplifier circuit when the gyro is
in the PS mode. The rectified signal is smoothed and amplified in U2
2/2 and the peripheral circuits and sent to the constant current circuit
which consists of U1, Q1 and Q2.
The constant current circuit supplies the current to the pick-up
torquer via 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 applied
to the control terminal. In other words, 3-2 and 15-14 pins of U6 and
2-3 and 10-11 pins of U8 are kept closed in the PS mode.
All the analogue switches are controlled by each mode to switch the
flow of signal. Also, each mode signal is supplied to U13, U10 U11 and
U12 by CPU. This signal keeps the condition of its mode until the next
mode signal is supplied.
In any mode other than PS mode, 6-7 pins of U8 are closed, and the
follow-up signal from the pick-up torquer is transmitted to the servo
amplifier. During this time, the loop in the PS mode gives torque to
the 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 closed
smoothly when the PS mode is completed,

Control of tilt signal

Generally, no switching operation will be given to the tilt signal.
However, there are two types of controls as shown below are applied
to 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 the
common line of the control power supply at U7. The other control is
that the time constant of the filter to be multiplied to the tilt signal is
changed between the LEVEL mode and other modes. This change is
made at U7.
The tilt signal is supplied to R20 (RA) as a current by the tilt meter
buffer amplifier. This current is converted to a voltage by R20, (RA)
and is amplified by U3 1/2.

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Robertson RGC11 Gyrocompass

The amplified tilt signal is wave-formed by the filter circuit (consists

of 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 change
the filter constant by separating C13 from the circuit.

Control of torquer signal

The torquer signal from the CPU is sent to the switch section via U4
1/2 and 2/2.
The gain of this signal is decreased by the analogue switch mounted
on U4 2/2 when in the FS mode. After the PS mode is completed the
gyro compass enters the LEV mode. In this mode the rotor case is
raised from its laying position when the gyro compass is started.
At this time, precession is used and during the raising operation
extremely large torque is required. Therefore, when in the LEV mode,
the instruction signal issued by CPU is supplied to the constant
current circuit as it is by way of U6 switch. When in the FS mode, the
required torque is smaller than that in the LEV mode. Therefore, the
gain is decreased as described above.
In the NAV mode, the gain recovers its original state again, but the
torquer signal is sent to U5 1/2 by U6. In this mode, K1 is turned off
and the constant current circuit in I/F PCB is not used, The signal sent
to U5 1/2 is inputted into the constant current circuit in the servo
amplifier to supply current to the pick-up torquer. In the NAV mode,
the torquer signal can be controlled by much smaller torque than in
the FS mode. Therefore, the micro-constant current circuit in the
servo amplifier is used. Current-voltage conversion performed in the
constant 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 latitude
and ship's speed (manual/automatic) to CPU and to display
information received from CPU.

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

Ship’s speed information

The 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 maximum
CCW, the ship’s speed can be inputted automatically.
The analogue voltage signal and the switch condition signal are sent
to the CPU. When the switch is set to manual adjustment, the CPU

76 20220414A
 Maintenance

uses the analogue voltage. When the switch is set to automatic

adjustment, it uses the 200 P/N.M signal.

Display unit
CR5 to CR8 are seven-segments, which display the master compass
heading (azimuth angle), repeater heading, latitude, ship's speed and
alarm codes.
CR2 is provided for power supply display, while CR3 for rotor
rotation increase display, CR4 for PS, LEV, F/S modes display and
CR1 for repeater power supply display.
CR10 is lit (red) if an error occurs.
Also, the “MODE”, "ENT" and other setting switches includes an LED.
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" switches

CR5 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 signal
received from U2 is sent to the one-shot multivibrator of U3 to be
converted into a signal whose duty cycle is different (approximately
240 µs: 5.2 ms). This signal is sent to U15. On the other hand, the
signal from the dimmer switch is sent to the flip-flop of U1 via U5 3/6
4/6. 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 to
CR4. CR1 to CR4 are turned on when the level of the signal is high
and turned off when its level is low.
Therefore, these lamps are fully lit when the signal whose high level
is 5.2 ms is selected by U15. On the other hand, the signal outputted
from 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 signal
whose low level in 5.2 ms is selected.
Also, the card illumination activates PC2 and turns on or off Q2
corresponding to the signal received from U1. It controls the amount
of current which flows through the lamp by using the difference of
resistance between R73 and R74.
In other words, the lamp is fully lit when Q2 is turned on (PC2 is
turned on).
Also, the lamp-off signal activates the relay via U1 and (Q7) to turn off
each of the power supplies of CR1 to CR4, CR5 to CR8 and the card
illumination lamp.

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Robertson RGC11 Gyrocompass

Display of repeater power supply

The power supply for T/M PCB supplied from the transmission unit is
also sent to the panel PCB to drive PC1 and Q1 and lights CR1
(repeater power supply indicating lamp).

Detection of main power supply

The main power supply is connected to CN3-3 pins on the Panel PCB
to drive PC50. The signal for driving PC50 is sent to CPU to give
alarms when PC50 is turned off.

6.9.6 Tilt meter buffer amplifier

This amplifier consists of the tilt meter control section and the power
supply section.

Power supply section

The transformer of the power supply section receives a single-phase
power from the 3-phase power supply provided for the rotor. After
being rectified in the transformer this single-phase power is sent to
U2 and U3 to be turned into the constant voltage of ±15 V DC.

Tilt meter control section

Q1 and the peripheral circuits of this section supplies excitation
current to the primary pick-up in the tilt meter.
The amplifier circuit which consists of U1 amplifies the signal in the
secondary pick-up in the tilt meter. The amplified signal is fed back to
the tilt meter torquer.
The tilt meter torquer is connected to TQH and TQL. This torquer
current is fed into the resistance in I/F PCB and converted into
voltage. The peak to peak voltage applied to the resistance in I/F PCB
is 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 DC

and +5 V DC for the CPU PCB and I/F PCB.

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 24
V (DC).
The inverter configuration is shown in Figure 6-21.

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(PC21, Q31, R43)

INV-OCT Rotor current
PCB sensing To panel

(L1) (CR22, 23, C23, L22)

(Q2-Q9) (Q21-29)
+
Line Rectifier
filter Switching 1 Switching 2
- smoothing 1
400Hz
100V 3Ø
(CR21, C22, L21)
(CR1, Q1) (U1, RV1)
Aux. power
Aux. power Controller 1 supply 2
supply 1

Aux. power Controller 2

(CR2-CR5) supply 3
Voltage (CR21, C22, L21) (CR37, R22) (U21, 22, RV21)
sensing 1 Aux. power
supply 4

Rectifier Constant ±15VDC

smoothing 2 voltage cct.
(CR51-54, C52, L51-52) (U51-52)

Figure 6-21

Auxiliary power supply

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

Controller 1, voltage sensing

This consists of U1 and peripheral circuits. U1 is a IC for switching
regulation and varies the duty cycle of the output pulse of El, E2 (No.
9, 10 pins). The internal oscillating frequency of this IC is determined
by C10, R7 and obtained by the formula below:.
1
fosc = (Hz)
0.817 xC10 xR 7 + 1.42 x10 − 6
The oscillating frequency is approx. 190 kHz with C10 = 0,001 µF and
R7 = 4,7 KΩ. E1, E2 are taken out with 1/2 of the fosc, then the
primary side switching frequency of this inverter becomes 95 kHz.
The reference voltage of 5 V (DC) is output from U1 No. 14 pin. This
reference 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 the
voltage 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 reference
voltage is connected to No. 4 pin through C11 and C8. The standard
duty ratios of E1, E2 are decided by No. 4 pin voltage. When No. 4 pin
is 0 V, output signals of El, E2 are shown in Figure 6-22.

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Robertson RGC11 Gyrocompass

E1

E2

Approx.
10,6 us
(95KHz)

Figure 6-22

Actually, the divided voltage by R8, R6 is applied and the waveform

becomes as shown in Figure 6-31 with dotted lines. At the moment
when the power supply is switched on, the voltage waveform
becomes as shown in Figure 6-23 due to existence of C11 and, starts
with a very narrow width pulse (soft start).

No. 4 pin
voltage waveform

E1

Start

Figure 6-23

The constant voltage operation is controlled by the voltage difference

between No. 1 and No. 2 of U1. When the load decreases, the voltage
of the sensing circuit is increased. The voltage is converted to DC by
CR4, CR5, C17 and L2. A voltage drop of approx. 10 V is generated by
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 the
No. 1 pin voltage becomes higher than the No. 2 pin voltage, pulse
widths of El and E2 become narrower. In reverse, when the load
increases, the No. 1 pin voltage becomes lower than the No. 2 voltage,
pulse widths of El and E2 becomes wider. Consequently, by selecting
a suitable ratio of RV1 to R40 the output voltage can be kept at a
suitable level. For load variation, No. 1 pin voltage of U1 becomes
equal to the No. 2 pin voltage by the feed back operation.

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U1 No. 2 pin
voltage

U1 No. 1 pin
voltage
Shift 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 width
becomes wider to supply more power, and when the load is light the
pulse width becomes narrower to supply less power resulting in
keeping the output voltage (400 Hz 100 V 3ϕ) constant. The No. 16 pin
is connected for protection in the way that El and E2 become 0 V
when the sensed voltage is abnormally high.
CR6 is arranged to use the sensed voltage for the controller Power
supply to protect Q1 from overheating during normal operation.

Switching 1
This circuit consists of four transistors (push-pull operation), four
FETs (parallel operation), snubber circuits of R16 and C12, R17 and
C16, and peripheral capacitors and resistors.
R12 is provided to protect Q2, Q3 from excessive current and reverse
current which are generated by ON.OFF operation of Q6 and Q7 due
to capacitance existed between gates and drains of Q6, Q7. C13, C14
and C15 operate as a filter and compensates the drain current at the
moment of FET turned ON.

Rectifying, Smoothing
The voltage of approx. 160V (peak value) 95 kHz is generated
between 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, C23 and
L22.

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Robertson RGC11 Gyrocompass

Approx. 160 V

Approx. 160 V

95 KHz ~ 100 KHz

Figure 6-25

Auxiliary Power Supply 4

The circuit composed by CR21, L21 and C22 generates a higher DC
voltage, approximately 15V higher than the 130V rectified, smoothed
voltage from “switch 1”.
This voltage is used as gate voltage for the FET switch circuit
transistors to make sure that the transistor are fully on when
conducting.

Auxiliary Power Supply 3

This circuit consists of CR37, R22 and C24, and supplies 12V DC
voltage to the controller 2.

Auxiliary Power Supply 2

This circuit consists of Q30, CR36, R27 and R28, and converts the
auxiliary power supply 3 voltage of 12 V to approx. 11V DC which is
used as a gate voltage of FET in the switching 2 circuit (described
later).

Controller 2 and switching 2

This circuit consists of U21, U22 and peripheral capacitors and
resistors.
U2l, RV2l, R36, R37 and C25 configure an oscillating circuit. The
oscillating frequency is obtained by the formula:
1.44
fosc = (Hz)
( RV 21 + R36 + 2 XR 37) xC 25
When RV is 2.87 kΩ, the frequency is 2.4 kHz. The 2.4 kHz pulse
signal is input as a clock of D22 (QUAD “D” TYPE FLIP FLOP). The
relation of the input pulse and the output is shown in Figure 6-26.

82 20220414A
 Maintenance

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

Input pulse
(2.4 kHz)

1Q U22
(No. 2 pin)

2Q U22
(No. 6 pin)

3Q U22
(No. 10 pin)

Figure 6-26

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

S1 S2 S3

E X Rotor
Y
Z
S1 S2 S3

Figure 6-27

Sl~S3, S1~S3 in Figure 6-27 correspond to the following FET.

S1 = Q21 S2 = Q23 S3 =
Q25
Sl = Q22 S2 = Q24 S3 =
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.

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Robertson RGC11 Gyrocompass

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

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

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

When the input pulse is 4, then S1 , S 2 and S3 are ON, and S1, S2
and S 3 are OFF. At this time the current flows from S3 → Z → gyro
rotor→ X, Y → S1 , S 2 .

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

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

84 20220414A
 Maintenance

ON ON Q21

ON Q23

ON ON Q25

X-Y (X COM,)

120°

Y-Z (Y COM,)

120°

Z-X (Z COM,)

2.5ms (400Hz)

Figure 6-28

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

wave.
The actual switching operation is as follows. When IQ (no. 2 pin) of
U22 is “H” level Q27 becomes ON and Q22 becomes OFF. OFF of Q22
makes Q21 ON by the gate voltage from R24.
Reversibly, when IQ (no, 2 pin) of U22 is "L" level, Q27 becomes OFF
and Q22 becomes ON. Q21 gate voltage becomes "L" level for Q21 to
be OFF.
In addition because Q22 drain current flows through CR25, the
reverse bias is given between the gate and the drain of Q21 which
makes Q21 completely OFF.
The effective value of the output voltage is shown by the formula
below.

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Robertson RGC11 Gyrocompass

E
χ
(O+E2+(-E)2) 3
Vrms=
χ
-E
χ 2χ
3 3

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 provided to
prevent malfunction.
When 3Q changes from "H" level to "L" level, all are cleared. Even if
there is any miss during shifting the signal, this can recover the signal
within 2π.

Sensing the rotor current

The rotor current is sensed by the voltage drop resistor R43,
connected in series with the power supply line of the switching
circuit. (The current 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. The
emitter and collector of PC21 are connected to CPU PCB.

Rotor overload shut-down

The INV-OCT PCB has a resetable timer function and provides
automatic shut-down of the gyro.
When the gyro is switched on, 24 VDC is applied to the static inverter
and the timer on INV-OCT PCB starts to run. As the power is applied
to the rotor, this starts to run.
Three minutes after gyro switch-on and normal rotor speed is
obtained, the opto coupler PC21 on the Inverter PCB turns on and
resets the Inv-Oct timer via transistor Q1.
If however the rotor does not reach full speed, sensed by R43, no
timer reset level is generated and approximately 4,5 minutes after
gyro switch-on the timer reaches time-up and causes the inverter to
stop. Hence the rotor supply is shut-down.

Rectifying, smoothing 2, constant voltage circuit

The outputs of T1 secondary side No. 10, 11 and 12 are fully rectified
by CR51 to CR54 and are smoothed by L51, L52, C51 and C52. U51 is a
3 terminal regulator for positive voltage and U52 for negative voltage.

86 20220414A
 Maintenance

The ±15 V DC output is used as control power supply for the servo
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 signal
from the master compass (transmitted from T/M PCB) to the power
level required to drive the repeater motor.
A 12 V DC stabilized power supply is provided for the internal power
supply of PCB.

Constant voltage circuit

This circuit consists of Q31, CR31 and peripheral capacitors and
resistors. This circuit stabilizes the ship's power supply as 12 V DC by
the Zener voltage of CR31. The 12 V DC generated here is used for
the control power supply of PCB inside, and is also used for the
photocoupler power supply for the repeater signal output of CPU
PCB.

Repeater driving switching

The input terminals T1, T2, T3 are connected to CN3 of CPU PCB
through the external wiring terminal board T1, T2, T3 of the master
compass respectively. Let's consider the case that PC2 (photocoupler)
of CPU PCB is ON (the input terminal T1 ON). The anode side of CR1
becomes approx. 11 V DC, and No. 1 pin of U1 also becomes approx.
11 V DC through R2.
When the voltage level of No. 1 pin of C1 becomes higher than the
voltage (4.8 V) of No. 2 pin, the output of U1 becomes +12 V DC
through R5 to make Q1 ON.
At this time, No. 1 phase coil of the repeater motor connected to the
output 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 reverse
voltage 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.
R3
∆V = (VCC – 1.5)
R3 + 10
where R3 : kΩ
In this circuit,

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Robertson RGC11 Gyrocompass

3 .9 Vout
∆V = (12 – 1.5) = 3.0 V
3.9 + 10 V
Since V is 3 V, OFF voltage of U1 is:
3 .0
3.3 – = 1.8 V
2
Vin
ON voltage is: 1.8V 4.8V

3 .0 Vref
+ = 4.8 V (3,3V)
2
Figure 6-29

88 20220414A
 Maintenance

7 MAINTENANCE

7.1 General

The section describes daily checks and periodical inspections for

maintenance of the Robertson RGC11 Gyro Compass. Since correct
handling is the only way to maintain good characteristics of the Gyro
Compass over a long period, it is most important to follow the
directions and precautions given in this manual.

7.2 Routine Inspection

Perform the following checks at least once a day:

1. Check synchronization between the reading of the master
compass card and the gyro heading on the panel. Synchronize
them when there is a deviation.
2. Check synchronization between the repeater heading on the
panel and the repeater compass. Synchronize them when there is
a deviation.
3. Check if the latitude indication on the panel is correct. Correct it
when there is a deviation,
4. When the manual speed setting, check if the speed indication on
the 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 not
produce noise, vibration or overheating. With this in mind, the
operator should observe the performance of the Gyro Compass
and make the necessary precautions should any malfunction
occur.
Also, observe that the position of the air bubble in the level,
indicates correct inclination of the Gyro Compass as determined
by the local latitude. (Figure 5-12)
With the exception of the above-described routine inspection, the
Gyro Compass seldom requires special maintenance cheeks. It is
advisable, however, to check for loose connections, adhering oil

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Robertson RGC11 Gyrocompass

and component wear from time to time and to make adjustments

when necessary.

7.3 Periodical Inspection

The gyrocompass comprises a high-speed running rotor and other

moving parts. These moving parts are lubricated with a high-grade
lubricating oil. The oil will however progressively deteriorate over
time. The packings and other parts may also be degraded.
Therefore, the gyro compass needs periodical inspection and cleaning
overhaul by the hand of a Robertson service engineer. Please Contact
your nearest service station when the time for periodical inspection
comes.
Recommend that every 1-2 years the sensitive element is cleaned and
relubricated.
The cleaning overhaul requires special technology, equipment and
tools, therefore, never disassemble the gyro compass by yourself as it
way cause further trouble. Be sure to call one of our trained service
engineers when you need the cleaning overhaul.
Special technique is required to overhaul the sensitive element, and
replacement of parts other than bearings needs resetting of ROM in
the CPU PCB with using the special equipment in the factory.

90 20220414A
 Troubleshooting

8 TROUBLESHOOTING

8.1 General

For failures of the gyrocompass careful attention should be paid for

early discovery of abnormalities such as vibration, noise and over-
heating. The cause of gyro compass failure can be classified as
electrical or mechanical malfunction. It is therefore important to
observe and become familiar with the normal working conditions.
The failure status caused from electrical failure will appear as no good
running condition, and that caused from mechanical failure enables
the gyro to continue running although with some reading error.

8.2 Troubleshooting Chart

Possible failures of RSG11 are described in this chapter using charts

for each fault symptom.
Correct reference to these charts should enable the operator to
identify the 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

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Robertson RGC11 Gyrocompass

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) or
L (0 V DC), normally 2.5 V DC. (Pin U2 1/2-1 in servo
amplifier PCB is abnormal at +10 V DC and above
or –10 V DC and above, normally ±2 V DC or
below.)

E4
Inclination is abnormal.
Voltage between TP7 and TP17 (A GND) in CPU
PCB is abnormal at approx. +5 V DC Or –5 V DC or
above.

E5 Power is lost.
Pin U1-41 in CPU PCB is abnormal at L (0 V DC).
(Voltage at master compass external terminal "N+”
is detected.)

92 20220414A
 Troubleshooting

Trouble shooting chart 1

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Robertson RGC11 Gyrocompass

Troubleshooting Chart 2

Troubleshooting Chart 3

94 20220414A
 Troubleshooting

Troubleshooting Chart 4

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Robertson RGC11 Gyrocompass

Troubleshooting Chart 5-1

96 20220414A
 Troubleshooting

Troubleshooting Chart 5-2

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Robertson RGC11 Gyrocompass

Troubleshooting Chart 5-3

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 Troubleshooting

Troubleshooting Chart 6-1

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Robertson RGC11 Gyrocompass

Troubleshooting Chart 6-2

100 20220414A
 Troubleshooting

Troubleshooting Chart 7

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Robertson RGC11 Gyrocompass

Troubleshooting Chart 8

102 20220414A
 Troubleshooting

Troubleshooting Chart 9-1

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Robertson RGC11 Gyrocompass

Troubleshooting Chart 9-2

104 20220414A
 Troubleshooting

Troubleshooting Chart 10

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Robertson RGC11 Gyrocompass

Troubleshooting Chart 11

106 20220414A
 Troubleshooting

Troubleshooting Chart 12

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Robertson RGC11 Gyrocompass

This page is intentionally left blank

108 20220414A
 Parts List

9 PARTS LIST

9.1 GENERAL

This section contains parts list for the RGC11 in the form of assembly
drawings and wiring board drawings. The assembly drawings
provide a list of all mechanical parts that go into manufacturing of the
assembly, together with physical identification and location of each
part by part callout (PC) numbers.
In addition, the quantity of each part required per assembly is given
together 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 included

Figure 9-1 RGC11 Gyrocompass ........................................................... 110

Figure 9-2 RGC11 Master Compass ...................................................... 111
Figure 9-3 Sensitive Element ................................................................. 112
Figure 9-4 Rotor and rotor case ............................................................. 113
Figure 9-5 Rotor....................................................................................... 114
Figure 9-6 Vertical Ring.......................................................................... 117
Figure 9-7 Tilt meter ass’y ...................................................................... 118
Figure 9-8 ACC Buffer Amplifier PCB .................................................. 119
Figure 9-9 Horizontal ring ..................................................................... 121
Figure 9-10 Binnacle................................................................................ 121
Figure 9-11 Phantom ring ...................................................................... 123
Figure 9-12 Base Plate ............................................................................. 124
Figure 9-13 Upper Base Plate................................................................. 126
Figure 9-14 Lower Base Plate................................................................. 128
Figure 9-15 Shock Absorber ................................................................... 130
Figure 9-16 Servo Motor Ass’y............................................................... 132
Figure 9-17 T/M PCB............................................................................... 133
Figure 9-18 Servo Amplifier ................................................................... 134
Figure 9-19 Servo Amplifier PCB .......................................................... 135
Figure 9-20 CPU I/F PCB ........................................................................ 136
Figure 9-21 Inverter................................................................................. 138
Figure 9-22 Inverter PCB Ass’y.............................................................. 142
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Robertson RGC11 Gyrocompass

Figure 9-23 Case ...................................................................................... 144

Figure 9-24 Panel..................................................................................... 146
Figure 9-25 Panel PCB ............................................................................ 148
Figure 9-26 CPU PCB.............................................................................. 150
Figure 9-27 CPU P.S. PCB ...................................................................... 151
Figure 9-28 Transmission Unit .............................................................. 153
Figure 9-29 Step amplifier ...................................................................... 154
Figure 9-30 Step amplifier PCB ............................................................. 156
Figure 9-31 INV - OCT PCB................................................................... 157

9.3 Requests or requisitions for replacement parts

All requests or requisitions for replacement parts should include the

following 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

110 20220414A
 Parts List

RGC11 Master Compass

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

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

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Robertson RGC11 Gyrocompass

Sensitive Element

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

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

112 20220414A
 Parts List

Rotor and rotor case

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

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
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

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Robertson RGC11 Gyrocompass

Rotor

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

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

114 20220414A
 Parts List

Vertical Ring

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Robertson RGC11 Gyrocompass

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

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 1 102393061
supporter ass’y
12 Supporter, suspension 1 10230328-
wire
13 Bearing ball 1 10210326-
14 Plate, retainer 1 10210308-
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-
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

116 20220414A
 Parts List

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

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
55 Terminal board 1 10030927-
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

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Robertson RGC11 Gyrocompass

Tilt meter ass’y

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

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 1 10239511-
PCB
8 Screw, PAN M3x8 2 000503082
Figure 9-7 Tilt meter ass’y

118 20220414A
 Parts List

ACC Buffer Amplifier PCB

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

ACC buffer amplifier 1 10239511-
PCB
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

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Robertson RGC11 Gyrocompass

Horizontal ring

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

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 000503102
weight
6 Wire holder 2 10210804-
7 Screw, PAN M3x10 2 000503102
8 Bar 1 10210810-
9 Terminal Board 2 10030927-
10 Insulation seat 2 10221578-
11 Wire holder 2 01170003-
12 Screw, PAN M3x14 4 000503142
13 Bearing ball 2 6øx19øx6 01200049-
14 Retainer 2 006901372
15 Nut 1 West side 10210805-
16 Bearing ass’y 2 10239315
17 Screw, PAN M3x14 6 000503142

120 20220414A
 Parts List

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

18 Harness 1 From East 10239357-
side terminal
board
19 Harness 1 From West 10239358-
side terminal
board
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

Binnacle

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

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

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Robertson RGC11 Gyrocompass

Phantom ring

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

Phantom ring ass’y 1 10239138-
1 Wire holder 4 10230377-
2 Terminal board 2 10030927-
3 Insulation seat 2 10221578-
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
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-

122 20220414A
 Parts List

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

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-
33 Terminal plate 1 10230046-
34 Wire holder 2 10230400-
Figure 9-11 Phantom ring

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Robertson RGC11 Gyrocompass

Base Plate

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

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

124 20220414A
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Upper Base Plate

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Robertson RGC11 Gyrocompass

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

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-
17 Insulation seat 2 10221579-
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 shock 000503062
absorber
28 Weight 1 10230334-
29 Screw, PAN M3x14 3 000503142
Figure 9-13 Upper Base Plate

126 20220414A
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Lower Base Plate

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Robertson RGC11 Gyrocompass

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

Lower base plate ass’y 1 10239141-
1 Support plate 1 10230330-
2 Filter 1 20030584-
3 Capacitor fixed 3 6.8µF SM50T6R
8BP
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
10 Terminal board 1 10230125-
11 Screw, M3x14 2 000503142
12 Terminal plate 1 10230363-
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
22 Washer, spring M4 2 003840002
23 Screw, PAN M5x30 2 000505302
24 Plate, ground 2 10230365-
25 Nut 4 002550002
26 Washer M5 2 003550002
27 Washer, spring M5 2 003850002
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
35 Capacitor fixed 1 6.8µF SM50T6R
8BP
36 Capacitor fixed 3 10µF TCD51E1
H
37 Terminal Board 1 ML-3182-
10P
Figure 9-14 Lower Base Plate

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Shock Absorber

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Robertson RGC11 Gyrocompass

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

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-
5 Plate, retainer 8 10220731-
6 Screw, PAN M3x6 16 000503062
7 Nut 4 002512902
8 Washer, spring 4 003812902
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

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Servo Motor

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Robertson RGC11 Gyrocompass

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

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-
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

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T/M PCB

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

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-
P11,12,13 6 Photointerrupter 3 TLP850
7 Spacer 2 10230315-
8 Screw, PAN M2.6x10 2 000526102
9 Screw, PAN M2.6x8 1 000526082
10 Washer, plain 3 003526002
11 Washer, spring 3 003826002
12 Nut 3 002526002
C2 13 Capacitor 35V 1 6.8µF 10032753-
C1 14 Capacitor 50V 1 0.1µF 054112104
R1 15 Resistor 1/4W 1 2K 048212202
CR1 16 Zener diode 1 RD12EB2
CR2 17 Diode 1 V03C
R2,3,4 18 Resistor 1/4W 3 1.2K 048211122
CN1 19 Connector 1 6 pin 20038188-
R5,6 20 Resistor 1/4W 3 200 048211201
C5,6,7 21 Capacitor 3 2200pF 054111222
Figure 9-17 T/M PCB

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Servo Amplifier

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

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-
6 Plate, retainer 1 10230228-
7 Screw, PAN M3x14 2 000503142
Figure 9-18 Servo Amplifier

134 20220414A
 Parts List

Servo Amplifier PCB

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

Servo Amplifier PCB 1 10239506-
1 Printed wiring board 1 10230300-
U7,8 2 Integrated circuit 2 TA7523
Q1,2,3,4,5 3 Fet 5 2SK363BL
Q6,Q8 4 Transistor 2 2SD2241
Q7,9 5 Transistor 2 2SB1481
CR7 6 Diode 1 V03C
R46 7 Resistor 1/2W 1 91K 048212913
R70 8 Resistor 1/4W 1 1M 048211105
C37 9 Capacitor 400V 1 0.33 µF 10032763-
CN2 10 Connector 1 4 pin 20038186-
CN3 11 Connector 1 5 pin 20038187-
CN1 12 Connector 1 7 pin 20038189-
CNA 13 Connector 1 12 pin 20038906-
Figure 9-19 Servo Amplifier PCB

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CPU I/F PCB

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

CPU I/F PCB 1 10239519-
1 Printed wiring board 1 10230311-
U1 2 Integrated circuit 1 LT1055ACH
Q1 3 Transistor 1 2SC3421-Y
Q2 4 Transistor 1 2SA1358-Y
Q3 5 Fet 1 2SK363BL
C10,13 6 Capacitor 50V 2 0.47 µF 10032495-
C12 7 Capacitor 200V 1 2.2 µF 10032004-
R20 8 Resistor 1/4W 1 510 048211511
CN4 9 Connector 1 6 pin 20038164-
CN5 10 Connector 1 8 pin 20038166-
CNA 11 Connector 1 12 pin 10038904-
Figure 9-20 CPU I/F PCB

136 20220414A
 Parts List

Inverter

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Robertson RGC11 Gyrocompass

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

Inverter Ass’y 1 10239172-
1 Harness 1 1 102393591
2 Resistor 1 4.7K 7W 044614472
3 Screw, PAN M3x6 2 000503062
4 Screw, flat M3x5 1 000630052
5 Terminal 2 083314112
6 Washer, spring 1 003830002
7 Harness 2 1 102393602
8 Resistor 1 1K 5W 048151102
9 Screw, PAN M3x6 2 000503062
10 Terminal 2 083314112
11 Radiation seat 12 20565709-
12 Inverter PCB 1 10239516-
13 Screw, PAN M3x8 4 000503082
14 Case 1 10230345-
15 Plate 2 10230142-
16 Screw, PAN M3x14 3 000503142
17 Screw, flat M3x12 1 000630122
18 Plate 1 10230348-
19 Screw, PAN M3x14 1 000503142
20 Screw, flat M3x12 1 000630122
21 Support 4 20022029-
22 Plate 1 10230438-
23 Screw, PAN M3x14 1 000503142
24 Screw, PAN M3x16 1 000503162
25 Inv-Oct PCB 1 10239585-
26 Plate 1 10230437-
27 Screw, PAN M3x8 3 000503082
Figure 9-21 Inverter

138 20220414A
 Parts List

Inverter PCB

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Robertson RGC11 Gyrocompass

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

Inverter PCB 1 10239516-
1 Printed wiring board 1 10230386-
C10,27 2 Capacitor 50V 2 0.001 µF 20252541-
C26 3 Capacitor 50V 1 0.0033 µF 20252544-
C25 4 Capacitor 50V 1 0.047 µF 20252551-
C12,16 5 Capacitor 100V 2 0.0022 µF 057412222
C30,31.32 6 Capacitor 400V 3 0.047 µF DTDD2G473
K
C55,56,57 7 Capacitor 100V 3 0.0047 µF 057412472
C21,33,34, 8 Capacitor 500V 1 100 pF 053538101
35,60,61
C33,34,35, Capacitor 200V 3 100 pF 057413102
C60,61 Capacitor 50V 2 0.01 µF 057411103
C3,5,9,28, 9 Capacitor 50V 5 0.1 µF 054112104
36
C1,2,4,6,7, 10 Capacitor 25V 6 1 µF 20032316-
15
C23 11 Capacitor 200V 1 220 µF LPE200V221
MS2
C51,52 12 Capacitor 50V 2 240 µF RSF50V471
M
C8,17 13 Capacitor 50V 2 10 µF RSF50V100
M
C24,37 14 Capacitor 35V 2 33 µF RSF35V330M
C11,22 15 Capacitor 35V 2 100 µF RSF35V101M
C53,54 16 Capacitor 35V 2 470 µF RSF35V471
M
17 Spacer 4 20621340-
18 Spacer 1 20565630-
CR6,7,25,2 19 Diode 8 1S1887
7,29,31,33,
35
CR4,5,21 20 Diode 3 1DL41
CR51,52, 21 Diode 4 1R5DL41
53,54
CR22 22 Diode 1 CTU36R
CR23 23 Diode 1 CTU36S
CR63,65 24 Diode 2 V03C
CR61,62, 25 Diode 4 TLS108A
64,66
CR2,3 26 Zener diode 2 05AZ5. 1Y
CR36 27 Zener diode 1 05AZ9. 1Y
CR1 28 Zener diode 1 05AZ12Y
CR24,26, 29 Zener diode 6 05AZ15Y
28,30,32,
34
CR37 30 Zener diode 1 RD12F

140 20220414A
 Parts List

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

CR60 31 Diode 1 20L2CZ41A
U1 32 Integrated circuit 1 µ PC494C
U51 33 Integrated circuit 1 UPC7815AHF
U52 34 Integrated circuit 1 UPC7915AHF
U21 35 Integrated circuit 1 HA17555
U22 36 Integrated circuit 1 TC40175BP
L51,52 37 Choke coil 2 500µH 1A 20032647-
L22 38 Choke coil 1 1mH 1A 20032668-
L23,24,25 39 Choke coil 3 100µH 1A TSL1110-
101K1R0
L2,21 40 Choke coil 2 2.2mH 0.2A TSL1110-
222KR21
L1 41 Choke coil 1 1mH 5A SC-05-100
42 Spacer 1 10038908-
PC21 43 Photocoupler 1 TLP521-1GB
Q3,4,30 44 Transistor 3 2SA1460K
Q2,5,31 45 Transistor 3 2SC3733K
Q1, 46 Transistor 1 2SC2562Y
Q27,28,29 47 Fet 3 2SK701
Q21,22,23, 48 Fet 6 2SK784
24,25,26
Q6,7,8,9 49 Fet 4 2SK1491
50 Heat sink 2 10038881-
51 Bushing 25K 2 20030704-
52 Radiator 2 20030639-
53 Screw, PAN M3x8 2 000503082
R2,12,14 54 Resistor 1/4W 3 10 048211100
R44 55 Resistor 1/4W 1 22 048211220
R6 56 Resistor 1/4W 1 470 048211471
R10,11,13, 57 Resistor 1/4W 8 1K 048211102
15,19,27,2
8,45
R18 58 Resistor 1/4W 1 2.2K 048211222
R4,66 59 Resistor 1/4W 1 2.7K 048211272
R37 60 Resistor 1/4W 1 3.3K 048211332
R3,5,7,9,2 61 Resistor 1/4W 17 4.7K 048211472
9,30,31,32,
33,34,35,
38,39,51,
61,62,
R23 62 Resistor 1/4W 1 100K 048211104
R8 63 Resistor 1/4W 1 6.8K 048211682
R36 64 Resistor 1/4W 1 2.4 048211242
R1 65 Resistor 1W 1 1K 048111102
R63,64 66 Resistor 1W 33K 048111333
R43 67 Resistor 2W 1 1.5 044611159
R16,17 68 Resistor 2W 2 22 048121220

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Robertson RGC11 Gyrocompass

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

R24,25,26 69 Resistor 5W 3 10K 044613103
R40,41,42 70 Resistor 2W 3 22 044611220
RV1,21 71 Trimmer 2 046102502
T1 72 Transformer 1 20000312-
TP1,2,3,4, 73 Check pin 12 10030976-
5,6,7,8,21,
22,23,24
CN1 74 Connector 1 2 pin 20038160-
CN1 75 Connector 1 3 pin 20038161-
CN3 76 Connector 1 10 pin 10230324-
CN4 77 Connector 1 8 pin 10230323-
78 Fuse holder 1 10230322-
79 Fuse 1 8A 082315020
C13,14 80 Capacitor 50V 2 1800 µF RSH-
50V182MA
85
Figure 9-22 Inverter PCB Ass’y

142 20220414A
 Parts List

Case

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Robertson RGC11 Gyrocompass

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

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 9-23 Case

144 20220414A
 Parts List

Panel

20220414A 145
Robertson RGC11 Gyrocompass

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

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 9-24 Panel

146 20220414A
 Parts List

Panel PCB

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Robertson RGC11 Gyrocompass

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

Panel PCB 1 10239533-
1 Printed wiring board 1 10230299-
Q2 2 Transistor 1 2SD768K
CR17 3 Diode 1 V03C
CR11,12, 4 Led 6 TLS108A
13,14,15,
16
CR1,2,3,4 5 Led 4 LT9010N
CR10 6 Led 1 LT9010D
CR5,6,7,8 7 Led, seven segment 4 GL9T156
SW1,2,3,4, 8 Key switch 7 10038611-
5,6,7
R71,72 9 Resistor ½ W 2 180K 048211184
R80 10 Resistor ½ W 1 3.3K 048212332
R73 11 Resistor ½ W 1 10 048212100
R62 12 Resistor 2 W 1 100 044611101
R74 13 Resistor 2 W 1 240 044611241
VR1 14 Resistor, variable 1 20K RV24YN
20SB20K
VR2 15 Resistor, variable 1 20K RV24YNM
H20SB20K
CN1 16 Flat cable connector 1 50 PIN 084181050
CN2 17 Connector 1 6 PIN 20038164-
CN3 18 Connector 1 8 PIN 20038166-
CN4 19 Connector 1 4 PIN 20038162-
Figure 9-25 Panel PCB

148 20220414A
 Parts List

CPU PCB

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Robertson RGC11 Gyrocompass

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

CPU PCB 1 10239517-
1 Printed wiring board 1 10230312-
U1 2 CPU 1 UPD78C
10AGQ-36
U3 3 PROM 1 UPD27C
256AD-12
U20 4 A/D Converter 1 ADC574AKH

U21 5 D/A Converter 1 DAC80P-

CBI-V
6 IC Socket 2 10038839-
7 IC Socket 1 IC26-2406-
GS4
X1 8 1 14.7456MHz EX0-3C
U11 9 Integrated circuit 1 MAX233
U33,34,35 10 Sample hold amplifier 3 LF398AN
C17,18,19 11 Capacitor 50V 3 0.047µF 057411473
C20 12 Capacitor 50V 1 0.22µF 10032402-
C15 13 Capacitor 50V 1 0.33µF 50IN500233
4K1
C35 14 Capacitor 50V 1 3.3µF 050315339
R78 15 Resistor ½ W 1 1.3K 048212132
R114 16 Resistor ½ W 1 150 048212151
R38,39 17 Resistor ¼ W 2 2K 048211202
CR5,6,7,8, 18 LED 5 TLS108A
9
CN1 19 Flat cable connector 1 50P 084182050
20 Screw, PAN M2.6x12 2 000526122
21 Washer, flat M2.6 2 003526002
22 Washer, spring M2.6 2 003826002
23 Nut M2.6 2 002526002
S1,2 24 Dip switch 2 A6D-8100
B1Z 25 Buzzer 1 10230391-
CN2,4,8 26 Connector 3 6 PIN 20038188-
CN5 27 Connector 1 8 PIN 20038189-
CN3 28 Connector 1 12 PIN 20038193-
CN6 29 Connector 1 4 PIN 20038186-
CN7 30 Connector 1 2 PIN 20038184-
CNA 31 Connector 1 12 PIN 10038904-
J1 32 Jumper pin 2 10030965-
2 4
4 3
33 Socket 1 10030947-
Figure 9-26 CPU PCB

150 20220414A
 Parts List

CPU P.S. PCB

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

CPU P.S. PCB 1 10239531-
1 Printed wiring board 1 10230298-
PS1 2 DC/DC Converter 1 AS10-5-24
PS2 3 DC/DC Converter 1 AD6-1515-
24
C1 4 Capacitor 16V 1 100µF 050313101
C2,3 5 Capacitor 50V 2 100µF 050315101
CN4 6 Connector 1 4 PIN 20038162-
CNA 7 Connector 1 12 PIN 10038905-
C4,5,6 8 Capacitor 50V 3 0.1µF 054112104
Figure 9-27 CPU P.S. PCB

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Robertson RGC11 Gyrocompass

Transmission Unit

152 20220414A
 Parts List

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

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 ZAC22150
0U
21 Screw, PAN M4x12 2 000504122
22 Terminal board 2 10230165-
23 Mounting plate 2 10230166-
24 Terminal plate 1 10230263-
25 Support 2 200220470
26 Terminal plate 1 10230264-
27 Support 2 200220390
28 Washer, plane 4 003540002
29 Washer, spring 4 003840002
30 Screw, PAN M4x16 4 000504162
31 Screw, PAN M5x30 1 000505302
32 Nut 3 002550002
33 Washer, plain 2 003550002
34 Washer, spring 1 003850002
35 Harness 1 102393664
36 Resistor 1 2.7K ½ W 148212272
Figure 9-28 Transmission Unit

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Robertson RGC11 Gyrocompass

Step amplifier

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

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 9-29 Step amplifier

154 20220414A
 Parts List

Step amplifier PCB

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Robertson RGC11 Gyrocompass

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

Step amplifier PCB 1 10239504-
1 Printed wiring board 1 10230309-
U1,11,21 2 Integrated circuit 3 TA7523AS
Q1,11,21 3 FET 3 2SK1491
Q31 4 Transistor 1 2SC3298-Y
CR1,11,21 5 Diode 3 V03C
CR3,4,13,1 6 Diode 6 V03E
4,23,24
CR31 7 Zener diode 1 RD12EB2
CR32 8 Zener diode 1 RD3.3EB
CR2,12,22 9 LED 3 TLR102A
C31 10 Capacitor 25V 1 10µF 050314100
C32 11 Capacitor 25V 1 47µF 050314470
C1,11,21 12 Capacitor 50V 3 0.01µF 057411103
R32 13 Resistor 1 W 1 1.6K 044610162
R31 14 Resistor 2 W 1 510 044611511
R4,5,14, 15 Resistor ¼ W 6 2.4K 048211242
15,24,25
R2,12,22 16 Resistor ¼ W 3 3.3K 048211332
R8,18,28 17 Resistor ¼ W 3 5.6K 048211562
R7,17,27 18 Resistor ¼ W 3 10K 048211103
R6,16,26 19 Resistor ¼ W 3 100K 048211101
R3,13,23 20 Resistor ¼ W 3 3.9K 048211392
R34 21 Resistor ¼ W 1 1.8K 048211182
22 Screw, PAN M3x8 9 000503082
23 Nut 9 002530004
TP1,2,3,4 24 Check pin 4 10030976-
Figure 9-30 Step amplifier PCB

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INV-OCT PCB

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

INV-OCT PCB 1 10239585-
1 Printed wiring board 1 10230436-
U1 2 Integrated circuit 1 M51849L
C2 3 Capacitor 50V 1 1µF SR405C105K
J1 4 Jumper pin 1 DSP02-002-
431G
J2 5 Jumper pin 2 DSP02-004-
431G
J3 6 Socket 3 DSP02-002-
430G9

Figure 9-31 INV - OCT PCB

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 Drawings

10 DRAWINGS

Figure 10-1 Master Compass.................................................................. 161

Figure 10-2 Package of Sensitive Element............................................ 162
Figure 10-3 Transmission Unit .............................................................. 163
Figure 10-4 Spare Parts Box .................................................................. 164
Figure 10-5 Inter Unit Wiring Diagram................................................ 165
Figure 10-6 Rectifier Unit (Option) ....................................................... 166
Figure 10-7 Servo Amplifier PCB - Circuit Diagram........................... 167
Figure 10-8 Acc. Buffer Amplifier PCB – Circuit Diagram ................. 168
Figure 10-9 T/M PCB – Circuit Diagram............................................... 169
Figure 10-10 Panel PCB Circuit Diagram (Page 1 of 2)....................... 170
Figure 10-11 Panel PCB – Circuit Diagram (Page 2 of 2 ..................... 171
Figure 10-12 CPU PCB – Circuit Diagram (Page 1 of 2) ..................... 172
Figure 10-13 CPU PCB – Circuit Diagram (Page 2 of 2) ..................... 173
Figure 10-14 I/F PCB – Circuit Diagram ............................................... 174
Figure 10-15 CPU P.S PCB – Circuit Diagram ..................................... 175
Figure 10-16 Inverter PCB – Circuit Diagram...................................... 176
Figure 10-17 INV -OCT PCB – Circuit Diagram.................................. 177
Figure 10-18 Step Amplifier PCB – Circuit Diagram .......................... 178
Figure 10-19 Master Compass- Wiring Diagram................................. 179
Figure 10-20 Transmission Unit – Wiring Diagram ............................ 180
Figure 10-21 Rectifier Unit – Wiring Diagram..................................... 181
Figure 10-22 Repeater & Dimmer Unit – Connections
(Drw. N4-710305-)............................................................ 182
Figure 10-23 RP-41-1 Bearing Repeater – Dimensions
(Drw. N4-710302A) ........................................................... 183
Figure 10-24 MB Repeater Holder – Dimensions (Drw. N4-710304-)
............................................................................................ 184
Figure 10-25 BB Repeater Holder – Dimensions (Drw. N4-710303-) 185
Figure 10-26 Gyro Selector – Dimensions & Electrical Diagram
(Drw. N3-710638) ............................................................. 186
Figure 10-27 RSR68 Steering Repeater – Dimensions & Panel Cut-out
(Drw. N3-710300-)............................................................ 187

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Figure 10-28 RDR75 and DR75 Digital Repeater – Dimensions &

Panel cut-out (Drw. N4-710311B) ................................. 188
Figure 10-29 RSR77 Steering Repeater – Dimensions & Panel cut-out
(Drw. N4-710292-) ........................................................... 189
Figure 10-30 BH Repeater Stand – Dimensions (Drw. N4-710308-) . 190
Figure 10-31 RGC Compensator – Cabling (Drw. N4-710633-)......... 191
Figure 10-32 RGC11 Gyrocompass – Spare parts................................ 192

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Figure 10-1 Master Compass

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Figure 10-2 Package of Sensitive Element

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 Drawings

Figure 10-3 Transmission Unit

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Figure 10-4 Spare Parts Box

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Figure 10-5 Inter Unit Wiring Diagram

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Figure 10-6 Rectifier Unit (Option)

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Figure 10-7 Servo Amplifier PCB - Circuit Diagram

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

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Figure 10-9 T/M PCB – Circuit Diagram

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

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

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

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

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Figure 10-14 I/F PCB – Circuit Diagram

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

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Figure 10-16 Inverter PCB – Circuit Diagram

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Figure 10-17 INV -OCT PCB – Circuit Diagram

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Figure 10-18 Step Amplifier PCB – Circuit Diagram

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Figure 10-19 Master Compass- Wiring Diagram

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Figure 10-20 Transmission Unit – Wiring Diagram

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Figure 10-21 Rectifier Unit – Wiring Diagram

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Figure 10-22 Repeater & Dimmer Unit – Connections

(Drw. N4-710305-)

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Figure 10-23 RP-41-1 Bearing Repeater – Dimensions

(Drw. N4-710302A)

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Figure 10-24 MB Repeater Holder – Dimensions

(Drw. N4-710304-)

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Figure 10-25 BB Repeater Holder – Dimensions

(Drw. N4-710303-)

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Figure 10-26 Gyro Selector – Dimensions & Electrical Diagram

(Drw. N3-710638)

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Figure 10-27 RSR68 Steering Repeater – Dimensions & Panel Cut-out

(Drw. N3-710300-)

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Figure 10-28 RDR75 and DR75 Digital Repeater – Dimensions & Panel cut-out
(Drw. N4-710311B)

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Figure 10-29 RSR77 Steering Repeater – Dimensions & Panel cut-out

(Drw. N4-710292-)

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Figure 10-30 BH Repeater Stand – Dimensions

(Drw. N4-710308-)

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Figure 10-31 RGC Compensator – Cabling

(Drw. N4-710633-)

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Figure 10-32 RGC11 Gyrocompass – Spare parts

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