Simrad AP25 Autopilot Instruction manual
Reklaam
Reklaam
MANUAL
SIMRAD AP25
Autopilot
20221495F Sw.1.3 English
Instruction manual
Instruction Manual
This manual is intended as a reference guide for operating and correctly installing the AP25 autopilot.
Great care has been paid to simplify operation and set-up of the
Simrad AP25, however, an autopilot is a complex electronic system. It is affected by sea conditions, speed of the vessel, hull shape and size.
Please take time to read this manual to get a thorough understanding of the operation and system components and their relationship to a complete AP25 autopilot system.
Other documentation material that is included in this manual is 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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Simrad AP25 Autopilot
Document history
Rev. A First edition.
Rev. B Minor corrections in text. Table with SimNet/NMEA2000 messages included.
Rev. C FU50 substituted by FU25. Part no. for AC40 Power PCB ass’y, page 136 corrected. Added notes in chapter 3.19. Minor corrections in text and display pictures.
Rev. D Figures 3-6, 3-9, 3-19 and drawing/screen picture on page 39 and 50 corrected. Minor corrections in text. Updated according to autopilot SW
1.2.00
Rev. E Virtual feedback implemented. Minor corrections to text. Applies for SW
1.2.01 and onwards.
Rev. F Correction on page 71, 93 and 150 regarding external alarm on AC10. Use of AT10 for connection of NMEA compass when AC10 is used as autopilot computer, page 90.
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20221495F
Instruction manual
Contents
1
1.1
1.2
How to use this manual......................................................................... 9
1.3
System components............................................................................. 10
1.4
AP25 Control Unit .............................................................................. 11
1.5
Autopilot Computer ............................................................................ 11
1.6
RF300 Rudder Feedback unit ............................................................. 11
1.7
Heading Sensors.................................................................................. 12
RC36 Rate compass ............................................................................ 12
RFC35 Electronic Fluxgate Compass (optional) ................................ 12
NMEA compass (optional) ................................................................. 12
Simrad gyrocompasses........................................................................ 12
1.8
Optional equipment............................................................................. 13
R3000X Remote Control .................................................................... 13
FU25 Follow-Up Steering Lever ........................................................ 13
TI25 Thruster Interface ....................................................................... 13
1.9
2
2.1
2.2
ON/OFF - Standby mode .................................................................... 16
Flashing course knob icon .................................................................. 17
2.3
AP25 with MSD50 Stern Drive unit................................................... 18
2.4
Follow-Up steering (FU)..................................................................... 19
2.5
Non-Follow-Up steering (NFU) .........................................................19
2.6
R3000X Remote Control (NFU)......................................................... 20
2.7
JS10 Joystick (NFU) ........................................................................... 20
2.8
Automatic Steering ............................................................................. 21
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Simrad AP25 Autopilot
2.9
Automatic control of steering parameters........................................... 22
2.10
Manual Selection of HI/LO Parameters.............................................. 23
2.11
PATTERN steering............................................................................. 24
2.12
Dodge in AUTO.................................................................................. 32
2.13
Thruster Steering (optional)................................................................ 33
2.14
Tacking in Auto mode ........................................................................ 35
2.15
Dodge in NoDrift mode ...................................................................... 36
2.16
Navigating with the AP25................................................................... 37
Setting the waypoint arrival circle ...................................................... 39
2.17
Dodge in NAV .................................................................................... 40
2.18
Selecting a different Navigation source.............................................. 41
2.19
Wind vane steering.............................................................................. 41
2.20
Tacking and gybing in Wind mode.....................................................43
Tack and gybe operations ................................................................... 44
Tack and gybe prevent ........................................................................ 44
2.21
Wind steering and navigation ............................................................. 45
Operating in WIND
NAV
mode ............................................................. 47
2.22
Multiple station system ....................................................................... 48
2.23
2.24
User Set-up Menu ............................................................................... 50
Alternating Course Knob Icon ............................................................ 50
STANDBY Mode ............................................................................... 50
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Instruction manual
AUTO Mode ....................................................................................... 56
WIND Mode ....................................................................................... 58
2.25
VMG optimizing (RACING).............................................................. 59
Layline steering (RACING)................................................................60
2.26
Course knob icon ................................................................................ 62
INFO menu flowchart ......................................................................... 62
INFO menu and Main Screen, active unit ..........................................63
INFO menu and Main Screen, inactive or locked unit ....................... 63
3
3.1
3.2
Installation checklist ...........................................................................65
3.3
Unpacking and handling ..................................................................... 66
3.4
Determine system configuration ......................................................... 66
3.5
AP25 System Layout .......................................................................... 67
3.6
RF300 Rudder feedback installation................................................... 67
3.7
Autopilot computer installation .......................................................... 69
3.8
Cable connections ............................................................................... 70
3.9
Grounding and RFI ............................................................................. 70
3.10
Drive unit installation.......................................................................... 72
Connecting a reversible pump ............................................................ 74
Connecting a hydraulic linear drive.................................................... 75
Connecting a solenoid valve ............................................................... 75
3.11
Control unit installation ...................................................................... 76
Alternative panel mounting................................................................. 76
Optional bracket mounting ................................................................. 77
3.12
ROBNET2 network cables ................................................................. 77
AP27 connection................................................................................. 79
3.13
RC36 Rate Compass installation ........................................................ 79
3.14
RFC35 Fluxgate Compass installation ............................................... 81
3.15
R3000X Remote Control installation ................................................. 82
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Simrad AP25 Autopilot
3.16
3.17
S35 NFU Lever installation ................................................................82
3.18
3.19
SimNet network cables ....................................................................... 84
SimNet power and termination ........................................................... 84
3.20
Single NMEA input/output................................................................. 89
3.21
Double NMEA input/output ............................................................... 89
3.22
NMEA output on Port 2...................................................................... 90
3.23
NMEA Compass input........................................................................ 90
3.24
Radar Clock/Data................................................................................ 91
3.25
IS15 Instrument installation................................................................91
3.26
3.27
LF3000 Linear Feedback .................................................................... 93
4
4.1
4.2
Description of Installation Settings.....................................................96
4.3
Language selection.............................................................................. 98
4.4
Dockside settings .............................................................................. 100
Drive unit voltage.............................................................................. 101
Rudder Feedback Calibration ........................................................... 101
Rudder Deadband.............................................................................. 105
Minimum wind angle (NORMAL)...................................................106
Minimum wind angle (RACING)..................................................... 107
Tack angle (RACING)...................................................................... 107
Tack time (RACING)........................................................................ 107
Wind shift limit (RACING) ..............................................................108
Dockside settings when configured for Virtual Feedback................ 109
4.5
Interface Settings...............................................................................113
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Instruction manual
4.6
4.7
Set Rudder zero.................................................................................115
Minimum rudder ............................................................................... 115
Compass calibration.......................................................................... 116
Compass Offset .................................................................................118
Set Thrust Direction .......................................................................... 119
Wind damping................................................................................... 120
Automatic tuning...............................................................................121
Transition Speed ............................................................................... 123
NAV change limit .............................................................................124
Rudder play compensation................................................................ 124
4.8
Manual parameter adjust................................................................... 126
Recall Autotuned?.............................................................................128
4.9
System Data Menu ............................................................................ 129
SimNet and NMEA Data Screen ...................................................... 129
NMEA Port test (AC hardware) .......................................................130
Providing user training...................................................................... 133
5
5.1
5.2
Autopilot Computer .......................................................................... 135
5.3
Rudder Feedback...............................................................................135
5.4
5.5
5.6
Exchange of software programme .................................................... 136
Autopilot Computer .......................................................................... 136
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Simrad AP25 Autopilot
Autopilot Control Unit...................................................................... 137
6
6.1
7
8
8.1
AP25 Autopilot System ....................................................................147
8.2
AP25 Control Unit ............................................................................ 149
8.3
Autopilot Computers......................................................................... 150
8.4
RC36 Rate compass .......................................................................... 152
8.5
RFC35 Fluxgate compass ................................................................. 153
8.6
RF300 Rudder Feedback................................................................... 153
8.7
R3000X Remote Control .................................................................. 155
8.8
8.9
FU25 Steering Lever......................................................................... 156
8.10
8.11
8.12
8.13
NMEA and SimNet messages...........................................................160
9
10
SALES AND SERVICE WORLDWIDE
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System description
1 SYSTEM DESCRIPTION
1.1 General
Congratulations on the purchase of your new Simrad AP25 autopilot system and thank you for selecting what we feel is the most advanced autopilot system available on the market today.
Simrad manufactures a complete range of autopilots for all types of vessels, from recreational boats to merchant marine vessels.
The company's involvement in autopilots began in 1953 with equipment for the North Sea fishing fleet under the brand name
Robertson. Professional mariners around the world acknowledge that the Robertson and Simrad brand names are synonymous with the absolute best in autopilot technology.
The Simrad AP25 autopilot represents yet another step forward in autopilot technology with the intent of providing leisure boats between 30 and 80 foot with a host of new features. Among these the new Virtual Feedback algorithms in the autopilot software enable your autopilot to steer without having to mount a conventional rudder feedback unit.
The autopilot system can be expanded and enhanced with a selection of options and accessories.
The brain in the AP25 autopilot system is the single "intelligent" autopilot computer that communicates on the proprietary
Robnet2 network to establish a reliable digital communication and power distribution network between the units in the autopilot system.
The AP25 autopilot is also equipped with the SimNet data and control network. SimNet provides high speed data transfer and control of Simrad products integrated in a total steering and navigation system.
1.2 How to use this manual
This manual is intended as a reference guide for operating, installing and maintaining the Simrad AP25 autopilot. Great care has been paid to simplify operation and set-up of the AP25.
Please take time to read this manual to get a thorough understanding of the operation and system components and their relationship to a complete AP25 autopilot system.
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Simrad AP25 Autopilot
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.
1.3 System components
A basic AP25 system consists of the following units (refer to
• AP25 Control Unit with accessories
• Autopilot Computer
• Rate compass
• Rudder Feedback Unit with transmission link
• Drive unit
The basic system can be expanded with multiple fixed and hand held full function control units, hand held remote and steering lever.
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Figure 1-1 AP25 Basic system
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System description
1.4 AP25 Control Unit
A compact autopilot control for panel, bulkhead or bracket mounting. Large LCD 5” display for readout of autopilot data, mode keys and a rotary course knob. It has two Robnet2 connectors for system interconnection and expansion and two
SimNet connectors for control and data sharing with other
Simrad products. A NMEA2000 Adaptor Cable is available for
interface through a SimNet port (page 146).
1.5 Autopilot Computer
The autopilot computer is the heart in the AP25 autopilot system.
It contains the steering computer, interface to other system components, NMEA 0183 interface and drive electronics for the drive unit motor and clutch. Three models, AC10, AC20 and
AC40 are available.
Autopilot computer comparison chart:
Supply voltage 10-28 V 10-40 V
Motor current (continuous/peak) 6/12 A 10/20A (20/40A)
Clutch/bypass current
Number of control units
1,5 A*
2
1,5 A*
7
NMEA 0183 ports (input/output)
Solenoid output
Input for NFU control
External alarm
1 x x
2 x x x
Radar clock/data interface
Input for NMEA compass
* 3A on later models x x
1.6 RF300 Rudder Feedback unit
Rudder feedback unit with transmission link and 10 m (30 feet) of cable. Transforms the angular travel of the rudder to a digital signal read by the autopilot steering computer.
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Simrad AP25 Autopilot
1.7 Heading Sensors
The AP25 autopilot can be used with the following combinations of heading sensors:
RC36 Rate compass
Fluxgate compass with integrated rate sensor. Provides a dramatic improvement to the dynamic performance of both the autopilot and a stabilized radar display.
RC36 comes as standard with the autopilot.
RFC35 Electronic Fluxgate Compass
(optional)
A compact heading sensor from Simrad with 15 m (45 feet) of cable. The direction of the earth's magnetic field is sensed by a floating ring core in a fluxgate coil and transformed to a digital signal read by the autopilot steering computer.
RFC35 can operate as a low cost back-up compass for the AP25 autopilot.
NMEA compass (optional)
A well performing compass that outputs NMEA 0183 HDT or
HDG messages at 10 Hz can be connected directly to the AC20 or AC40 autopilot computer.
The AC10 Autopilot Computer has no port for NMEA compass input.
It is absolutely necessary for the autopilot that the heading rate is minimum 10 Hz.
Simrad gyrocompasses
Depending on the model there is direct NMEA0183 interface or you will need an optional GI51 interface unit to get NMEA0183 interface. Ask your Simrad dealer for information.
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System description
1.8 Optional equipment
A series of optional equipment are available for the basic AP25 system.
R3000X Remote Control
A small handheld remote control with two push buttons for power steering or course selection (port and starboard), and one push button with built-in lighted indicator for limited mode change.
Note !
JS10 Joystick
The JS10 Joystick is a Non-Follow-Up steering lever designed for indoor and outdoor console mount. It has a spring-loaded return-to-mid-position feature and is equipped with 10 m (33’) of cable and installation hardware.
FU25 Follow-Up Steering Lever
Not applicable for Virtual feedback configuration (page 66).
The FU25 Follow-up steering lever features a dial with 5° rudder angle markings. The rudder will move and stop at the angle selected on the dial. The FU25 has a mid-position indent, buttons for (limited) mode selection, and mode indicators. It is designed for indoor and outdoor bulkhead or flush panel-mounting.
Refer to the FU25 manual for more information.
TI25 Thruster Interface
The TI25 Thruster Interface is designed to provide a control signal for operating a thruster interfaced to an AP25 system. It operates on/off solenoids, or a Danfoss PVEM valve. The
Danfoss valve is a proportional valve that will provide full thruster performance with the output from TI25. The thruster output signal is calculated in the TI25 based on the mode of operation and the heading information. Set-up is from the control unit communicated via Robnet2. All settings are stored in the thruster interface unit.
Refer to the TI25 manual.
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Simrad AP25 Autopilot
Multiple stations
Multiple control units can be added to the system. See
1.9 Software record
When the system is switched on, a status display shows the software versions for the control unit and the autopilot computer.
Software version Description
SW 1.1.00 First issue
SW 1.2.00
SW 1.2.01
SW 1.3.00
NoDrift mode implemented. Easy access to
NAV source selection. Selectable NAV change limit implemented. Steering parameters can be changed in Auto mode.
User Setup menu re-edited. Outboard selectable as boat type in dockside setup.
Improvement in Wind mode algorithms.
Depth contour pattern implemented. New
INFO page showing SOG/Depth.
Virtual feedback implemented.
Anomalies in Setup and in French and
German language repaired. Updated according to NMEA2000 ver. 1.100.
Note ! Units with SW 1.2.00 and onwards are not compatible with units with SW 1.1.00.
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Operation
2 OPERATION
WARNING ! An autopilot is a very useful navigational aid, but DOES
NOT under any circumstance replace a human navigator.
Do not use automatic steering when:
• In heavy traffic areas or in narrow waters
• In poor visibility or extreme sea conditions
• When in areas where use of autopilot is prohibited by law
When using an autopilot:
• Do not leave the helm unattended
• Do not place any magnetic material or equipment near heading sensor used in the autopilot system
• Verify at regular intervals course and position of vessel
• Always switch to Standby mode and reduce speed in due time to avoid hazardous situations
2.1 Overview
Multifunction LCD
STANDBY mode/POWER on/off
AUTO mode
NAV or WIND mode
INSTRUMENT screens/ setup menus
PORT key
TURN/ DODGE key
STARBOARD key
Course knob
Figure 2-1 AP25 Front Panel
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Simrad AP25 Autopilot
The control unit shown above can operate as a stand alone unit in an autopilot system or combined in a multistation system. In a multistation system the command can easily be transferred from one unit to another. Units not in control will display "Inactive" and/or .
The AP25 system is capable of the following primary steering modes: STBY (power steering), AUTO, NAV and WIND, each mode having a dedicated push button.
Each of the mode push buttons is clearly identified with the primary function in large text, and a secondary function listed in smaller text. Each button provides you with a multiple function mode display.
A group of user adjustable settings are provided in the AP25
Alarms are presented in plain text to alert you of system and external data failure conditions. Alarms include both audible and
visual presentations. The alarm listing is on page 139.
2.2 ON/OFF - Standby mode
Note !
At first time turn on see chapter 4.1.
A single press on the STBY button switches the system ON and the following status displays are shown:
Autopilot model
Software version
Simrad
AP25
SW 1.2.01
HW rev. 00
Sn xxxxxx
SimNet no.
Software release
Hardware revision
Autopilot computer model
Software version
Simrad
AC20
SW 1.2.01
P00 M00 S000
Power board revision
Main board revision
Software release
Self check
SW and HW revisions shown are examples only.
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Note !
Operation
After approximately 5 seconds, the system is operative and the unit that was turned on will show the Standby mode display.
Other units in a multistation system will display "Inactive".
Control is transferred to any single unit by pressing its’ STBY button.
A long press (2-3 sec.) on the STBY button switches the system
OFF and during this time, the alarm will sound.
In an emergency, it is possible, on a multistation system, to turn
OFF the system at any control unit by pressing the STBY button for 2-3 seconds.
STBY mode is the mode that is used when steering the boat at the helm.
Display information:
− Standby mode
− Current heading 345°
− Rudder angle 1° to starboard.
Note ! When the autopilot operates on Virtual feedback, the numerical indication of the rudder angle is omitted.
Virtual feedback
See pages 67 and 109 about Virtual feedback.
Flashing course knob icon
When the course knob and the PORT/STBD buttons are used for settings etc., an icon will flash on the screen to tell that no course changes can be made unless you press the AUTO button.
Alarms
In the event there is an audible alarm with explaining text on the
control unit, refer to section 6, Trouble shooting.
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Simrad AP25 Autopilot
2.3 AP25 with MSD50 Stern Drive unit
Note ! The information in section 2.3 only applies if your autopilot is driving a Simrad MSD50 Stern Drive.
The MSD50 Stern drive unit has a relative feedback signal which needs a zero point setting after the autopilot has been turned on.
Refer to the MSD50 manual for further information.
Note !
Zero point setting
If you do not need a rudder angle display when leaving the dock, just steer the boat manually on a straight course and press the
AUTO button. The zero point is then set automatically.
If you prefer to use the rudder angle display when leaving the dock, proceed as follows:
After turn on the rudder angle display will alternate between
10 degrees port and starboard to indicate that the "rudder" zero point need be set.
18
Use the wheel to bring the "rudder" to midship position. Turn the wheel from lock to lock (H.O. to H.O.) and count the exact number of turns. Then start from one lock position and turn the half number of turns.
Press AUTO and then STBY. The zero point is now set and the display will show:
Follow the operating instructions on the following pages. There is no further need for zero point settings until next time you turn the autopilot on.
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Operation
2.4 Follow-Up steering (FU)
Note !
Not applicable for Virtual feedback configuration (page 67).
In the Follow-Up steering mode the course knob may be used to set rudder commands. The commanded rudder angle is shown on the display and the rudder will move to the commanded angle and stop.
Press both buttons simultaneously to activate
Follow-Up
Use course knob to command rudder angle
WARNING ! While in Follow-up mode you cannot take manual control of the wheel.
Return to manual control in Standby by pressing the STBY button
2.5 Non-Follow-Up steering (NFU)
In Standby mode, the NFU display is presented when the PORT or STBD button is pressed. The rudder will move as long as the button is pressed and the rudder angle is shown on the display.
Note !
Activates
PORT rudder command
Activates
STBD rudder command
When a NFU steering lever or remote control is operated, other control units become “Inactive”.
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Simrad AP25 Autopilot
2.6 R3000X Remote Control (NFU)
SIMRAD
STBY-AUTO
Simrad R3000X
Push button for
Port and Stbd commands
STBY/automatic.
Automatic modes are active when the lamp is lit.
In STANDBY mode, the rudder will move as long as the Port or Stbd button is pressed.
In AUTO mode and Wind modes the set course or set wind angle will change 1° each time the button is pressed.
Note!
If you keep the button pressed, it will automatically change the setting in increments of 3° per second.
Mode changes are as per table below.
Initial mode 1 st press 2 nd press
STBY
AUTO
NAV
STBY
AUTO
WIND
WINDN
AUTO
STBY
STBY
WIND
STBY
STBY
STBY
STBY
AUTO
AUTO 1)3)
STBY 2)
WIND 2)
WIND 2)
WIND 3)
Notes !
1. When NAV mode is selected in User Setup
2. When WIND mode is selected in User Setup
3. NAV and WIND
N
modes can only be entered from the
Control unit because you have to accept the prompt displays.
2.7 JS10 Joystick (NFU)
Note !
The principle is similar to that of R3000X Remote Control (see above). The rudder will move as long as the lever is offset to
Port or Starboard. JS10 has no mode change feature.
When a NFU steering lever or a remote control is operated, the control units and FU25 become "Inactive".
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Operation
2.8 Automatic Steering
When AUTO mode is selected, the AP25 automatically picks the current boat heading as the set course and maintains the simultaneous rudder angle. This gives a bumpless transfer at the mode change.
Automatic steering mode
Set course: 340 degrees
Compass reading: 340°M
Heading source: Rate compass
Rudder angle: 00°
Speed: 8.1 kt water speed from the log
Steering parameter: LO-A
The AP25 will keep the boat on the set course until a new mode is selected or a new course is set with the course knob or the
PORT or STBD buttons. One revolution of the course knob equals a 45 ° course change.
Note !
Decrease Increase
Course adjust 1°
(or 10°)/ push
Course change
CCW: Decrease CW: Increase
On power boats it is possible in the User Setup menu to set the buttons to change the course by 10° per press (see page
Once the course is changed to a new set course, the boat will automatically turn to the new heading and continue to steer straight.
Heading capture
When in AUTO or NoDrift modes this feature allows you to automatically cancel the turn you are in by an instant press on the AUTO or NAV button (NoDrift). The autopilot will counteract the turn and the boat will continue straight ahead on the heading read from the compass the very moment you pressed the AUTO or NAV (NoDrift) button.
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Simrad AP25 Autopilot
Automatic steering mode
New “captured” heading: 305 degrees
Compass reading: 301° M (Magnetic) or
T (True)
Heading source: Rate compass
Rudder angle: 01° to stbd.
Speed: 8.1 kt water speed from the log
Steering parameter: LO-A
Regain manual steering by pressing the STBY button
2.9 Automatic control of steering parameters
The AP25 provides two different sets of steering parameters for controlling the response of the boat at different speeds or wind directions while in AUTO, NAV or WIND modes.
Power boat
The AP25 selects the LO (response) steering parameters when engaging an automatic mode from STBY provided there is no speed input. This is a safety feature. When entering an automatic mode at low speed, the steering parameters may be changed to
HI automatically by input data from a speed log or a GPS navigator, or manually.
The speed at which the AP25 automatically changes from LO to
HI parameters (or opposite) is determined by the "Transition
Speed" set in the Installation Setup Menu (Sea trial). See diagram below.
Legend
HI-A High response parameters set automatically
LO-A Low response parameters set automatically
HI-M High response parameters set manually
LO-M Low response parameter set manually
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Operation
26
24
22
20
18
8
6
4
2
0
16
14
12
10
Speed
HI r esp ons e p ara me ters
LO
res pon se p ara me ters
Transition to LO parameters with increasing speed: 10 Knots
Transition Speed set to 9 Knots
Transition to HI parameters with decreasing speed: 8 Knots
Sailboat
When sailing in WIND mode, the parameters are automatically changed by the direction of the wind as per below or by the boat speed.
The transition between HI and LO parameters and vice versa will have a different characteristics with regards to the wind angle compared with the transition controlled by the speed of the boat.
If you loose too much speed e.g. when tacking, the parameters will change to HI to gain sufficient rudder response. This should be observed when setting the transition speed on sailboats.
2.10 Manual Selection of HI/LO Parameters
Manual selection of HI/LO parameters is necessary if there is no speed input to the autopilot or if you want to override the automatic control.
To toggle between LO and HI parameters, press the "AUTO" button two times quickly.
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Simrad AP25 Autopilot
Quick double press
Notes !
1. If you are in NAV or WIND modes you need not enter AUTO mode to manually change the parameter set. Just make a quick double press on the AUTO button.
2. The manually selected setting (HI or LO) will override the automatic selection and remain in effect until you re-enter any automatic mode from STBY.
2.11 PATTERN steering
The AP25 offers a number of different pattern steering features when in AUTO mode. The U-turn pattern is always available.
Other turn patterns can be selected under the User Set-up 2
menu. Refer to Turn Pattern select on page 55.
U-turn
This feature is very useful in a man overboard situation and whenever you want to steer back on a reciprocal heading.
U-Turn changes the current set course to be 180 degrees in the opposite direction. The user must decide whether the U-Turn should be made to Port or Starboard when bringing the boat on the new course. U-Turn is activated by a quick press on the
TURN/DODGE button. The AP25 will continue on the set course until you press either the PORT or STBD button to select the direction to make the U-Turn. If you do not press PORT or
STBD within 1 minute, the AP25 will return to the AUTO mode and stay on course.
Press
TURN/DODGE to enter TURN mode
Select STBD
U-turn
Boat makes
STBD Uturn
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Operation
C-turn
The AP25 provides a continuous turn feature when in AUTO mode. This may be used for circling fish or a particular object on the seabed.
C-turn makes the boat turn in a circle with a constant rate of turn.
The user decides whether the C-turn should be made to Port or to
Starboard.
Ensure that the C-turn pattern has been selected under the User
Set-up 2 menu. Refer to Turn Pattern select on page 55.
To enter C-turn mode:
First select U-turn with a press of the TURN/DODGE button.
Then select C-turn by another press of the TURN/DODGE button.
The AP25 will continue on the set course until you press either the PORT or STBD button to select the direction in which to make the C-turn. If you do not press PORT or STBD within 1 minute, the autopilot will return to AUTO mode and stay on course.
The turn rate can be adjusted before the turn is initiated and during the turn. Increasing the turn rate yields to a smaller circle and vice versa.
To exit C-turn mode, press any of the mode buttons.
When pressing the AUTO button, the new set course is shown in the upper portion of the display.
Boat turning port
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Simrad AP25 Autopilot
Spiral-turn
The spiral turn feature may also be used for circling fish or when searching a particular object on the seabed.
Spiral-turn makes the boat turn in a spiral with a decreasing or increasing rate of turn. The user decides whether the spiral-turn should be made to Port or Starboard.
Ensure that the Spiral-turn pattern has been selected under the
User Set-up 2 menu. Refer to Turn Pattern select on page 55.
To enter Spiral turn mode:
Press the TURN/DODGE button repeatedly until SPIRAL is flashing in the display.
The initial rate of turn can be adjusted before the turn is initiated. Increasing the ROT yields to a smaller circle and vice versa. Adjustable range is 10 to
600°/min.
The AP25 will continue on the set course until you press either the PORT or STBD button to select the direction in which to make the spiral turn. If you do not press PORT or STBD within 1 minute, the autopilot will return to AUTO mode and stay on course.
Boat turning starboard
Select “spiral increase” to move outwards in the spiral and “spiral decrease” to move inwards. Higher number gives a wider spiral. When Spiral 0 the boat will turn in a circle. Range: 0-9.
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Increase 5
To exit spiral-turn mode, press any of the mode buttons. When pressing the AUTO button, the new set course is shown in the upper portion of the display.
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Zigzag-turns
A zigzag turn pattern is also available when in AUTO mode.
The user decides whether the first turn should be made to Port or
Starboard.
Ensure that the zigzag-turn pattern has been selected under the
User Set-up 2 menu. Refer to Turn Pattern select on page 55.
To enter zigzag turn mode:
Press of the TURN/DODGE button repeatedly until ZIGZAG is flashing in the display.
The course change can be set before the turn is initiated. (Range: 2-70°).
The AP25 will continue on the set course until you press either the PORT or STBD button to select the direction in which to make the first course change. If you do not press PORT or STBD within 1 minute, the autopilot will return to AUTO mode and stay on course.
Boat turning starboard
While sailing in a zigzag pattern you can alter the course change (4-140°), time on the leg (1-20 min.), and the set course. An arrow shows the direction of the course change.
Initial course change 20°
Main course
Course change 40° Time on leg
To exit zigzag-turn mode, press any of the mode buttons. When pressing the AUTO button, the new set course is shown in the upper portion of the display.
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Simrad AP25 Autopilot
Square-turn
The square turn feature in AUTO mode can also be made a rectangle or any pattern when the next turn is 90°.
The user decides whether the first turn should be to Port or
Starboard.
Ensure that the Square-turn pattern has been selected under the
User Set-up 2 menu. Refer to Turn Pattern select on page 55.
To enter Square turn mode:
Press of the TURN/DODGE button repeatedly until SQUARE is flashing in the display.
The time between each 90° course change can be adjusted before the turn is initiated (1-30 min.).
The AP25 will continue on the set course until you press either the PORT or STBD button to select the direction in which to make the first course change.
If you do not press PORT or STBD within 1 minute, the autopilot will return to AUTO mode and stay on course.
Boat turning to starboard
When the square turn is selected you can change the time between each course change (1-20 min.) hence the length of the leg. While you are on the leg you can also change the time and thus change the shape of the pattern. You can also at any time change the set course.
To exit square-turn mode, press any of the mode buttons. When pressing the AUTO button, the new set course is shown in the upper portion of the display.
Time
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Lazy S-turn
The AP25 also provides a lazy S-turn feature when in AUTO mode.
The user decides whether the initial turn should be made to Port or to Starboard.
Ensure that the lazy S-turn pattern has been selected under the
User Set-up 2 menu. Refer to Turn Pattern select on page 55.
To enter Lazy S-turn mode:
Press of the TURN/DODGE button repeatedly until LAZY S is flashing in the display.
The course change can be adjusted before the turn is initiated (2-80°).
The AP25 will continue on the set course until you press either the PORT or STBD button to select the direction in which to make the first course change.
If you do not press PORT or STBD within 1 minute, the autopilot will return to AUTO mode and stay on course.
While in a Lazy-S pattern you can alter the course change magnitude (4-160°), the frequency or rate of change (1-9) and the main course. An arrow shows the direction of the turn.
Boat turning to port
Initial course change
Main course
Course change Low rate
High rate
Main course
To exit Lazy S-turn mode, press any of the mode buttons. When pressing the AUTO button, the new set course is shown in the upper portion of the display.
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Simrad AP25 Autopilot
Depth Contour
Steering to a depth contour is also an AUTO mode feature. With input from an echo sounder, the autopilot can be set to steer the boat to a set depth. This is very useful if you want to follow a depth contour.
Smooth seabed Rocky waters
Caution ! Do not use this feature unless the seabed is suitable. Do not use it in rocky waters where the depth is varying significantly over a small area.
Ensure that the depth-turn pattern has been selected under the
User Set-up menu. Refer to Turn Pattern select on page 55.
Make sure you have depth reading available in the system. Press the TURN/DODGE button repeatedly until DEPTH is flashing in the display. The actual depth reading is shown on the display.
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Operation
Select depth slope with the course knob. “/” means shallow is to starboard, “\” means shallow to port.
Steer the boat to the depth you want to track and in the direction of the depth contour (main course).
When the wanted depth is shown in the display, activate the depth contour steering with PORT or
STBD button (any of the two).
If you do not press PORT or STBD within 1 minute, the autopilot will return to AUTO mode and stay on course.
The display has the following menu items:
Reference depth
The reference depth is captured when the Depth pattern is activated. To change the reference simply use the PORT or
STBD button or the course knob.
Depth gain
The autopilot is tracking the depth by computing an x-track error when the boat is off the reference depth. This error automatically adjusts the set course to bring the boat back on track.
Use the gain control to have a firm or smooth response to the variation in depth.
Range: (05-95)
Main course
This should be the main (average) direction of the depth contour you want to follow. If the contour line is making a big change in direction, you should manually adjust the set course to the new direction. This will result in a quicker response from the autopilot. If the course is not adjusted, the autopilot will need more time to turn and steer the boat back to the reference depth.
Contour Cross Angle (CCA)
With this parameter you can make the boat lazy-s across your reference depth. With the CCA set to zero there is no S-ing. The
CCA is an angle that is added to or subtracted from the set
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Simrad AP25 Autopilot course. Each time the boat crosses the reference depth the sign
(+/-) of the CCA is changed and makes the boat turn to cross the reference depth contour in the opposite direction. The larger the
CCA the bigger the turn.
CCA set to 15 degrees
Approaching reference depth from port
Reference depth
CCA set to 15 degrees
Approaching reference depth from starboard
Range: (0-50)
2.12 Dodge in AUTO
Dodging is useful in situations where you need to quickly take control of the helm to steer around an obstruction, and then resume the previous set heading. Dodging is activated by a quick double press on the TURN/DODGE button.
When in DODGE mode the displayed set course is the last one set prior to activating the dodge function. When DODGE is displayed, the AP25 is no longer in control of the steering, and you must either manually steer the boat in STBY mode or take control using Non Follow Up or Follow Up steering. On manual steering (STBY mode) the clutch or bypass valve in the drive unit will be disengaged. The AP25 will remain in the DODGE mode until you exit DODGE by a second press on the
TURN/DODGE button or select a mode.
Quick double press on TURN/
DODGE to activate Dodge mode
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Perform dodging in one of the following ways:
1. Manually steer the boat by the wheel:
Note !
2. Non Follow Up steering by pressing:
or or using NFU steering lever
3. Follow Up steering by pressing both: and using the course knob
To return from Dodge mode, press one of the following:
Selects AUTO mode and returns to the last set course or
Selects AUTO mode with the current heading as the set course
Using NFU or FU modes while dodging will make “NFU” or
“FU” flash instead of “DODGE”.
2.13 Thruster Steering (optional)
If the boat is equipped with an appropriate thruster (page 13), it
can be connected to the AP25 system and the boat can then be controlled by rudder and thruster.
When the AP25 is controlling the thruster you may:
• Have excellent course and track keeping performance at very low speeds (AUTO or NAV modes).
• Have automatic heading control when stationary, e.g. keep the bow into the wind and/or the waves.
• Provided the warf has no steel construction you can use
AUTO mode to keep the bow steady when docking.
A thruster icon below the mode index confirms that a thruster is connected to the system (via TI25 Thruster Interface).
From the User Set-up Menu (page 52) you can switch the
thruster on and off. When the thruster is switched on, both rudder and thruster is used to maintain the heading. If the boat speed exceeds 6 knots the thruster is automatically disabled.
Examples of display pictures:
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Simrad AP25 Autopilot
STANDBY
Non-Follow Up steering mode
AUTO mode
Heading to be maintained by rudder
Heading to be maintained by rudder and thruster
Note !
Heading maintained by rudder
Heading maintained by rudder and thruster
When operating an On/Off thruster be aware that most electrical thrusters have a built in thermal cut-off switch. The switch will shut off the motor if it is overheating and re-engage it when it has cooled down. The water temperature also affects the running time. The On/Off thruster may only run for a few minutes, and the total running time for a longer period should be limited by
increasing the thruster sensitivity value (see page 57).
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2.14 Tacking in Auto mode
The tack function is only available in sailboats when the system is set up for SAIL boat type in the installation setup.
Tacking in AUTO mode is different from tacking in WIND mode. In AUTO mode the tack angle is fixed and can be set in the Installation/Dockside menu. Default tack angle is 100°.
Tacking should only be performed into the wind and must be tried out in calm sea conditions with light wind to find out how it works on your boat. Due to a wide range of boat characteristics
(from cruising to racing boats) the performance of the tack function may vary from boat to boat. Except for the fixed course change and the difference in displays, the procedure is similar to
that of the U-Turn described on page 24.
Press
TURN/DODGE to enter TACK mode
Select
STBD tack
Boat makes
STBD tack
2.15 NoDrift
Note ! The source when operating in NoDrift mode is the Position (Pos) source.
The NoDrift mode is an alternative to route steering in NAV mode, and is automatically entered when you press the
NAV WIND button provided NoDrift has been selected in the
(user) SETUP menu.
The autopilot will steer to an imaginary waypoint and the bearing is the boat’s heading at the very moment the NoDrift mode is engaged.
Unlike when in Auto mode the vessel will steer a course equal to the bearing line unaffected by wind and current (no drift).
The course to steer to (bearing line) can be changed the same way as when changing course in Auto mode.
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Simrad AP25 Autopilot
Note !
Select NoDrift in the Setup menu when in STANDBY or AUTO mode. Press the NAV WIND button to enter NoDrift mode. The NAV
WIND key is now programmed to always activate the NoDrift mode. If you want the key to activate NAV mode, enter the User Setup menu and select NAV.
NoDrift mode
Set course: 345
NoDrift indicator: 0.000nm
Pos Source: CP34
Heading: 345°M
To operate in NoDrift mode your GPS/chart plotter must be turned on.
Dodge in NoDrift mode
This is similar to dodging in Auto mode.
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2.16 Navigating with the AP25
Note !
Note !
Note !
The source when operating in NAV mode is the Navigation (Nav) source.
The AP25 has the capability to use steering information from an external navigator (GPS, Chart Plotter) to direct the boat to a specific waypoint location, or through a route of waypoints. In the NAV mode, the AP25 uses the compass as heading source for course keeping. The information received from the navigator alters the set course to keep the boat on the track line and direct the AP25 to the destination waypoint.
Navigational steering should only be used in open waters. By selecting the NAV mode, the AP25 is set for automatic steering on the current set course and then waits for the user to accept the course change to the track line or destination waypoint.
To obtain satisfactory navigation steering, the following points must be fulfilled prior to entering the NAV mode:
• The AP25 autosteering must be tested and determined satisfactory.
• The navigation receiver (GPS, Chart Plotter) must be in full operating mode with adequate signal characteristics for valid position and navigation data.
• At least one waypoint must be entered and selected as the current “Go to” waypoint.
• The navigation receiver (source) for the autopilot will be the one that is automatically selected in the interface set-up or manually selected in the User setup2 menu item called
The AP25 is designed to steer in “mixed mode” operation. This combines the straight steering capability of cross track error
(XTE) steering in conjunction with the turning capability of bearing mode steering (Course To Steer, CTS) and automatic
Waypoint shift.
If the AP25 is connected to a navigation receiver that does not transmit a message with bearing to next waypoint, it will pick a
XTE message and steer on Cross Track Error only. In that case you have to revert to AUTO mode at each waypoint and manually change set course to equal bearing to next waypoint and then select NAV mode again.
Press the NAV button to activate the NAV prompt display.
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Simrad AP25 Autopilot
Note !
Note !
The prompt display shows the name or number of the next waypoint
(WP), the bearing of the track line
(BWW) from the previous waypoint to the destination waypoint, the required course change (CHG) and the direction in which the boat will turn.
If only one waypoint has been entered the bearing will be from the present position to the destination waypoint.
The lower left portion shows the compass heading and the lower right portion shows the rudder angle and speed.
Press the NAV button again to accept the waypoint as the location to steer towards. The autopilot turns the boat onto the track line.
− NAV mode
− Course to steer (CTS): 211 is set internally by the autopilot to steer the boat onto the track line.
− Cross track error (XTE): 0.017 nm to stbd.
− NAV data source: CE34-1
− Compass heading: 345° M.
− Next waypoint: Egersund
− Bearing from current position to the next waypoint (BPW) :
270°M
− Distance to waypoint: 10 nm
For Cross Track Error, the number of decimals shown depends on the output from the GPS/chart plotter. Three decimals give a more accurate track keeping.
When operating the AP25 in NAV mode to steer through a route of waypoints, the AP25 will steer to the first waypoint in the route after you accept the first waypoint as the location to steer towards. When you arrive at the waypoint, the AP25 will output an audible warning, display an alert screen with the new course information, and automatically change course onto the new leg.
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Operation
Note ! If the required course change is more than the NAV change limit
(default 10
°
), you have to verify that the upcoming course
change is acceptable. This is a safety feature. See page 124 on
how to change the ‘NAV change limit’.
Alert screen. Press NAV button to verify course change larger than 10°.
If no verification is received, the
AP25 will continue on the current set course in AUTO mode.
Regain manual steering by pressing the STBY button
Setting the waypoint arrival circle
For route navigation it is recommended to use automatic waypoint shift/change at a set waypoint arrival circle.
The arrival circle should be adjusted according to boat speed.
The higher speed, the wider circle. The intention is to make the autopilot start the heading change in due time to make a smooth turn onto the next leg.
The figure below may be used to select the appropriate waypoint circle on the GPS/chart plotter.
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Simrad AP25 Autopilot
Note !
Example: With the speed of 20 knots you should use a waypoint circle with radius 0.09 nm.
The distance between any waypoints in a route must not be smaller than the radius of the waypoint arrival circle when using automatic waypoint shift.
2.17 Dodge in NAV
When dodging in NAV mode, the course displayed as Course To
Steer (CTS) is the boat’s recommended heading. However, the previous set course is stored by the AP25. When DODGE is flashing on the display, the AP25 is no longer in control of the steering and you must either steer the boat manually or take control using either Non-Follow-up steering or Follow-up steering. On manual steering, the clutch (or bypass valve) in the drive unit will be disengaged when dodging. The AP25 will remain in the DODGE mode until you exit DODGE by a second press on the TURN/DODGE button or until you select another mode.
Perform dodging the same way as in AUTO mode above.
Quick double press on
TURN/DODGE to activate Dodge mode
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Operation
To return from Dodge mode, press one of the following:
1.
Returns to NAV mode at present position with a new NAV prompt. Keeps all offset estimates
(Wind/current etc.) in the algorithms
(recommended).
2.
Selects NAV mode at present position with a new NAV prompt. May result in a less accurate return to the track.
3.
Selects AUTO mode with the current heading as the set course.
2.18 Selecting a different Navigation source
If you have more than one navigation source connected to the
AP25, you will be able to choose any for navigation. Refer to the
“Source select” item in the User Set-up 2 menu for details on
selecting a different navigator (page 52).
2.19 Wind vane steering
Note !
Prior to entering WIND mode the AP25 system should be operating in AUTO, with valid input from the selected wind transducer. The WIND mode is only available if the system has been set up for SAIL-boat in the Installation/Dockside Menu, and the NAV/WIND source is set to WIND under the USER
SETUP menu. (Refer to page 50).
Enter the WIND mode by pressing the NAV/WIND button.
The set course to steer (CTS) and set wind angle are entered from the compass heading and the wind transducer when at the moment the WIND-mode is selected. From that point the autopilot will change the course to maintain the wind angle as the wind direction may change.
If the cumulative shift of the wind direction exceeds a set limit from the time a new wind angle is set, a WIND SHIFT alarm will sound.
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Simrad AP25 Autopilot
The display will show the set wind angle. Adjustments to this set angle can be made by using the course knob or PORT or STBD button.
The display also presents heading and rudder angle.
Wind (vane) mode
Set wind angle: 044 degrees from stbd.
Measured wind angle: 041°A (apparent)
(T = True)
Course to steer: 309°
Compass reading: 311° M (magnetic)
T (true)
Rudder angle: 01° to port
Speed over ground (SOG): 8.0 kts
Parameter: LO-A (Low response, automatic set)
Steer port Steer stbd.
Adjust set wind angle 1°/push Major wind angle adjust
CCW: Steer port CW: Steer stbd
Regain manual steering by pressing the STBY button
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2.20 Tacking and gybing in Wind mode
In WIND mode there is a tacking and gybing aid function.
Tacking in WIND mode as compared to AUTO mode can be performed when sailing with apparent or true wind as the reference, and with a true wind angle of less than 90 degrees.
The tacking operation will immediately mirror the set wind angle to the opposite side. A tacking-message will flash on the display for 5 seconds. Any new command given when the message is flashing, will interrupt the tack operation. The rate of turn during the tack will be given by the ‘Tack time’ parameter set in the
Installation/Dockside menu (page 107).
A quick press on the TURN/DODGE button will activate the tack function and the boat will start turning to the same wind angle on the other side.
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Simrad AP25 Autopilot
Tack and gybe operations
Gybing is possible when the true wind angle is larger than 120°.
When a gybe is initiated, the wind angle will first be set to
170°T on the same side as the current wind angle. The main sail should now be hauled.
With the main sail safely hauled, the wind side may be changed. This is done by pressing either PORT or
STBD buttons depending on the way the boat should continue to turn. The new set wind angle will then become the same as the wind angle set before the gybe operation started.
The rate of turn when changing wind side in a gybe will be the highest possible, determined by the performance of the drive unit.
Tack and gybe prevent
When beating and running, sailing is at the most critical.
If the sails are unbalanced when beating, yaw forces from the sails can drive the boat into the wind. If the boat is driven beyond the minimum wind angle, the thrust from the sails will suddenly disappear and the boat speed reduced. Then the boat will be even more difficult to steer because the rudder will become less effective.
The tack prevent function in WIND-mode has been implemented to avoid such situations. It will react immediately when the apparent wind angle becomes 5° less than the set minimum wind angle. Additional amount of rudder will be commanded to immediately increase the wind angle.
When running, it is difficult to steer the boat with waves coming sideways or from behind. The waves may yaw the boat so that
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Caution !
Operation the wind side is shifted and an unwanted gybe may happen. This can be hazardous for both the crew and the mast.
The gybe prevent function will be activated when the measured apparent wind angle becomes greater than 175° or when the wind angle gets opposite to the set wind angle. Additional rudder will be commanded to keep the wind on the same side as the set wind angle.
The tack and gybe prevent functions are not a guarantee against getting into a hazardous situation. If the effect of the rudder and/or drive unit is not adequate, it may happen. Pay particular attention in such situations.
2.21 Wind steering and navigation
The autopilot can also steer the boat given both wind data and track data from a GPS/Chartplotter. In this mode called
WIND
NAV
mode the automatic steering is based on a set of criteria (see bullets below). Wind steering and navigation is activated by pressing the NAV/WIND button when in Wind mode. There are two sub-modes under this key: NORMAL
(default) and RACING (see below). The initial course change
(CHG) needed to navigate towards the active waypoint, is calculated by the autopilot. The autopilot will maintain windside in these calculations and the change of course is accepted by pressing the PORT or STBD button [1].
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Simrad AP25 Autopilot
[5] [6] [8]
46
Figure 2-2 Wind steering
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Operation
Operating in WIND
NAV
mode
Refer to Figure 2-2 with references [ ] the associated displays
and the criteria (bullets) below.
• The set wind angle should be larger than the ‘Minimum wind angle’ set in the Installation/Dockside menu and smaller than 170° Apparent.
• Information about when it is time to head directly towards the waypoint, Distance To Turn (DTT) and Estimated Time to Turn (ETT) are displayed. These calculations are based on the assumption that the set wind angle will be the same or larger after a tack or gybe towards the waypoint [3] [7].
• A turn prompt will appear when it is time to head towards the waypoint and the autopilot will calculate and display the change of heading by comparing the current heading and the heading towards the waypoint (CHG) [5].
• When heading towards the waypoint, the autopilot utilizes either the XTE from the GPS/Chartplotter to maintain track or a layline calculated by the autopilot. The calculated layline applies when the Cross Track Error (XTE) from the external navigator is larger than 0.15 nm [8].
RACING
If ‘Wind setup’ is set to ‘RACING’ in the Installation/Dockside menu, a more advanced steering is possible:
• Optimising VMG to wind may be enabled when beating and it is not possible to head directly towards the waypoint
[2] [4].
• Layline steering may be disabled when heading directly towards the waypoint. Instead you can optimise the
Waypoint Closure Velocity (WCV) by trimming the sails and the set wind angle. A turn prompt will then be displayed if the difference between Course Over Ground
(COG) and Bearing Position Waypoint (BPW) exceeds 30° when heading towards a waypoint [8].
See chapter 2.25 Quick Setup on how to access these parameters
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Simrad AP25 Autopilot
2.22 Multiple station system
In normal operation control is accessible from every control unit connected to the AP25 system. One control unit is "active" and provides the user with access to all functions. All remaining control units are "inactive" and have no effect on mode changes or course selection. A single press on any of the mode buttons on an "inactive" control unit will allow transfer of command and make it "active".
2.23 Lock function
The "LOCK" function is a safety feature in the AP25 system. It will disable all control units, including the FU25 Follow-up lever, except for a single user selected control unit location.
When the "lock" function is in use, no transfer of command can take place; only the active control unit stays in command.
To enable the "lock" function, make a quick double press on the
STBY button.
48
The display on the active control unit will first show a icon and then the icon will alternate with the mode index.
The "locked" control units in the system will show:
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Operation
The “Lock function is disengaged by one of the following actions:
• The active control unit unlocks the other ones and makes them
“inactive” by another double press on the STBY button. It also displays the icon before it returns to the normal active state.
• The system is switched OFF by any control unit (press STBY for 2-3 seconds).
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Simrad AP25 Autopilot
2.24 User Set-up Menu
In the AP25, all modes except NFU and FU have a complemental User Set-up menu. You can easily access the set-up menu by a quick double press on the
INFO/SETUP button.
Quick double press to access
Scroll through the menu
Use the course knob to change a value or a setting
Alternating Course Knob Icon
When the course knob is used in the User Set-up menu, an icon will alternate with the mode index to tell that no course changes can be made unless you press the mode button.
The user set-up menu times out 30 seconds after the last operation in the menu.
STANDBY Mode
Backlight
The backlight of the display and buttons may be adjusted to 10 levels (10 = brightest). The setting is stored when the system is turned off. Adjustment is local to the control unit you adjust or synchronized with other units
in the Simrad Group (page 131).
NAV source
Select the source for NAV mode steering e.g. CP34.
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Note !
Operation
NAV WIND
This setup will configure the active mode under the NAV WIND button. The following alternatives are available:
• WIND Auto
Wind steering will be disabled when ‘NAV’ or ‘NoDrift’ is selected.
Wind steering is only available if ‘Boat type’ is set to ‘Sail’ in the Installation/Dockside menu (see Dockside settings, page
If ‘NAV WIND’ is set to ‘WIND Auto’, wind steering will be enabled. Pressing the NAV WIND button will then initiate the WIND-mode. The autopilot will automatically select between apparent and true wind steering.
True wind steering is used when running. When the boat is running, it will also be surfing on the waves. This may lead to significant changes in boat speed, hence changes in apparent wind angle. Steering to apparent wind is therefore used only when beating or reaching.
Wind, RACING parameters
If ‘Wind setup’ is set to ‘RACING’ in the Installation/Dockside
menu (see page 106), more settings are available as ‘Wind’
parameters:
• WIND Apparent
• WIND True
• WIND Auto
Default: WIND Auto
See also Quick Setup on page 59
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Simrad AP25 Autopilot
The ‘Nav/Wind’ parameter can be set in the User Setup or in the
Quick setup. Quick setup is activated after by quick double press on the NAV WIND button.
‘WIND Apparent’ is selected when you only want to steer to apparent wind. Apparent wind steering is preferred when you want to achieve maximum boat speed. The autopilot will try to maintain a constant apparent wind angle to get maximum thrust from a given trim of the sails.
‘WIND True’ is selected when you only want to steer to true wind. When sailing in closed waters, the apparent wind angle may change temporarily due to wind gusts. It may then be preferred to sail to the true wind.
Thruster
(only available if a thruster is connected as displayed by the thruster icon).
By this parameter the thruster is turned on and off. When the thruster is turned on, both thruster and rudder are used for steering. If the boat speed exceeds 6 knots, the thruster steering is automatically disabled.
Reset trip
The trip log is reset by rotating the course knob.
User setup 2
This is a second set of user settings that normally not need to be changed during day to day use. To activate User setup 2, turn the course knob clockwise.
Source Select
Provides you with automatic or manual selection of interfaced data sources for heading (Compass), Navigation, Position, Wind
Angle, Calculated Wind, Water speed, Water temperature,
Distance log and Depth.
Wind-C (calculated) is a common term for true wind and wind direction.
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Note !
Notes !
Operation
SimNet will automatically select Position source and Navigation source from the same GPS/Chart plotter. If you want them to be different you have to change them manually.
Auto source update
Is used for automatically update of sources if the interfaced units have been removed/added or switched on/off.
Select Auto source update by rotating the course knob. Make sure all interfaced units are powered on
The autopilot will search for new connected sources, and replace sources no longer available.
“SEARCHING” is flashing as long as the autopilot is searching. When the automatic update is finished, the display will read “DONE”.
Press the mode button to leave the User setup.
Manual source select
Step through the list of sources using the PORT or STBD button. Select wanted source by rotating the course knob.
– – indicates that no source supplying the data is available.
1. Simrad products will be identified by the product name provided the data is available on SimNet. If data is provided via an NMEA0183 port on the autopilot computer, the display will read NMEA-1 or NMEA-2.
NMEA2000 products will have a special ID.
2. See note on page
3. In the event the SimNet is not powered on, sources supplying data to SimNet are not on or malfunctioning, or there is no SimNet installed, it is possible to use any control unit in the system to select NMEA sources. The source select displays are then available on all control units.
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Simrad AP25 Autopilot
Note !
Compass
Select the compass to be used if more than one compass is connected.
Note! Compass can only be selected in STBY mode
Navigation
Select a source for NAV mode steering.
Position
Select the source for position data and NoDrift mode.
Wind Apparent
Select the source for Apparent wind.
Wind Calculated
Select the source for Calculated Wind data for the
Simrad group. The autopilot uses internal source irrespective of the selected source.
Water Speed
Select the source for water speed (normally the same as the source providing Log data).
Water temperature
Select the source for water temperature (normally the same as the source providing depth data).
DisLog
Select the Log source.
Depth
Select the source for depth data.
Depth source information
Set shallow water
Use the course knob to set the shallow water alarm limit.
Range: 0-100,0 m (0-328 ft.)
The setting of the alarm is local. In a multistation system, however, the setting representing the shallowest water limit will activate the alarm even if this setting is on an
“inactive” unit.
The shallow water alarm is activated only when digits are dialled in.
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Note !
Operation
Course Adjust
When using the (PORT) or (STBD) buttons in AUTO mode, you are changing the set course in 1° increments. If you prefer the increments to be 10° each press (does not apply for sailboats), proceed as follows:
Select Course adjust and turn the course knob to change the setting. The default value is 1°, which is the preferred setting.
Select 10° if you want to make major course changes in 10° increments with the buttons and fine-tune the set course with the course knob.
Turn Pattern Select
Only available for power boats (planing, displacement or outboard)
Select the pattern(s) to be available under the
TURN/DODGE button. U-turn is always available.
Step through the list of patterns using the PORT or
STBD button. Select the wanted pattern by rotating the course knob to fill the squares.
Available patterns are: U-turn, C-turn, Spiral,
Zigzag, Square, Lazy S, Depth (contour).
Instrument Select
Select the instrument pages(s) to be available under the INFO/SETUP button. Step through the list of instruments pages by using the PORT or STBD button. Select the wanted pages by rotating the course knob to fill the squares.
Contrast
The contrast of the display may be adjusted to 10 levels (10 = highest contrast). The setting is stored when the system is turned off.
Adjustment is local to the control unit you adjust. At high temperatures, not all levels are available due to automatic temperature compensation.
Press the STBY button to leave the User setup.
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Simrad AP25 Autopilot
AUTO Mode
Settings that are added for the AUTO and WIND modes are shown below. Other relevant settings are described under
STANDBY mode in this chapter.
Response
The Autotune function in the AP25 is so refined that 80-85 % of the boats will need no further adjustments of the steering parameters. On some boats, however, or at particular sea conditions a fine tuning of the steering parameters may improve the performance of the autopilot.
The Response control allows you to make this fine tuning. It can be set to seven levels. Level 3 (default) has the values of Rudder and Counter Rudder parameters set by the Autotune function. If no
Autotune is made (not recommended) the level 3 values are the factory default values.
A low response level reduces the rudder activity and provides a more “loose” steering.
A high response level increases the rudder activity and provides a more “tight” steering.
A too high response level will make the boat start S-ing.
Range: 1 – 7
Default: 3
Racing parameters, see page 51
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Operation
Thruster sens
(only available if a thruster is connected).
The Thruster sensitivity determines how many degrees the vessel will deviate from the set course before a thruster command is given. As the vessel deviates from its heading, the thruster will push the vessel back on. A higher value will reduce the thruster activity.
If the thruster commands are hunting from side to side, the set value for Thruster sens may be too low.
Range: 3° to 30° in 1° increments.
Default: 5°.
Seastate filter
OFF: Seastate filter is disabled.
AUTO: Automatically reduces rudder activity and autopilot sensitivity in rough weather by an adaptive process (default).
MANUAL: Manual yaw band adjust (1-10, 10 ≈ ±6°).
The manual setting determines the number of degrees the vessel may deviate from the set course before any command is given to the rudder. The AUTO setting is recommended. The MANUAL settings may be used to find the optimum combination of course keeping and low rudder activity in rough but steady sea conditions.
Reset trip
Same procedure as in STANDBY mode
User setup 2
Refer to User setup 2 for STANDBY mode, page 52.
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Simrad AP25 Autopilot
NAV Mode
The User setup for NAV mode is similar to the User setup for AUTO mode. It does not include the
Nav/Wind and the Source select items.
The User setup 2 contains the Set shallow water alarm and the Contrast setting. Refer to User Set-up for STANDBY mode.
Note !
WIND Mode
The User setup menu for WIND mode is the same as for NAV mode. In addition you have:
Wind response
If the difference between the set wind angle and the actual wind angle is too big, the ‘Wind response’ can be increased to reduce the deviation.
First make sure that the course keeping is acceptable, i.e. the difference between the Course To Steer (CTS) and the actual heading is at a minimum.
If the actual wind angle is S-ing around the set wind angle or the rudder activity is too high, the ‘Wind response’ should be reduced.
Range: 1 – 7
Default: 3
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Operation
WIND Auto
This line will only appear if the autopilot has been set up for
racing in the installation menu (page 106). See page 51 for
information about the RACING parameters.
User setup2
The User setup 2 contains the Set shallow water alarm and the Contrast setting. Refer to User setup 2 for STANDBY mode.
2.25 Quick Setup
Quick Setup gives easy access to the racing parameters provided the Wind setup has been set to
RACING in the Installation/Dockside menu (see
The Quick setup menu is activated by a quick double press on the NAV/WIND button.
Step through the menu by using the PORT or STBD button. Select by rotating the course knob. A filled square = On.
VMG optimizing (RACING)
The VMG (to wind) parameter can only be enabled or disabled when ‘Wind setup’ is set to ‘RACING’. It is disabled in the
‘NORMAL’ sub-mode.
When enabled, the VMG optimizing will be active for 5 – 10 minutes after a new wind angle has been set. It will only be activated when beating.
‘VMG’ will be displayed in the upper left corner under the mode index when the VMG optimizing feature is active.
Range: Enabled/Disabled
Default: Disabled
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Simrad AP25 Autopilot
Layline steering (RACING)
‘Layline steering’ can only be enabled or disabled when ‘Wind setup’ is set to ‘RACING’. It is enabled in the ‘NORMAL’ submode.
Layline steering is useful when navigating. It will use the Cross
Track Error (XTE) from the navigator to keep the boat on the track line. If the XTE from the navigator exceeds 0.15 nm, the autopilot will calculate its own layline towards the waypoint and follow that. Layline steering is not active when turning, tacking or gybing.
‘XTE’ will be displayed in the upper left corner under the mode index when layline steering is active.
Range: Enabled/Disabled
Default: Enabled
2.26 INFO menu
A number of instrument pages are available under each mode screen if the required NMEA 0183 sentences are provided (see
paragraph 8.1) or the information is available on SimNet (page
131). The INFO menu is accessed by a single press on the
INFO/SETUP button.
Left hand side of the screen will show the following information depending on mode:
Standby mode
Heading
Heading source
Auto mode
Set course
Heading
Heading source
HI parameters, set automatically
Nav/NoDrift mode
Course to steer.
Cross Track error (XTE)
LO parameters set manually
Wind mode
Set true wind angle
Actual wind angle
LO parameters.
Wind
N
mode
Set true wind angle
Actual wind angle
LO parameters.
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Operation
Step or scroll through the available instrument screens by pressing the PORT or STBD button or using the course knob.
The right hand side of the display will show the following instrument screens:
If you prefer not to have all the instrument pages available in the
INFO menu, you may remove pages under the User setup 2
Return to last instrument screen by a simple press on the INFO button.
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Simrad AP25 Autopilot
Note !
Course knob icon
Initially when the INFO menu is accessed an icon will replace the mode index to tell that no course changes or other course related settings can be made unless you press a mode key. The icon will time out after 3-5 seconds and be replaced by the mode index.
Whenever the INFO menu is active and the mode index is present, operating the PORT and STBD button or the course knob will immediately make the main display reappear.
INFO menu flowchart
62
3-5 sec.
time-out
11
12
9
10
8
7
6
1
5
2
3
4
Toggle
11
12
9
10
8
7
6
1
5
2
4
3
3-5 sec.
time-out
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INFO menu and Main Screen, active unit
INFO-menu
Main screen
11
10
9
8
7
12
6
1
5
2
4
3
3-5 sec. time out
INFO menu and Main Screen, inactive or locked unit
Previous INFO page
Next INFO page
Last shown INFO page
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Simrad AP25 Autopilot
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Installation
3 INSTALLATION
3.1 General
This section provides detailed information required to successfully installing AP25 Autopilot system.
The AP25 system includes several modules that need to be mounted in different locations on the boat, and also need to interface with at least three different systems on the boat:
• The boat's steering system
• The boats electrical system (input power)
• Other equipment on board
In addition, the advanced capabilities of the AP25 require the installer to perform a series of settings and tests to verify proper operation of the system, refer to the check list below.
3.2 Installation checklist
1. Determine the system configuration you are installing
2. Perform the hardware installation (Page 67)
3. Connect SimNet devices to SimNet (page 83)
4. Connect NMEA2000 devices (page 86)
5. Connect NMEA 0183 devices (inputs and outputs, page 89)
6. Perform Set-up (Section 4, page 95)
7. Perform dockside autopilot tests (refer to Operating
a) Test all stations (if applicable) - lock/unlock - active/ inactive b) Test Non-Follow Up mode c) Test Follow-Up mode d) Test AUTO mode e) Test NAV mode and input interfaces f) Test WIND and WIND
N interfaces
modes (if sailboat) and input g) Test interface outputs to external equipment (if connected)
8. Perform sea trial settings (Page 114)
a) Rudder zero
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Simrad AP25 Autopilot b) Compass calibration c) Compass Offset adjustment d) Automatic tuning e) Viewing parameters
9. Test Autopilot Operation at Sea (refer to Sea Trial
10. Provide the user with training (Page 133)
3.3 Unpacking and handling
Care should be taken when unpacking and handling the equipment. A visual inspection should be made to see that the equipment has not been damaged during shipment and that all components and parts are present according to the packing list.
A standard AP25 autopilot system will include:
• Control unit with standard installation accessories and one
15 m (49') Robnet2 cable.
• Autopilot computer (AC10, AC20 or AC40).
• RC36 Rate Compass with 15 m (49') cable attached.
• RF300 Feedback unit with 10 m (33') cable attached and transmission rod.
• Appropriate drive unit for the installation (unless the AP25 is going to operate an existing drive unit or solenoids).
• Optional equipment that may have been ordered for the installation.
3.4 Determine system configuration
It is important to become familiar with the configuration of the system prior to beginning the installation. The AP25 system
layout with options is shown in Figure 3-1
Pay particular attention to the autopilot computer/drive unit
combinations on page 72 and the chart on page 11.
As many of the units are communicating on a common network
(Robnet2), with identical connectors, the installation is simplified. Try to mount the units within the standard cable length supplied with each unit, if possible. Robnet2 Extension
Cable (10m) is available from your distributor.
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Installation
Notes!
1. On boats powered by outboards or stern drives it may be
difficult to install a rudder feedback unit (chapter 3.6 and
3.27). Use of the Virtual feedback algorithms in the software
may then be preferred as this requires no installation of a
rudder feedback unit (page 109). The Virtual Feedback can
be used on boats up to 40 ft.
2. In order to benefit from the virtual feedback technology your autopilot system must be using a Simrad rate compass for heading information.
3.5 AP25 System Layout
STBY
PWR
AUTO
SPEED
NAV
SETUP
INSTR
MENU TURN
STBY
PWR
AUTO
SPEED
NAV
SETUP
INSTR
MENU TURN
STBY AUTO
SIMRAD R3000X
STBY
PWR
NAV
SETUP
AUTO
SPEED
TURN
Figure 3-1 AP25 system layout with options
3.6 RF300 Rudder feedback installation
The RF300 Rudder feedback unit mounts close to the rudder, and is mechanically linked to the rudder tiller arm or rudder quadrant.
Refer to Figure 3-2 for the recommended mounting arrangement.
Note that the RF300 transmitter arm has two slots for the
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Simrad AP25 Autopilot
Note !
Note ! transmission link. The slots enable maximum flexibility to provide the 1:1 mechanical linkage relationship.
Do not try to remove the transmitter arm from the feedback unit.
The unit is factory adjusted and need no further adjustment at installation than described below.
As a starting point, it is desirable to set the transmitter rod to the
inner limit of the outer slot if possible. (Refer to Figure 3-2).
Drill and tap the rudder tiller arm so that the Y1 dimension is equal to the Y2 dimension (Use 4.2 mm drill and 5 mm tap).
Attach the ball joint to the tiller arm, and connect the transmitter rod to the ball joint at the rudder tiller arm.
Turn the helm wheel to set the rudder tiller arm to approximate centre position.
Rotate the RF300 transmitter lever until it is set to centre position. (Use the alignment mark to line up the transmitter lever to be opposite the cable entry into the feedback.).
Carefully observe the alignment marks. A rudder feedback alarm
may be the result if the alignment instructions as per Figure 3-2
are neglected.
Attach the transmitter rod to the RF300. Set the RF300 mounting
location to be in accordance with Figure 3-2. The centre of the
RF300 should be in line with the centre of the rudder post.
Mount the RF300 to a suitable platform using the screws provided. If necessary, add blocking material under the RF300 to adjust the height of the transmission arm to be level with the rudder tiller arm.
68
Figure 3-2 RF300 mounting (019356)
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Note !
Installation
Due to space limitations, it may be necessary to cut the length of the transmitter rod to move the RF300 closer to the rudder post.
Tighten the mounting screws for both the RF300 feedback unit and the transmitter rod ball joint.
Observe the RF300 while someone turns the helm wheel through the complete travel from full port to full stbd. rudder to verify that the mechanical linkage to the RF300 is not obstructed.
AUTOPILOT COMPUTER
MAIN PCB
*
Rudder
Feedb.
* NON POLARIZED
(COLOR INDEPENDENT)
Figure 3-3 RF300 connection
3.7 Autopilot computer installation
Note !
The autopilot computer is designed to operate in a location that provides ambient temperatures below +55°C (+130°F).
The autopilot computer units (AC10, AC20 and
AC40) are not weatherproof and should be mounted vertically as shown in a dry place between the control unit and the drive unit.
Figure 3-4 Autopilot computer mounting
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Simrad AP25 Autopilot
3.8 Cable connections
Use only shielded cables. This includes Mains input, drive units and if necessary for the extension of the RF300 Rudder
Feedback cable. The clutch/bypass cable and the solenoid cable should be 1,5 mm 2 (AWG14). Signal cables should be 0.5 mm 2
(AWG20) twisted pairs.
The mains supply cable and the drive unit motor cable should have sufficient wire gauge. This will minimize voltage drop and allow the drive unit to operate at full power.
Refer to the table below for recommended cable sizes.
Cable length
1. Breaker panel to autopilot computer.
2. Autopilot computer to Drive Unit motor
(Length refers to each of the two cables)
Up to 3 m (10 ft.)
Up to 6 m (20 ft.)
Up to 10 m (32 ft.)
Up to 16 m (52 ft.)
Drive Unit Voltage
12 V 24 V
AWG mm 2 AWG mm 2
12 2,5 12 2,5
10
8
6
4
6
10
10
10
8
2,5
4
6
3.9 Grounding and RFI
The autopilot system has excellent RFI protection and all units use the autopilot computer as a common ground/shield connection. The autopilot computer should therefore have a proper ground connection to the hull/bonding system.
Robnet2 cables and other signal cables (compass, feedback,
NMEA) should not be run in parallel with other cables carrying
RF or high current, such as VHF and SSB transmitters, battery chargers/ generators, winches and thrusters.
Remove the bottom cover to get access to the plug-in terminals.
Strip about 1 cm (0.4") of the cable's insulation and pull the screen backwards to cover the insulation. Position the straps as shown and tighten well to make sure the screen has good contact.
Provide sufficient wire length so that the plug-in terminals can be easily connected/disconnected.
Pull out each terminal before connecting the wires. Remove all strands before putting on the terminal cover.
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Note!
The Mains input is not polarity protected on
AC40.
Installation
Ground terminal
Power Board terminals
TB8, TB9 and TB10 are not on the AC10 Power Board
Main Board terminals
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Simrad AP25 Autopilot
3.10 Drive unit installation
The relations between drive units, drive unit voltage, autopilot computer, drive performance and interface to the steering gear are shown in the tables below.
Refer to the connecting diagram for the different drive units on
Installation instruction for the drive units are found in the manual for the individual units.
The maximum drive current capability of the AC10, AC20 and
AC40 autopilot computers are different. Use the table below as reference and observe the notes on next page.
HYDRAULIC PUMPS
MODEL MOTOR
VOLTS
CAPACITY
AUTOPILOT
COMPUTER
MIN cm 3
(cu. in.)
MAX cm 3
(cu. in.)
FLOW RATE
AT 10 bar cm 3 /min
(cu. in/min)
250
(15,2)
800 (49)
1600 (98) RPU160 12V AC20 160 550
(33,5)
RPU300 12V AC40 290
(17,7)
960
(58,5)
RPU300 24V AC20 290
(17,7)
960
(58,5)
3000 (183)
3000 (183)
MAX
PRESSURE bar
50
60
60
60
PWR.
CONSUM-
PTION
2,5-6 A
3-10 A
5-25 A
2,5-12 A
Steering gear interface: Hydraulic plumbing
Notes !
1. The AP25 system detects whether a reversible motor or a solenoid is connected and outputs the correct drive signal automatically.
2. The drive output of AC10 is sufficient for any type of 12 and
24V solenoids normally found on a recreational boat.
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Installation
VOLTS PILOT
COM-
PUTER
MAX
STROKE mm (in.)
LINEAR DRIVE UNITS
PEAK
THRUST kg (lb.)
MAX
RUDDER
TORQUE
Nm
(lb.in.)
(440)
490
(4350)
350 610
(770) (5400)
HARD-
OVER
TIME sec.
(30% load)
19
(1100)
(2310)
1800
(15900)
(2310)
60
(132)
3180
(28000)
PWR.
CON-
SUMP.
3-10 A
TILLER
ARM mm
(in.)
(10,4)
(6,9)
298
(11,7)
(6,9)
(11,7)
Steering gear interface: Connects to quadrant or tiller.
* For stern drive power assisted steering only.
1. The motor voltage is stepped down by the autopilot computer when operating from 24V or 32V mains.
2. The specified autopilot computer is necessary to achieve max drive unit capacity.
3. Recommended operational thrust or torque is 70% of listed peak value.
4. Typical average power consumption is 40% of listed maximum value.
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Simrad AP25 Autopilot
RPU100 (1,0l)
RPU150 (1,5l)
RPU200 (2,0l)
(Reversible hydraulic pump)
RPU1 (1,4/2,0l)
RPU3 (3,8/5,0l) computer
AC20
AC20
AC20
PREVIOUS MODELS DRIVE OF UNITS voltage
12V
12V
24V
Input voltage
(Mains)
Drive output Interface to steering gear
12,24,32V Proportional rate
Hydraulic plumbing
AC10
AC10
12V, 24V
24V, 24V valves, on/off plumbing
MRD100
(Reversible mechanical drive)
MRD150
(USA only)
Note !
AC40
AC20
12V
24V
32V
12,24,32V
24,32V
32V
12V to clutch
24V to clutch
Proportional rate to motor
12V to clutch
32V to clutch
Proportional rate to motor
Chain/ sprockets
Chain/ sprocket
When selecting DRIVE UNIT voltage in the Installation setup, the clutch/bypass voltage is always set equal to the motor voltage. If a retrofit installation where e.g. a HLD2000 has a
12V motor and a 24V bypass valve, the bypass valve solenoid has to be changed back to standard 12V version.
Connecting a reversible pump
AUTOPILOT COMPUTER
POWER PCB
TB1 TB2 TB3 TB4 TB5
TB6
Simrad reversible pump
Figure 3-5 Connecting a reversible pump
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Installation
Connecting a hydraulic linear drive
HYDRAULIC
LINEAR DRIVE
AUTOPILOT COMPUTER
POWER PCB
TB1 TB2 TB3 TB4 TB5
TB6 TB7
Drive
Engage
Single pole clutch/bypass switch
Figure 3-6 Connecting a hydraulic linear drive
Connecting a solenoid valve
SOLENOID
VALVE
AUTOPILOT COMPUTER
POWER PCB
TB1 TB2 TB3 TB4 TB5
TB6 TB7
Sol.
Sol. gnd Sol.
Figure 3-7 Connecting a solenoid valve
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Simrad AP25 Autopilot
3.11 Control unit installation
Avoid mounting the control unit(s) where it is easily exposed to sunlight, as this will shorten the lifetime of the display. If this is not possible, make sure the units are always covered with the white protection cover when not used.
Caution ! Do not install the control unit where moisture at the rear can be present. It could cause damage by entering the breathing hole or by coming into contact with the electrical connectors.
Panel mounting
The mounting surface must be flat and even to within 0.5 mm.
• Drill the 4 mounting holes and make a panel cut-out according to supplied template.
• Use the supplied gasket (P.N. 22084693) between the panel and the unit.
• Use the supplied 19 mm screws to fasten the control unit to the panel.
• Apply the front panel corners.
• Connect the Robnet2 cable(s) to the control unit connector(s).
Alternative panel mounting
This way of mounting may be simpler, but will lift the unit from the panel surface. When installed adjacent to Simrad equipment there will be a 5,5 mm (0,22”) difference in height between the autopilot and the other equipment.
• Use the template and drill hole(s) only for the connectors.
• Place the thick gasket (P.N. 22086029) between panel and unit, correctly orientated (see marking on gasket).
• Follow above panel mounting instructions but use the supplied 32 mm screws to fasten the control unit to the panel
Do not over-tighten the mounting screws!
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Optional bracket mounting
• Locate the cradle on the mounting site and mark the 4 holes for the fixing screws on the mounting surface.
• Drill the 4 mounting holes and screw the cradle to the mounting surface.
• Use the supplied screws to fasten the control unit to the left and right brackets.
• Apply the front panel corners.
• Use the two locking knobs to assemble the cradle with the left and right brackets and adjust the control head to best viewing angle.
• Connect the Robnet2 cable(s) to the control unit connector(s)
Figure 3-8 AP25 Bracket mounting
3.12 ROBNET2 network cables
As Robnet2 units have two Robnet2 connectors (blue) they can be used as "jack points" for further expansion of the system.
There are no dedicated "in" or "out" connectors. You may connect the cables to any available Robnet2 connector (blue) on the specific unit. The Robnet2 connectors have a locking mechanism for extra safety.
Caution ! Do not mix the blue Robnet2 cables with the yellow SimNet cables.
The 15 m cable to the autopilot computer has a connector only at the control unit end. Robnet2 cables with 5 pin male connector at
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Simrad AP25 Autopilot both ends are available in 1, 5 and 10 m length. For cable extension a Robnet2 T-Joiner is required.
When installing a system, try to minimize total Robnet2 cable length by connecting all Robnet2 units to the nearest available
Robnet2 connector.
Total length of Robnet2 cable installed in a system should not exceed 50 m (165').
Examples of interconnecting Robnet2 units:
AUTOPILOT
COMPUTER
CONTROL
UNIT
CONTROL
UNIT
AP27
CONTROL
UNIT
COMPASS
JP27
Figure 3-9 Interconnecting Robnet2 units
A Robnet2 T-joiner P/N 24005662 is available to make the
Robnet2 interconnection more simple by reducing the number of cables or extend cables when necessary.
See table for pin configuration and colour code of the network cable.
Cable pairs Color code Signal
1. pair
2. pair
Brown Bus–
White Bus+
Yellow On - Off
Note !
78
Figure 3-10 Robnet2 Connector
The connectors are weather proof according to IP65, when properly installed. All connectors not in use must be fitted with the plastic cap to protect them against dirt and moisture.
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Installation
AP25
CONTROL UNIT
REAR VIEW
AUTOPILOT COMPUTER
MAIN PCB
TB15
Note !
J1 J3
J2 J4
Bn Wh Pnk Gry Yel
ROBNET
Connect to any of the two
Robnet2 connectors
Figure 3-11 Control unit connection
J1 and J2 (top) are Robnet2 connectors. J3 and J4 are SimNet connectors.
AP27 connection
If a Simrad AP27 is part of the system, use the JP27 Jack Point
and connect as shown on Figure 3-9. Alternatively cut the
connector from the cable and connect the wires in parallel with
the cable shown on Figure 3-11 using the same color code.
The AP27 cable contains an air-breathing tube. Check that the tube is open after you have cut the cable.
3.13 RC36 Rate Compass installation
Figure 3-12
RC36 mounting
The heading sensor is the most important part of the AP25 system and great care should be taken when deciding the
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Simrad AP25 Autopilot
Note !
Note ! mounting location. As the heading is displayed on the AP25
Control Unit, the heading sensor can be mounted at a remote location.
The RC36 rate compass also contains a magnetic heading sensor, so particular attention must be paid to the location. It can be mounted on deck or bulkhead, athwartship or alongship and has a 15 m (99’) cable with a Robnet2 connector. The heading offset feature in the AP25 will compensate for the mechanical offsets that may be a result of the selected location and orientation of the
RC36.
If the RC36 is deck or bulkhead mounted athwartship with the cable gland pointing aft, little if any offset correction is required.
With the cable gland pointing forward a 180° correction is required.
When mounting RC36 on a bulkhead alongship, a +90° or –90° correction is needed dependent on whether it is port or starboard bulkhead.
Offset correction is performed after the calibration (see
Find a location that provides a solid mounting place free from vibration, and as close to the vessel's centre of roll and pitch as possible, i.e. close to the water line. It should be as far as possible from disturbing magnetic influences such as the engines
(min. 2 meters), engine ignition cables, other large metal objects and particularly the drive unit. On steel hull boats it should be mounted 0,75-1 m above the wheel house on a non magnetic stand.
Use the supplied mounting kit and drill the holes through the centre of the slots in the sensor or the mounting brackets.
The compass face plate on the RC36 is the TOP. Never mount it upside down! Level the sensor as close to horizontal as possible.
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RATE
COMPASS
AP16, AP25, AP26
Figure 3-13 RC36 connection to autopilot control unit
Plug the RC36 into a Robnet2 connector (see Figure 3-9) or cut
the connector from the cable and connect the wires in parallel
with the cable shown in Figure 3-11.
3.14 RFC35 Fluxgate Compass installation
(Optional back-up compass)
The RFC35 Fluxgate Compass is a magnetic sensor, which means you have to take the same precautions at installation as for the standard RC36 (see previous page).
• Connect the RFC35 to the autopilot computer as per Figure
RFC35
FLUXGATE
COMPASS
AUTOPILOT COMPUTER
MAIN PCB
*
Heading
Sensor
* NON POLARIZED
(COLOR INDEPENDENT)
Figure 3-14 RFC35 connection
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3.15 R3000X Remote Control installation
R3000X should be mounted in the supplied bracket that can be fixed by four mounting screws. The unit is weather proof and can be mounted outdoor.
R3000X
REMOTE CONTROL
AUTOPILOT COMPUTER
POWER PCB
T B 1 T B 2 TB3 TB4 TB5
TB6 TB7 T B 8
Yel Gn Red Blu
R E M O T E
Figure 3-15 R3000X connection
3.16 JS10 Joystick
Refer to separate installation instructions supplied with the JS10
Joystick.
3.17 S35 NFU Lever installation
The unit is mounted to a bulkhead or panel by two screws from the front. The cable is connected to the autopilot computer
according to Figure 3-16. Interchange the Port and Stbd wires to
the screw terminals if necessary to make the direction of the lever movement coincide with the direction of the rudder movement.
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S35
STEERING LEVER
AUTOPILOT COMPUTER
POW ER PCB
TB1 TB2 TB3 TB4 TB5
TB7
REMOTE
TB6
NO T E!
Dis r egar d t h e co lor c ode on t he t er mi nal lab el.
Figure 3-16 S35 connection
The unit is opened by removing the three screws on the back cover. Inside are two sets of micro-switches, a printed circuit board with a plug-in terminal and a jumper strap.
3.18 Interfacing
With the AP25 autopilot system there are several possibilities to connect to other equipment for data collection and exchange.
1. Use SimNet
2. Use SimNet via AT10 Universal SimNet/NMEA Converter
3. Connect to a NMEA2000 network via the adapter (drop) cable, part no. 24005729.
4. The AC10 has a single NMEA0183 input/output port.
5. The AC20 and AC40 have two NMEA0183 input/output ports and Clock Data interface to Simrad and Furuno radars.
The NMEA0183 output may also drive Simrad IS15 instruments directly.
The different connecting diagrams on the following pages illustrate the interface possibilities of the AP25 autopilot.
3.19 SimNet
The SimNet cable system with very small plugs in both ends makes it easy to run the cables, only 10 mm (3/8”) holes are required through panels and bulkheads. The SimNet accessory program contains the necessary items to complete a successful installation.
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Simrad AP25 Autopilot
SimNet network cables
A SimNet unit has one or two yellow SimNet connectors. There are no dedicated “in” or “out” connectors. Find the shortest and easiest way to route the SimNet cables from product to product and select the standard length cables from the SimNet accessory program. SimNet cables are available in 0.3 m (1 ft.), 2 m (6.6 ft.), 5 m (16.6 ft.) and 10 m (33 ft.) length all with plugs at both ends. Connect products with two SimNet connectors in a daisy chain and use drop cable and T-joiner for products with only one
SimNet connector.
The SimNet power cable has a red connector with built in terminator.
If you plan to extend your SimNet system in the future it may be an idea to prepare for it by adding a few T-joiners in central locations. The T-joiners provides easy access to the network and can be replaced with a new product, or the new product can be connected via a drop cable.
SimNet power and termination
The following rules should be observed when installing SimNet.
1. It must have a separate 12VDC power from the battery bus or the circuit breaker board to avoid interference
2. It must not be connected to the supply voltage terminals of the Autopilot Computer (introduces interference).
3. It will power an IS12 instrument system. Hence SimNet on other equipment can be connected and powered via IS12.
4. It must be properly terminated.
The SimNet network has to be terminated according to the number and type of products connected.
In a small system consisting of maximum 5 SimNet products and a total length of 5 m SimNet cable you only need the SimNet power cable with built in termination (red disc on cable plug).
On larger systems you will also need a termination at the other end of the chain.
For additional information about SimNet ask for the separate
SimNet Manual.
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COMBI
LIGHT
SIM RAD IS12
COM BI
LIGHT
SIMRAD IS12
DATA
SIM RAD IS12
LIGHT PAGE
UPPER
INFO
LOWER
INFO
STBY
PWR
AUTO
INFO
SETUP
NAV
WIND
10 10
1
TURN
DODGE
1
Figure 3-17 SimNet network, small system
COMBI COMBI DATA
SIMRAD IS12
LIGHT ALARM
TIM ER
UPPER
INFO
LOWER
INFO
SIM RAD IS1 2
LIGHT ALARM
TIM ER
UPPER
INFO
LOWER
INFO
SIMRAD IS12
LIGHT PAGE
UPPER
INFO
LOWER
INFO
STBY
PWR
INFO
SETUP
AUTO
NAV
WIND
10
10
1
TURN
DODGE
1
Figure 3-18 SimNet network, small system with Wind transducer
The wind transducer (*) has a built in terminator.
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Simrad AP25 Autopilot
COM BI
SIM RAD IS1 2
LIGHT
ALARM
TIMER
UPPER
INFO
LOWER
INFO
COM BI
SIM RAD IS12
LIGHT
ALARM
TIM ER
UPPER
INFO
LOWER
INFO
COM BI
SIM RAD IS1 2
LIGHT
ALARM
TIMER
UPPER
INFO
LOWER
INFO
DATA
SIM RAD IS12
LIGHT PAGE
UPPER
INFO
LOWER
INFO
Notes !
STBY
PWR
AUTO
NAV
WIND
Figure 3-19 SimNet network, medium system
1. Maximum total length of SimNet cable is 40 m (130 ft.) excluding the 30 m (99 ft.) of masthead cable.
2. The wind transducer (*) has a built in terminator
3. If there is no wind transducer connected, a SimNet terminator must be connected instead.
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STBY
PWR
INFO
SETUP
AUTO
NAV
WIND
1
10
10
1
COM BI
SIM RAD IS12
LIGHT ALARM
TIM ER
UPPER
INFO
LOWER
INFO
COM BI
SIM RAD IS12
LIGHT ALARM
TIM ER
UPPER
INFO
LOWER
INFO
DATA
SIMRAD IS12
LIGHT PAGE UPPER
INFO
LOWER
INFO
Installation
Figure 3-20 Robnet2 and SimNet network
* The wind transducer has a built in terminator
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Simrad AP25 Autopilot
Notes !
Figure 3-21 Robnet2, SimNet and Roblink network
1. Maximum total length of SimNet cable is 60 m (196 ft.) excluding the 30 m (99 ft.) of masthead cable.
2. It is not necessary to connect all autopilot control units to
SimNet for data sharing. However, if you want to have full redundancy and SimNet control, e.g. select sources, you have to connect the actual unit to SimNet.
3. AT15 is a NMEA0183/SimNet converter for the IS15
Instrument system. IS15 makes no load on SimNet.
4. AT44 is a SimNet interface that is supplied with CX44 and
CX54 products.
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3.20 Single NMEA input/output
NAV RECEIVER
OR PLOTTER
(NMEA talker)
AUTOPILOT COMPUTER
MAIN PCB
TB13 TB14
Caution !
NMEA listener
NMEA
Output1
NMEA
Input 1
Note
IS15 RUDDER
IS15 COMPASS
RADAR
Figure 3-22 Single NMEA connection
If an IS15 Instrument is powered from TB14 Vbat+ and Gnd, please observe that Vbat output voltage will follow mains supply voltage. IS15 Compass can only operate on 12V.
3.21 Double NMEA input/output
GPS or
CHARTPLOTTER
TB8
AC20/AC40 AUTOPILOT COMPUTER
POWER PCB MAIN PCB
TB9 TB10 TB13 TB14
GPS or
CHARTPLOTTER
NMEA
Input2
NMEA
Output2
NMEA
Output1
NMEA
Input 1
Figure 3-23 Double NMEA connection
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3.22 NMEA output on Port 2
Output signal
Continuous output of compass heading at 10 Hz (10x/sec.)
Rudder angle output at 5 Hz
NMEA format
Output terminal
Autopilot Computer Power
PCB.
NMEA2, TX2+, TX2–.
Output sentence
HDT (True) or HDG (Magn.) depending on heading source.
RSA Rudder angle
3.23 NMEA Compass input
AC20/AC40 AUTOPILOT COMPUTER
POWER PCB
TB8 TB9 TB10
NMEA
COMPASS
NMEA
Input2
Notes !
Figure 3-24 NMEA compass connection:
1. The compass connected to the NMEA port (RX2) will not be calibrated from the autopilot.
2. The AC10 Autopilot Computer has no port for NMEA compass input. Use the AT10 Universal Converter (P/N
24005936) according to the drawing below.
AUTOPILOT
CONTROL UNIT
AT10
CONVERTER
NMEA
COMPASS
12V SimNet supply
SimNet
White (Rx+)
Brown (Rx-)
Tx+
Tx-
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3.24 Radar Clock/Data
SIMRAD/
ANRITSU
OR
FURUNO
RADAR
AC20/AC40 AUTOPILOT COMPUTER
P O W E R P C B
T B 8 T B 9 T B 1 0
R ad ar
Figure 3-25 Radar Clock/Data connection
3.25 IS15 Instrument installation
For installation and operation of the IS15 instruments refer to separate manuals. There are two options for interfacing the IS15,
SimNet (see page 83) and NMEA0183. The SimNet interface is
recommended and you need the dedicated AT15 Active Tee as
an interface item (page 88, 146).
NMEA In
This connection will provide speed, depth and temperature input to the autopilot. If an IS15 Wind Transducer is connected to the system, wind information will also be transferred to the autopilot.
The connection is made by a Roblink cable from the instrument
NMEA socket (4) to the Autopilot Computer Main Board,
Terminal RX1+ and RX1-. See Figure 3-26.
NMEA Out
This will provide the instrument system with heading data.
The connection is made by a Roblink cable from the Autopilot
Computer Main Board, terminal TX1+ and TX1– to the
instrument NMEA socket (4). See Figure 3-26.
You will need a minimum of two instrument heads to make the system both ‘listen’ and ‘talk’ (I/O).
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If IS15 Expander is used in the instrument system, the NMEA
connections are made to this unit. See Figure 3-27.
Figure 3-26 IS15 Instruments / Autopilot computer connection
Figure 3-27 IS15 Expander / Autopilot computer connection
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3.26 External Alarm
The external alarm circuit has an open collector output for an external alarm relay or buzzer (not on AC10). The operating voltage for the circuit is the main supply voltage. Max. load on external alarm output is 0.9 Amp.
AUTOPILOT COMPUTER
POWER PCB
TB6 TB7 TB8 TB9
Ext.
alarm
Figure 3-28 External alarm connection
3.27 LF3000 Linear Feedback
Caution ! The rod of the LF3000 is not locked in place in the cylinder.
Pay attention as it may slip out of its housing and end up on the seabed.
The LF3000 is a waterproof feedback unit. It has a 300 mm
(11,8") stroke and comes with a special mounting bracket which secures the LF3000 to the cylinder of the existing outboard drive unit.
The 8,5 m (28') cable is terminated in the LFI3000 Mk2 Linear
Feedback Interface according to Figure 3-30.
The mounting hardware provided is made to interface with
Teleflex HC5340 cylinders and Hynautic K7 and K10 Cylinders.
The hardware may not be appropriate for other systems.
Center the drives. Loosely secure the LF3000 to the supplied mounting bracket, across the center of the drive unit cylinder.
Either cylinder may be used if there is a dual set up. You may mount the feedback in either direction, i.e. the shaft of LF3000 may point to port or starboard.
Loosen the end bolt (a) used to secure the cylinder to the drive unit mount. Insert the rod retaining assembly (b) and retighten the bolt. Secure the feedback rod to the retainer plate using the
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Simrad AP25 Autopilot two washers and the cap nut provided. Adjust the location of the
LF3000 Linear Feedback to allow full travel of the hydraulic cylinder without causing the retainer plate to hit the end of the cylinder. Check that the outboard motor can be tilted freely.
Tighten all nuts and the mounting bracket.
Turn the helm slowly by hand to the stop on either side, check that the rod does not bind up in any direction. Make a “drip nose” (c) on the cable to the unit and clamp the cable to allow full engine movement to port and starboard.
MOUNTING BRACKET
CLAMPS (2 HALVES) ALLEN HEX SCREWS (2)
FLAT WASHERS (2)
RETAINER PLATE
(END VIEW)
94
CYLINDER
BRACKET
LOCK NUT
LF3000
FLAT WASHERS (2)
LF3000
LINEAR FEEDBACK a b
Figure 3-29 LF3000 mounting
Electrical connection
LFI3000 Mk2
LINEAR FEEDBACK
INTERFACE
TB1 TB2
AUTOPILOT COMPUTER
MAIN PCB c
Rudder
Feedb.
Figure 3-30 LF3000/LFI3000 Mk2 connections
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Configuration and setup
4 CONFIGURATION AND SETUP
4.1 First time turn on
Note !
Before attempting to turn on the AP25 and perform an
Installation Setup, the hardware installation and electrical connections must be completed in accordance with the installation instructions.
The design of the AP25 includes advanced features that have simplified the installation and setup of an autopilot.
If the autopilot is going to use Virtual feedback (page 67) you
This is the start-up screen that is presented the first time you turn on your autopilot by pressing the
STBY/PWR button.
Notes !
1. You can postpone the automatic interface by going directly to the Installation/Dockside setup. Any time the STBY button is pressed the interface prompt will reappear until the automatic interface has been performed.
2. Be aware that you will have no compass reading before the automatic interface is completed.
Continue by pressing the STBD (START) button to start the automatic interface.
The autopilot will search for connected sources, and as the sources are detected a black square appears on the screen.
“SEARCHING” is flashing as long as the autopilot is searching for data.
When the automatic interface setup is finished, “FINISHED PRESS →” is displayed. Press the STBD button to accept.
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Simrad AP25 Autopilot
The display will read ‘SETUP
REQUIRED’.
Continue with the installation setup according to the next chapters.
If you already have completed the installation settings, the autopilot will enter STBY mode.
4.2 Description of Installation Settings
Note ! The installation settings must be performed as part of the installation of the AP25 system. Failure to do so correctly may prohibit the AP25 from functioning properly!
The Installation menu can only be accessed in STBY mode.
The Installation Settings are grouped into the following functional categories:
• Language: Selection of language used for display
information
• Dockside: Items to be set prior to sea trials
These will vary depending on the type of
feedback the autopilot will use (page 67, 100,
• Interface: Setting the format of the clock/data output for radars connected to the Autopilot Computer.
• Display units: Setting the units to be displayed for wind speed, water temperature and depth.
• Sea trial: Presents settings and automatic calibrations to be performed during sea trial.
• Parameters: Permits viewing and changing of basic steering parameters (See also Response
• Service: System data, NMEA data, NMEA test,
SimNet setup, Master reset of memories.
Each group is designed to focus on specific functions, and enable quick access when changes need to be made.
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Some important points regarding the installation settings:
• When the AP25 is delivered new from the factory AND ANY
TIME AFTER A MASTER RESET OF MEMORIES HAS
BEEN PERFORMED, the installation settings are all reset to factory preset (default) values. The automatic interface
prompt will appear (see page 95) and a complete setup has to
be made.
• The values that are selected from within the Installation
Settings Menu, are stored in the memory of the AP25 system.
No specific action is required to "SAVE" the selected values.
Once the value is changed, it is stored until the next time the menu item is selected and changed.
• The Installation Settings are global except for display units and language, enabling settings to be distributed to all control units in the system.
• The Seatrial settings are dependent on successful completion of the Dockside settings.
4.3 Installation Menu
The Installation Menu is presented on the autopilot display by pressing and holding the INFO/SETUP button for 5 seconds.
Note ! The INSTALLATION MENU is different from the USER SETUP
MENU. Refer to the flow diagram on the next page for a pictorial view of the Installation Menu.
Navigate through the Installation Menu as follows:
• Answer YES to a question by rotating the course knob clockwise.
• Answer NO to a question or proceed to the next menu item by pressing the STBD button.
• Return to the previous menu item by pressing the PORT button.
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Simrad AP25 Autopilot
Note !
• Change the selected item by rotating the course knob in either direction.
• Exit the Installation Menu by pressing STBY, AUTO, or
NAV/WIND buttons.
When using the Installation Menu, refer to the diagram
"Installation settings Menu Flow Chart" on next page.
You may proceed through all items in the installation menu by continuing pressing the STBD button.
Language selection
To access the language selection in the Installation Menu, confirme “Yes” by turning the course knob clockwise
The AP25 can present the display text in eight different languages:
English, Deutsch, Francais, Espanol, Italiano, Nederlands,
Svenska and Norsk.
Turn the course knob to select the language you wish to use.
Continue to next item in the menu by pressing the STBD button, or leave the menu by pressing the
STBY button.
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INSTALLATION
MENU
ENTER INSTALLATION MENU
BY PRESSING AND HOLDING THE
SETUP BUTTON FOR 5 SECONDS
LANGUAGE
LANGUAGE MENU
ENGLISH
DEUTSCH
FRANCAIS
ESPANOL
ITALIANO
NEDERLANDS
SVENSKA
NORSK
SYMBOLS
SELECT OR CONFIRM BY
COURSE KNOB
PROCEED TO NEXT MENU ITEM
BY PRESSING STBD BUTTON
REVERT TO PREVIOUS
MENU ITEM
Mode in
STBY ?
Yes
No
PARAMETERS
SERVICE
DOCKSIDE
INTERFACE
DISPLAY UNITS
SEATRIAL
SYSTEM DATA
SIMNET/NMEA DATA
NMEA PORT TEST
SIMNET SETUP
Master reset?
DOCKSIDE MENU
BOAT TYPE
DRIVE UNIT VOLTAGE
RUDDER CAL STBD
RUDDER CAL PORT
RUDDER TEST?
DRIVE ENGAGE
RUDDER DEADBAND
WIND SETUP
MIN. WIND ANGLE
TACK ANGLE
TACK TIME
WIND SHIFT LIMIT
INTERFACE MENU
RADAR O u t pu t
DISPLAY UNITS
WIND SPEED
WATER TEMP
DEPTH
SEA-TRIAL MENU
RUDDER ZERO ADJUST
MINIMUM RUDDER
COMPASS CALIBRATION
COMPASS OFFSET
THRUSTER DIRECTION
WIND OFFSET
WIND DAMPING
DEPTH OFFSET
AUTOMATIC TUNING
TRANSITION SPEED
INIT NAV
NAV CHANGE LIMIT
PARAMETERS
RUDDER LO
CONT.RUDDER LO
AUTOTRIM LO
RUDDER LIM. LO
RUDDER HI
CONT. RUDDER HI
AUTOTRIM HI
RUDDER LIM. HI
RECALL AUTOTUNED
SERVICE
SYSTEM DATA
STEERING COMPASS
RUDDER
INPUT VOLTAGE
DRIVE OUT
CLUTCH/BYPASS
TURN CCW
SIMNET/NMEA DATA
XTE
BWW
BPW
POS/LAT
POS/LON
COG
SOG
WIND
SPEED
DEPTH
NMEA TEST
LOOPBACK NMEA1
LOOPBACK NMEA2
CONFIRMED
SIMNET SETUP
GROUP SELECTION
BACKLIGHT
INSTANCE NUMBER
SIMNET GATEWAY
GLOBAL SIMNET RESET
Figure 4-1 Installation Menu Flow Chart
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Simrad AP25 Autopilot
4.4 Dockside settings
Note ! If the autopilot has no rudder feedback unit installed (configured
for Virtual feedback), refer to the Dockside settings on page 109-
The following menu items are accessible and can be set up in the
Dockside Menu:
• Boat type
• Drive Unit voltage
• Rudder Feedback calibration
• Rudder test
• Motor drive output
• Drive engage
• Rudder deadband
When Sail is selected as Boat type the following menu items are also accessible in the Dockside Menu:
• Wind setup
• Min. wind angle
If Wind setup is set to RACING the following items are added to the menu.
• Separate (port, stbd) wind angle limits
• Tack angle
• Tack time
• Wind shift limit
Select STANDBY mode and enter the Installation Menu as previously described. Select Dockside by pressing STBD button and confirm by rotating the course knob clockwise.
Boat type
Actual boat type is selected by turning the rotary course knob. The options are: Planing, Displacement,
Sail and Outboard.
Type of boat selected will affect the steering parameters, and the functions available in the autopilot system. Select appropriate Boat
type and press STBD button.
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Caution !
Configuration and setup
Drive unit voltage
Set the drive unit voltage to correct level. The selections are
12V, 24V, or 32V and should be set to the voltage specified for your drive unit.
Refer to the drive unit table on page 72 for information.
The drive engage/bypass clutch output follows the same voltage as set for the drive unit. It is not possible to select a higher voltage than the input voltage.
Selection of improper voltage level for your drive unit may damage both the drive unit and the autopilot computer even if the protection circuits in the autopilot computer are activated.
During the Rudder Test, the AP25 system will automatically detect whether the drive unit is a reversible motor or a solenoid is operated.
To change the voltage selection, rotate the course knob.
Note ! The drive unit voltage setting does not apply when operating solenoids on a continuous running pump/steering gear. Hence, the output voltage to the solenoids will be the same as the input voltage.
Proceed to next menu item by pressing STBD button.
Rudder Feedback Calibration
Make sure the RF300 is installed and aligned as pr. instruction in
section 3.6 (or eventually section 3.27 for LF3000). This
function enables you to compensate for any non-linearity in the transmission between the rudder and the rudder feedback.
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Simrad AP25 Autopilot
Note !
Confirm Rudder feedback calibration to STBD by turning the course knob clockwise.
Manually turn the helm to starboard until the rudder stops at starboard lock (H.O.).
The value on the display is the angle read by the rudder feedback unit before any adjustment is made. If the actual rudder angle is different from that of the display, correct the reading by turning the course knob clockwise to increase the value or counter clockwise to decrease the value. See note.
Advance to the next step by pressing the STBD button.
Manually turn the helm to port until the rudder stops at maximum port rudder.
Adjust the displayed angle the same way as for starboard rudder.
Many boats have ±45° (90° H.O. - H.O.) rudder angle as standard. So if you are not making any adjustment to the display readout (i.e. not turning the course knob), the AP25 will set a
(default) value of 45° to each side. However, you should always simulate an adjustment by turning the course knob clockwise and then back again. This is necessary to prevent the rudder from hitting the end stops.
Rudder zero may still be inaccurate and should be adjusted later during sea trial.
Proceed to next menu item by pressing STBD button.
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Note !
Caution !
Configuration and setup
Rudder Test
If the boat uses power assisted steering, it is important that the engine or electric motor used to enable the power assist steering be turned on prior to this test.
Bring the rudder manually to midship position before starting the test.
Stand CLEAR of the wheel and do not attempt to take manual control of the wheel during this test!
Activate the automatic rudder test by turning the course knob clockwise.
Note!
The automatic rudder test can be aborted any time by pressing
the STBY button.
The AP25 will after a few seconds issue a series of PORT and STBD rudder commands to automatically verify correct rudder direction. It detects minimum power to drive the rudder and then reduces the rudder speed if it exceeds the maximum recommended speed
(8°/sec.) for autopilot operation.
The Rudder test is verified by the display showing ‘Motor OK’,
‘Solenoids OK’, or ‘Failed’. If ‘Failed’ is given, check for correct electrical connection.
When test is finished the display will read:
or
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Simrad AP25 Autopilot
The Motor Drive out (displayed in percentage) is the amount of available power needed to achieve recommended rudder speed when on automatic steering Maximum speed (100%) is used in
NFU mode. See also “Final Sea Trial” on page 132.
The screen also tells whether a clutch is installed or not.
If the Automatic rudder test fails, refer to ”Alarms” beginning on page 139
Test of LF3000/LFI3000 Mk2 feedback
1. Align engines to centre position; “zero rudder”.
2. Rev engines to 3-4000 rev/min and observe the rudder angle indicator on the autopilot, a 2° change in the reading should be accepted.
3. If the rudder angle exceeds 2°, connect the screen on the TB1 cable to the centre block terminal and repeat item 2 (See
Figure 3-30). If this gives a better result keep the screen
connected.
Proceed to next menu item by pressing STBD button.
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Drive engage
This determines the use of the autopilot computer drive engage port (BYPASS/
CLUTCH terminals). The port voltage is the same as the selected drive unit voltage.
Drive engage has the following settings:
Bypass/clutch:
The port will activate (go high), in all autopilot steering modes, and typically engages a bypass valve on a hydraulic linear drive or a clutch on a mechanical drive when entering any of the active autopilot modes. This is the default setting and it allows you to steer the boat with the helm or wheel when in STBY or DODGE modes.
Auto:
This setting is implemented for future use. Always use the
“Bypass/clutch” (default) setting.
Rudder Deadband
The rudder deadband function is adaptive and is continuously operative. It prevents the rudder from hunting and the adaptive function optimizes the deadband to the speed of the boat and the pressure on the rudder.
If the auto-setting does not perform properly due to high inertia from the wheel or a loose steering gear, it can be adjusted manually.
Adjust the Rudder deadband by rotating the course knob. Find the lowest possible value that will prevent the rudder from hunting. A wide deadband will cause inaccurate steering. It is recommended to check rudder stability and accuracy in FUmode when the boat is moving to get pressure on the rudder.
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Simrad AP25 Autopilot
Note !
Range: AUTO, 0.1° to 4.0° in 0.1° increments.
Default: AUTO.
Proceed to the next menu item by pressing the STBD button.
The rudder deadband setting is not available when the autopilot is configured for Virtual feedback.
Wind setup
Wind setup is only available if ‘Boat type’ is set to ‘Sail’ in the
Installation/Dockside menu.
Wind setup has two levels:
NORMAL and RACING. The
RACING level will give access to more wind setup items to achieve optimal performance when sailing. Additional setup items also become available in the User setup and the Quick setup menus.
Range: NORMAL and RACING
Default: NORMAL
Minimum wind angle (NORMAL)
The ‘Minimum wind angle’ is the minimum apparent wind angle that will keep the sails well shaped and give an acceptable thrust. This parameter will vary from boat to boat.
The ‘Minimum wind angle’ applies in the tack-prevent function.
It also applies when the autopilot is navigating in Wind mode.
Range: 15 – 90°
Default: 30°
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Minimum wind angle (RACING)
The minimum wind angle also applies when the autopilot is optimising the VMG (available parameter in the Quick setup menu when ‘Wind setup’ is set to RACING).
Range: 15 – 90°
Default: 30°
If ‘Wind setup’ is set to
RACING, you can set different minimum wind angles for port and starboard. The difference between port and starboard wind angles will be taken into account when calculating the
Estimated Time to Turn (ETT) and Distance To Turn (DTT).
Tack angle (RACING)
The autopilot can also tack in
AUTO-mode. The set tack angle replaces a similar change of the set course using the course knob.
Range: 50 – 150°
Default: 100°
Tack time (RACING)
When performing a tack in
WIND-mode, the rate of turn can be limited. This will give single handed sailors time to handle the boat and the sails during a tack. The tack time is the time needed for the sailor to initiate the tack, start using the winches and haul the foresail from one side to the other.
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Simrad AP25 Autopilot
Note !
A turn performed without shifting wind side, will also be made at a reduced turn rate. Shifting wind side when gybing, however, is an instant action from the autopilot and there is no limitation of the turn rate when making a gybe.
Range: 2 – 50 seconds
Default: 12s
Wind shift limit (RACING)
The monitored wind shift in
WIND-mode is the wind shift angle measured from the last time the wind angle was set on the autopilot. If this wind shift exceeds the ‘Wind shift limit’, a wind shift alarm will be activated.
The wind shift monitoring can be turned off by setting the ‘Wind shift limit’ to ‘OFF’.
A wind shift reading is also presented in the ‘Wind shift’-display.
This is the change of wind direction measured from the last time the autopilot mode was changed, e.g. STANDBY to AUTO,
AUTO to WIND. This wind shift reading is for information only, and not to activate the wind shift alarm.
Range: OFF, 2 – 90°
Default: 30°
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Configuration and setup
Dockside settings when configured for
Virtual Feedback
The Virtual Feedback algorithms in the autopilot software enable your autopilot to steer without having to mount a conventional rudder feedback unit. These algorithms are designed for vessels up to 40 ft. powered by outboard or stern drives only.
Installing a feedback unit, however, will always enhance the performance of an autopilot and provide an accurate rudder angle indicator on the autopilot display. Unless impractical or impossible, a rudder feedback unit should be installed.
The autopilot is automatically configured for Virtual Feedback when there is no feedback unit connected at first time turn on, or
at turn on after a Master Reset has been performed (Page 132).
At first time turn on the autopilot will after approx. 5 seconds sound and display a feedback failure alarm. Press the STBY button to silence the alarm and follow the instructions in the display to initiate
the Setup as described on page 95.
Press and hold the INFO/SETUP button to enter the Installation setup menu. Select “Dockside” and turn the course knob clockwise to open the “Dockside” menu. This will automatically configure the autopilot for Virtual Feedback, and the alternating feedback alarm will disappear from the display.
When the autopilot is configured for Virtual Feedback the Boat type is automatically set to Outboard.
The (autopilot) Drive unit voltage should be set to the voltage specified for your drive unit. See
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Simrad AP25 Autopilot
110
Virtual Feedback calibration
To perform the Virtual Feedback calibration and rudder test you must be able to view the movement of the engines/drives (“rudder”).
The Virtual feedback calibration is entered as a numerical value equal to the physical rudder angle observed at the hard over position.
Use the course knob to enter the starboard and port rudder angle.
Rudder test
Activate the automatic rudder test by turning the course knob clockwise.
While observing the rudder position, use the wheel to center the rudder. Confirm by turning the course knob clockwise.
The next step is to enter the correct direction of the rudder movement.
Press and hold the TURN/DODGE button. Observe the rudder movement. Release the button after
3 seconds.
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Configuration and setup
If the rudder is not moving so as to give a starboard turn, press and hold the TURN/DODGE button for another 3 seconds.
When the rudder is moving to starboard, turn the course knob clockwise to confirm.
While observing the rudder, use the wheel to turn the rudder hard over to starboard position. Turn the wheel carefully a little to port just to release the hydraulic pressure.
When ready confirm by turning the course knob clockwise
Press and hold the TURN/DODGE button.
Release the button when the rudder reaches the port hard over position.
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Simrad AP25 Autopilot
The rudder will now be automatically centered.
Note!
The reading in the rudder angle display is not showing a rudder angle, only the direction of the rudder movement.
The Rudder test is verified by the display showing ‘Motor OK’ or
‘Failed’. If ‘Failed’ is given, check for correct electrical connection.
When test is finished the display will read:
Drive Engage
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4.5 Interface Settings
Sets the format of the clock/data output for radars connected to the Autopilot Computer.
Step to the Interface part of the Installation Menu.
Turn the course knob clockwise to access the
Interface Setup items.
Use the course knob to select the connected type of radar.
Note!
This setting is not available in the AC10 Autopilot Computer.
4.6 Display units
Select Display units by pressing STBD button and confirm by rotating the course knob clock-wise. The setup is local to each control unit.
This screen gives access to the display unit set-up of the
Wind Speed, Sea temperature and Depth.
Use the STBD button to select an item and the course knob to select the unit.
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Simrad AP25 Autopilot
Available units are: Wind Speed: kt or m/s
Sea temperature: °F or °C
Exit the Display units menu by pressing STBD button to proceed to the Sea trial menu, or press STBY to return to normal AP25 operation.
4.7 Sea Trial
Caution ! The Sea Trial must always be performed in open waters at a safe distance from other traffic.
The Sea-trial menu can only be accessed if the Dockside Settings are completed and confirmed.
The seatrial settings are:
• Rudder zero adjust (To tell the AP25 the precise midships position of the rudder)
• Minimum rudder
• Compass calibration (To automatically compensate for onboard magnetic interference)
• Compass Offset (To compensate for a fixed offset (A-error) in the final compass heading readout)
• Wind Offset (To compensate for a fixed mechanical offset of the Wind vane)
• Wind Damping (To avoid flickering on the wind display)
• Depth offset (To compensate for the distance between the depth transducer and the surface if required)
• Automatic tuning (A method of determining the steering parameters)
• Transition speed (the speed at which you want a power boat to change steering parameters)
• Init NAV (to set the response you prefer when steering onto a track in NAV mode)
• Set thrust direction (optional, only if interfaced to a thruster)
• Drive output adjust (See Final sea trial, page 132).
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Select Seatrial by pressing the STBD button and confirm by rotating the course knob clock-wise.
Set Rudder zero
(Not applicable when configured for Virtual feedback)
This adjustment should be made in calm sea and side forces from wind or current should be avoided.
• Bring the boat up to cruising speed, and head directly into the wind.
• If the boat has twin engines, synchronize the engine RPM's.
• Set the trim tabs and stabilizers to have no effect on the boats heading.
• Steer the boat manually on a steady course.
• Confirm the rudder ZERO position by rotating the course knob clockwise.
Press STBD to proceed to next menu item.
Minimum rudder
Some vessels may have a tendency of not responding to small rudder commands around the “course keeping” position because of a small rudder, a rudder deadband or whirls/disturbance of the water-stream passing the rudder.
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Simrad AP25 Autopilot
By turning the Minimum Rudder function ‘On’, it may hence improve the course keeping performance on some boats, but it will increase the rudder activity.
Turn the minimum rudder on by turning the rotary course knob.
Range: OFF-ON.
Default: OFF
Note !
Notes !
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During the sea trial, only set Minimum Rudder to ON if it proves to give a better course keeping performance in calm sea. It should be set after the autotune has been performed and a
possible fine tune of the Rudder parameter (page 127).
Compass calibration
This function will activate the compass calibration procedure for
Simrad compasses connected to Robnet2 and the Autopilot
Computer terminals (HS).
1. The RC36 Rate Compass that comes with the autopilot as standard will store the calibration and off-set data in its own memory.
2. Compass calibration for a second compass connected to the
HS terminal will be stored in the Autopilot Computer memory.
3. Calibration is made on the compass that is active for the autopilot. The active compass is the one that is displayed on the compass calibration screen.
RATE-0 = Rate compass, FLUX-0 = Fluxgate compass on
HS terminals.
4. If an optional NMEA compass from Simrad or another manufacturer is installed, also refer to the optional compass’ manual regarding calibration. This compass will not be calibrated by the autopilot.
Before you start the compass calibration, make sure you have enough open water around you to make a full turn with the boat.
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The calibration should be done in calm sea conditions and with minimal wind to obtain good results. Use about 60-90 seconds to make a full circle.
Increase speed: >>>>>
Decrease speed: <<<<<
Appropriate speed: > <
1. Select the ‘Calibration’ item on the display
2. Begin turning the boat (port or starboard).
3. Confirm start of calibration by turning the course knob clockwise. The display will flash “Calibrating”. Establish your turning rate using the arrows in the display.
4. When the calibration is completed, (after having made approximately 1 1/4 turns), it will be confirmed by the display reading “Confirmed”.
Compass deviation
The heading from a magnetic heading sensor will normally have a deviation when compared with the actual direction of the earth’s magnetic field. This is caused by interference from the boat’s local magnetic field. The deviation will be at a minimum if the compass is placed as far as possible from any magnetic object on board. On the other hand, you may have to compromise with other requirements for the installation of the
During the calibration, the compass will measure the magnitude and direction of the local magnetic field from where the compass is mounted. The magnitude is given in % of the magnitude of the earth’s magnetic field. If the local magnetic field is stronger than the earth’s magnetic field (the local field is reading more than
100%), the compass calibration will fail. If the local field is reading more than 30%, you should look for any interfering magnetic objects and remove them, or you should move the
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Simrad AP25 Autopilot
Note !
Note ! compass to a different location. The local field angle will aid you to the local interfering magnetic object. See drawing.
Lubber line Lubber line
Magnitude of local field in % of earth’s magnetic field.
Direction of local field with respect to lubber line. It can also be on the reciprocal.
In certain areas and at high latitudes the local magnetic interference becomes more significant and heading errors exceeding ±3° may have to be accepted.
Compass Offset
After calibration, also check the compass readout against a known reference, a compensated compass or a bearing. If the reading has a fixed offset, proceed to next menu item by pressing
STBD button or return to STANDBY mode by pressing the
STBY button.
Offset correction is always performed after the calibration. If you use COG as a reference for the offset remember it has to be a magnetic reading.
The compass OFFSET feature allows you to correct for a fixed heading offset. This offset may be present as a result of the compass being installed with a lubber line offset or if a fixed offset remains after the calibration procedure has been completed. The value of compass offset is specific to the heading sensor that is selected at the time the offset is entered. This means that you can have individual offsets for each compass installed.
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Configuration and setup
Select the amount of correction by turning the course knob to offset the heading to agree with the known, accurate heading. The
Offset value can be either positive or negative.
If an OFFSET still exists after having compensated for it, one of the following problems may still exist:
• The heading reference to which you are comparing the compass is not correct.
• The automatic calibration is not correct. Refer to above
“Compass deviation”.
Proceed to the next menu item by pressing the STBD button, or return to Standby mode by pressing the STBY button.
Set Thrust Direction
(Only applicable if a thruster is connected)
Rotate the course knob clockwise to activate the Set
thrust direction setting.
Rotate the course knob CW and verify that the vessel turns to starboard. The thruster stops after 10 seconds, or when the
STBD button is pressed.
If the boat turns to port when the course knob is turned CW, rotate the knob to port to ensure a starboard turn.
The autopilot has now been set to the correct thrust direction.
On thrusters, a change in direction command will always be delayed 1 second to prevent thruster breakage.
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Simrad AP25 Autopilot
Note !
Wind Offset
This offset only applies if you have a wind transducer directly connected to SimNet (IS12TW) or a wind transducer that outputs data on NMEA2000 format.
The Wind Offset feature allows you to correct for a fixed wind angle offset. Steer the boat directly into the wind with a damping of 15s. Keep the bow a steady heading for 15-20 sec. and read the wind angle. If necessary turn the course knob to input an off set that makes the display read Wind 000°.
The Offset value can be either positive or negative.
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Wind damping
Damping of the apparent wind angle is made by the Advanced
Wind Filter (AWF) in the
Autopilot Computer. The inputs to the AWF are heading, boat speed, apparent wind angle and wind speed. Verify that these inputs are available in User Setup2/Source Select.
Heading sensors, speed sensors and wind sensors have variable performance. The measured wind angle can be very erratic when the boat is rolling heavily. In such conditions the AWF gives a better result when the calculations are based more on heading and boat speed inputs to achieve the correct apparent wind angle.
Increasing the ‘Wind damping’, will make the AWF depend more on heading and boat speed to calculate the correct apparent wind angle. Decreasing the ‘Wind damping’, will make the
AWF depend more on the “raw” apparent wind angle data.
The boat speed input to the AWF is primarily Speed Over
Ground (SOG). If this is not available, the AWF will use speed
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Note !
Configuration and setup through water. If none of these are available, the AWF will use a boat speed that is 1.5 times the Transition Speed set in the
Installation/Seatrial menu. Turn the course knob to adjust the wind damping.
Range: 1 – 100 seconds
Default: 15 seconds
Depth Offset
This adjustment only applies to “smart” depth transducers that outputs depth on NMEA2000 format. NMEA0183 sentence
‘DPT’ contains offset and the depth reading is from the surface.
NMEA0183 sentence ‘DBT’ contains no depth offset and the reading will be from the position of the transducer.
When the depth offset is set to zero, the indicated depth is from the transducer to the bottom. To read the depth from the water surface to the bottom you have to set the depth offset according to the vertical distance between the surface and the transducer, i.e. positive
(+) value
To read the depth from the keel to the bottom you have to set the depth offset according to the vertical distance between the transducer and the keel, i.e. negative (–) value.
Automatic tuning
Automatic tuning is a feature that automatically sets the two main steering parameters (Rudder and Counter Rudder) by taking the boat through a number of S-turns. The scaling factors of the parameters are also set automatically as a function of the boat type selection performed in the Dockside menu.
Automatic tuning is an optional procedure that is not required for the AP25 to function. The AP25 is preset with steering parameters that should steer most boats in the 30 - 80 foot range.
It is, however, recommended to perform an automatic turning as part of the sea trial.
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Simrad AP25 Autopilot
Note !
Note !
Caution !
Recommended speed during Automatic tuning varies with the type of boat, but should not exceed 10 knots. It should be performed in calm or moderate sea conditions.
Automatic tuning should not be performed at planing speed or in following seas!
For displacement boats use a speed that is approximately half the normal cruising speed (i.e. if cruising speed is 10 knots, perform the Automatic tuning at about 5 knots).
The parameter values calculated during Automatic tuning becomes the HI parameters. The LO parameters are automatically set to 66% of the HI.
It also is recommended to perform the Automatic tuning steering
East or West, as this will yield the best balanced parameters.
After the Automatic tuning has been completed the rudder must be controlled manually, as the autopilot has returned to STBY mode.
The Automatic tuning function will take control of the boat and perform a number of S-turns. It must always be performed in open waters at a safe distance from other traffic. The
Automatic tuning function may take from 1 to 2 minutes to complete. To stop the Automatic tuning, press the STBY button.
Activate the Automatic tuning, by rotating the course knob clockwise. The display will flash “Automatic tuning”.
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After an Automatic tuning, there should be no need for further adjustments. “Fine tuning” of these parameters are made by the
response control (see page 56). However, viewing or changing
the parameters can be made from within the Parameter menu
item. See also “Recall Autotune” on page 128.
Proceed to the next menu item by pressing the STBD button, or return to Standby mode by pressing the STBY button.
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Transition Speed
The transition speed is the speed where the AP25 will automatically change the steering parameter set from HI to LO
parameters, or vice versa (page 22).
The default setting of transition speed is 5 kts.
It is recommended that you set the transition speed to a speed that represents the speed where the hull begins to plane, or the speed where you change from slow to cruising speed.
The speed used for the automatic transition is obtained with the following priority:
1. Speed through water from the speed log source.
2. Speed Over Ground (SOG) from the GPS/Chartplotter.
If no speed data is available, manual speed selection is required.
See also chapters 2.9 and 2.10.
Rotate the course dial clockwise until the transition speed is set to the desired value in knots.
Range: OFF – 30 knots
Default: 5 knots
Proceed to next menu item by pressing STBD button.
Init NAV
Sets a firm or soft approach to the track line when entering the
NAV mode at the first leg. The approach angle is dependant
(adaptive) on the distance (XTE) from the track line and the boat speed.
Select firm or soft approach to the track line by rotating the course knob.
Range: Soft - Firm
Default: Soft
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Simrad AP25 Autopilot
Notes!
Note !
NAV change limit
In NAV mode, when the required course change at the approaching waypoint is bigger than the set limit, you are prompted to verify that the upcoming course change is acceptable. The limit can be set to 10°, 20° or 30°.
Default: 10°
Rudder play compensation.
(Only applicable when configured for Virtual feedback)
1. To obtain the best possible steering performance the said procedures must be performed in the following order:
- Perform an autotune at 6-8 knots in calm sea.
- If necessary fine tune the Counter Rudder parameter (see
page 126) at cruising speed (LO value) and at slow speed
(HI value)
- Use the response control to obtain the best possible course
2. If the autopilot performance is found satisfactory when the above has been completed, skip the following rudder play compensation procedure. The rudder play compensation procedure is only necessary if the steering gear is sloppy.
Using this procedure when not required may interfere with the steering algorithms and result in poorer steering instead of providing improvements.
A play in the steering gear will always reduce the steering performance of the autopilot. The best result is obtained when sloppy linkages are repaired and this is the recommended course of action.
With a rudder feedback unit installed the effect of the rudder play is significantly lessened.
When rudder play still exists and there is no feedback unit installed, the autopilot will need some assistance from the installer to compensate for this. The effect of the rudder play is
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Configuration and setup different at slow speed as compared to cruising speed and both situations have to be compensated for individually.
This adjustment must be made when steering in dead calm sea. Confirm by turning the course knob clockwise.
Note !
Note!
This menu item can also be accessed directly in Auto mode. Press and hold the
INFO/SETUP button until this
display appears.
The vertical bar is the lubber line (bow). Observe the number of arrows to each side of the bar while the autopilot is working; one
> = 1° off course. Increase the rudder play value in steps by turning the course knob and take time to observe the result of each step before you make further changes. The best setting is when the number of arrows is at a minimum on each side of the bar. This adjustment has to be made at cruising speed (LO setting) and once again at slow speed (HI setting).
Increasing the rudder play compensation will increase the number of rudder commands. Particularly at low speed this may enhance the course keeping performance.
Proceed to the “Parameters” item by pressing the STBD button or return to STANDBY mode by pressing the STBY button.
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Simrad AP25 Autopilot
4.8 Parameters
A boats steering parameters found by the Automatic tuning can be looked at and if needed changed under this menu item. The steering parameters can also be set manually instead of performing an Automatic tuning. The parameters
are divided into two sets (page 23):
• HI value parameters for automatic steering at low speed and when running with a sailboat.
• LO value parameters for automatic steering at high speed and when sailing into the wind or reaching with a sailboat.
Manual parameter adjust
Use course knob to adjust parameters
Displayed parameter
Boat type
Displacem.
& Sail
Planing &
Outboard
Own boat
Automatic tuning
Manual
LOw
Rudder LO
Cont.Rudder LO
Autotrim LO
Rudder Lim LO
0.35
1.00
40 sec.
20°
0.20
1.00
40 sec.
20°
HIgh
Rudder HI
Use PORT and STBD Cont.Rudder HI buttons to step through
Autotrim HI parameters Rudder Lim HI
Note !
Note !
0.50
1.40
40 sec.
20°
0.30
1.40
40 sec.
20°
The values in the table are factory set (default) and listed for information only. After having performed the Automatic tuning, the values may differ from those listed in the table. See also
“Automatic Tuning” previously in this chapter.
With Virtual Rudder Feedback use 20 seconds time constant for
Autotrim.
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Configuration and setup
The two most important parameters that determine the performance of the automatic steering are Rudder and Counter
Rudder.
Rudder sets the rudder gain which is the ratio between the commanded angle and the heading error.
Course to steer
Too little Rudder
Course to steer
Too much Rudder
• Too little Rudder and the autopilot fails to keep a steady course.
• Too much Rudder gives unstable steering and reduces speed.
• Low speed requires more Rudder than high speed.
See also “Minimum Rudder” on page 115.
Counter Rudder is the parameter that counteracts the effect of the boats turn rate and inertia. For a short time period it is superimposed on the proportional rudder response as provided by the heading error. It may sometimes appear as if it tends to make the rudder move to the wrong side (counter rudder).
The best way of checking the value of the Counter Rudder setting is when making turns. The figures illustrate the effects off various Counter Rudder settings.
Counter rudder setting too low, overshoot response
New course
New course
Counter rudder setting too high, sluggish and creeping response
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Simrad AP25 Autopilot
New course
Correct setting of counter rudder, ideal response
Autotrim standard value is 40 sec. which should work well on most boats.
Rudder Limit should be kept at 20 degrees unless there is a need for more rudder when performing dockside manoeuvres.
Recall Autotuned?
To recall the parameter values that were achieved during the
Automatic tuning procedure, rotate the course knob clockwise. When parameter values are recalled, Confirmed is displayed.
Exit the Parameter menu by pressing STBD button to proceed to the Service menu, or press STBY to return to normal AP25 operation.
4.9 Service Menu
Select STANDBY mode and then enter the Installation Menu by pressing and holding the INFO/SETUP button for 5 seconds.
Select "SERVICE" by pressing the STBD button and confirm by rotating the course knob clockwise.
System data and NMEA data are test functions to analyze data processed by the AP25.
Sn 00000 is the unique
SimNet ID number for the specific autopilot control unit.
To exit the menu, press any mode key (STBY, AUTO or
NAV).
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System Data Menu
Select System data by rotating the course knob clockwise.
This menu provides you with additional system data that can be useful when testing or trouble shooting the system.
Steer compass
Steering Compass readout, M=Magnetic, T=True
Rudder
Rudder angle. Normally between zero and 45 degrees.
Input voltage
Mains voltage on input terminals
Drive out
Power needed to drive the unit in percent of full (100%) to get satisfactory rudder speed.
Clutch/bypass
Verifies if a clutch or bypass valve has been activated when performing the rudder test.
SimNet and NMEA Data Screen
Select the screen by pressing the STBD button and confirm by rotating the course knob clockwise.
The menu provides you with status information about the different SimNet and/or
NMEA messages used by the system.
Decoding
The incoming signals are decoded according to a built in priority table in the AP25. Cross Track Error and bearing information are taken from the NMEA messages with highest priority.
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Simrad AP25 Autopilot
Note !
Note !
For all data items, one of the following codes will be displayed:
– – – No data or no NMEA sentence containing the data
needed is available at the input port.
OK Valid data found
INV Message with invalid information.
FRM Message has format failure such as a) Incorrect check sum b) Wrong contents in datafield(s)
If data are missing or invalid, perform the following:
• Check the NMEA signal monitor (see below)
• Open the source select page in the User Setup2 menu and check that data are available
• Check the navigator setup and make sure it is transmitting appropriate data.
• Perform a NMEA Port Test (hardware) as per below.
The “WIND” reading is the apparent wind from port (L) or starboard (R). The “SPEED” reading is the speed through water.
NMEA signal monitor
Near the NMEA terminals in the Autopilot Computer you will find a green monitor LED marked “RX”. A flickering LED indicates that a NMEA signal is received. It does not, however, qualify the contents of the message.
Do not mix up the “RX” LED with the LED marked “TX”. The
“TX” LED will always be lit or flickering when the autopilot is on.
NMEA Port test (AC hardware)
Disconnect the cables on the Main PCB in the Autopilot
Computer and connect TX1+ to RX1+ and TX1- to RX1-.
Similarly, on the Power PCB connect the NMEA ports the same way; TX2+ to RX2+ and TX2– to RX2–.
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Under Service in the Installation
Menu, select NMEA port test by pressing the STBD button and confirm this by rotating the course knob clockwise.
Verify that the hardware is OK. If not, replace the corresponding
PCB(‘s).
Proceed to the Simnet Setup menu by pressing the STBD button, or press STBY to return to normal AP25 operation.
Simnet setup
Group selection
SIMRAD: Autopilot is part of the
Simrad Group. Source selection will be common for the products in the group (synchronized).
STAND ALONE: Source selection for the autopilot will not be transferred to other products in the
Simrad Group (no synchronization).
Backlight Illumination
Set backlight to synchronize with one of the illumination banks (1-3) available on the SimNet, or to
STAND ALONE for individual control of the autopilot illumination.
Instance number
An item to identify units by a number when the autopilot is connected to a NMEA2000
Network. On SimNet units the
Instance number is added to the product name e.g. AP25-1, AP25-2 for easy identification on various display screens.
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Simrad AP25 Autopilot
Note !
SimNet gateway
Indicates which control unit that transmits and receives information on SimNet. The display verifies by reading ‘Yes’, all other units display
‘No’.
Global SimNet reset
Resets the entire SimNet setup in the
Simrad Group and initiates a new automatic interface setup. See
Master Reset
A Master Reset is part of the final test at the factory, which will reset the memories to factory settings. Unless you need to clear all stored values during the installation setup procedure, you should not perform a Master Reset.
The Master Reset needs a double confirmation to prevent an accidental reset. To perform a
Master Reset, rotate the course knob clockwise and observe the display; then rotate the course knob counter clockwise. The display will then read: “Master
Reset confirmed”.
Unless you have made a Master Reset, exit the Installation Menu by pressing STBY to return to normal AP25 operation.
In the event a Master Reset has been made, refer to chapter 4.2.
Final sea trial
After having completed all settings in the Installation Menu, take the boat out and perform a final sea trial in open waters at a safe distance from other traffic.
• Steer the boat on all cardinal headings in AUTO mode.
• Start with low and medium speeds to get familiar with the response from the AP25.
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• If the hardware for automatic HI/LO selection is connected and configured, verify that the HI/LO transition is occurring, and the HI/LO parameters are changing after the transition speed is crossed (by more than 1 Knot higher or lower speed).
• Try the effect of LO and HI parameter settings.
• Try the Dodge and U-turn function.
• If a Non-Follow Up lever (or handheld remote) is connected, test change of modes and verify port and starboard steering commands of the lever.
• Set waypoints into each navigator connected to the system, and verify that the AP25 steers in NAV mode for each NAV source.
• Try the NoDrift mode.
• If the boat is a sailboat use the WIND mode and try the AP25 at different settings of the apparent wind angle. Also try the
WINDN(av) mode, optimized VMG and WCV when sailing
(tacking) to a waypoint.
• If the rudder response feels aggressive during the sea trial, you may want to reduce the rudder speed to get a smoother steering.
Alternatively on a sailboat you may want to have a higher
rudder speed when running. The motor Drive out (page 104)
can be set with this in mind. Never adjust in more than 10% steps with respect to the reading set during the automatic
rudder test (page 103). Always perform a new Autotune after
the adjustment.
• Provide the owner with user training.
Providing user training
The user should be instructed in the "basic" operational functions, such as:
• Turning the system on and off
• Changing modes. Explain briefly what takes place in the different modes.
• Regaining manual control from any mode. Point out in what modes the helm is engaged by the autopilot (bypass/clutch).
• Taking command at an "inactive" station, if applicable.
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Simrad AP25 Autopilot
Note !
• Using the lock mode, how to lock/unlock and how to shut the system down from a locked control unit, if applicable.
• Use of the Non-Follow-up and Follow-up steering modes and learning the difference between the two.
No Follow-up mode when configured for Virtual feedback
• Use of a Non-Follow-up and Follow-up controller, if connected.
• Changing course by rotary knob and buttons.
• Stepping through the User Set-up Menu learning how to (and why to) change the settings.
• How to select alternative sources for heading (compass), navigation (GPS, chart plotter), speed, depth etc. if available.
• Understand the difference between NAV mode and NoDrift mode and their data sources (Nav, Pos).
• Locating compasses and knowing to keep magnetic items away.
• Locating the Mains circuit breaker and the separate SimNet circuit breaker if provided.
• Knowing the use of thrusters with the autopilot.
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Maintenance
5 MAINTENANCE
5.1 Control unit
The AP25 Control Unit will under normal use require little maintenance.
If the unit requires any form of cleaning, use fresh water and a mild soap solution (not a detergent). It is important to avoid using chemical cleaners and hydrocarbons such as diesel, petrol etc.
Make sure that all open Robnet2 connectors are fitted with a protection cap.
It is advisable at the start of each season to check all connections to the control unit head and cover with Vaseline or WD40. If the
Control unit is not removed from the boat, it should be covered with the white protection cover.
5.2 Autopilot Computer
No special maintenance is required. It is advisable, however, at the start of each season to make a visual inspection of the internal and check all connections.
5.3 Rudder Feedback
Make a visual inspection at 2-3 month intervals and at the start of each season. Apply some grease at the ball joints when required (RF300)
5.4 Compass
If the compass is exposed to the weather, make a visual inspection at 2-3 months intervals, and at the start of each season.
5.5 Drive unit
Refer to the drive unit manual for maintenance instructions.
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Simrad AP25 Autopilot
5.6 Exchange of software programme
Autopilot Computer
Autopilot
Computer
EPROM
Caution !
136
Figure 5-1 AC10/AC20/AC40 Main PC-Board
• Remove the EPROM from the socket by means of the special extraction tool (p/n 44139806).
• Insert the tool by pressing the two grip pins down into the two slots in the corners of the socket.
• Squeeze the tool and pull out the EPROM.
• The identification tag indicates:
- Name of unit
- Part number
- Software version
Cut-off corner
When inserting a new EPROM, make sure the cut-off corner matches with the one in the socket. Press it gently into the socket.
Identification tag
Slots
EPROM for AC10, AC20 and AC40
Autopilot Computers:
P/N 22088462
After change of EPROM, perform a master
reset as described on page 132.
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Maintenance
Autopilot Control Unit
You will need a special kit for a PC to perform the programming of the AP25 Control Unit. Order the following from Simrad:
Programming kit P/N 22088595.
Instructions are included.
Software download connector
Figure 5-2 Part of AP25 PCB
Remove the cables and unscrew the six screws that secure the back cover. Apply a firm pull with your fingers to pull the back cover loose from the connector pins. Then you have access to the software download connector.
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This page is intentionally left blank.
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Trouble shooting
6 TROUBLE SHOOTING
An autopilot is a complex system. Its performance dependents on a proper installation and a successful sea trial.
In the event of an autopilot failure, the AP25’s numerous test features will assist you in isolating a probable fault.
Audible and visual alarm is provided for every fault being detected.
The audible alarm is reset by pressing any button (e.g. by changing mode from AUTO to STANDBY). All visual alarms will remain and alternate with the operating display until the fault has been rectified. Refer to the table below for hints and try to solve the problem yourself. You may also consult your nearest
Simrad dealer for assistance, if required.
Perform any repair action in the listed sequence.
Notes!
1. ‘Compass difference’, ‘Vessel off course’, and ‘Rudder limit’ warnings are automatically reset when the error is rectified.
2. – – – in a display indicates that data is missing.
6.1 Alarms
Display readout Probable fault
System failure Alarms:
The boat is off course
Boats heading is outside fixed off course limit of 20 deg. (Automatic reset when inside limit.)
Extreme weather conditions, too slow speed.
NAV. data failure Missing or invalid
NAV data.
Recommended action
1. Check steering parameters
(Rudder, Autotrim, Seastatefilter).
2. Increase Rudder value
3. Increase boat speed, if possible, or steer by hand.
1. Check the Nav. Receiver/GPS setup.
2. See Service menu Chapter 4.9
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Simrad AP25 Autopilot
Display readout Probable fault
Shallow water The depth is inside the set limit or outside the range, i.e. 100 m
(328’)
Depth data is missing.
Compass data missing
Rudder feedback failure (not applicable for
Virtual feedback installations)
Rudder response failure
No data from selected compass.
Rudder feedback signal missing or erratic
No response to rudder command
Recommended action
1. Carefully observe the actual depth.
2. Adjust the alarm limit if not hazardous.
3. Steer to safe depth, the alarm will reset automatically.
4. Turn off the shallow alarm if
depth data is missing (Page 54).
1. If more that one compass is connected to the system, refer to the User Setup2/Source select menu to select a different compass.
2. Make a source update if no compass is available.
3. Check connections.
4. Replace compass PCB (Note: Do not cut cables. There are screw
terminals inside).
1. Check all connections.
2. Check the alignment as per the installation instructions
3. Replace rudder feedback unit.
Rudder too slow Excessive load on steering gear. Air in hydraulic system.
Insufficient drive unit capacity.
1. Check all connections
2. Check Rudder FB transmission link (not applicable for Virtual feedback installations).
3. Check drive unit motor/brushes.
4. Replace the Autopilot Computer
Power PCB.
1. Look for mechanical obstructions at the rudder/tiller/ quadrant. Check the back drive force.
2. Bleed the hydraulic system.
3. Replace with bigger pump unit.
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Trouble shooting
Display readout Probable fault
Rudder test failed Following conditions may exist: a) Rudder feedback failure b) Autopilot
Computer current overload c) Bypass/clutch overload
Rudder moves in only one direction a) Poor connection to one of the solenoids
(continuously running pump) b) Faulty Power PCB in autopilot computer
Rudder test not completed within 2 min. a) Poor connections to the drive unit b) Faulty Main PCB in the Autopilot
Computer c) Faulty Power PCB in the Autopilot
Computer
Rudder moves at full speed to one side. a) Faulty Power PCB in Autopilot
Computer
Recommended action
Refer to recommended actions for the specific probable faults. a) Check the connections b) Replace the Autopilot Computer
Power PCB a) Check connections b) Replace the Main PCB c) Check the Power PCB for traces of burned transistors. – Change
Power PCB.
Replace Autopilot Computer Power
PCB
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Simrad AP25 Autopilot
Display readout Probable fault
Failure active
Control Unit
ACXX current overload
Low 15 volt
Active control unit goes silent.
The drive unit shut down due to an excessive load or a short circuit.
Internal 15 Volt supply in Autopilot
Computer below limit.
Recommended action
1. Press the STBY button on an
"Inactive" unit to reset.
2. Check/repair RobNet2 cable.
3. Replace the control unit PCB.
1. Check the drive unit and drive unit installation/Manual steering/
Rudder.
2. Disconnect the drive unit. If the fault is still present, replace the
Autopilot Computer Power PCB.
1. Replace Autopilot Computer Main
PCB
2. Replace Autopilot Computer
Power PCB if Mains voltage is
12V.
Bypass/clutch overload
Clutch/bypass current exceeds 2,5
Amps (overload or short circuit).
1. Check actual current
2. Check voltage marking on coil
3. Check coil resistance (through connecting wires)
Bypass/clutch disengaged
Poor connection or open circuit in bypass/clutch coil
1. Check connections
2. Replace bypass/clutch if open.
3. Perform new "Rudder test".
ACXX high temp.
Memory failure
ACXX
Excessive temperature in
Autopilot
Computer (>75°C), possible long term overload.
1. Switch off autopilot
2. Check for backload in Drive unit/steering system.
3. Check that the autopilot computer specifications matches Drive unit.
Wrong checksum on memory parameters or variables.
Autopilot
Computer will use default values.
Perform a "Master reset" and make a new "Dockside set-up". Switch off and on again. If the alarm is repeated, replace Autopilot Computer Main
PCB.
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Trouble shooting
Display readout Probable fault
Com. failure with
ACXX
Faulty Autopilot
Computer or poor
Robnet2 cable connections from the same.
Low supply voltage
High supply voltage
Recommended action
1. Check Robnet2 connectors and cable.
2. Replace Autopilot Computer Main
PCB.
Mains voltage less than 9 Volts
1. Verify in the System Data Menu
2. Switch autopilot off, charge batteries
3. Check/repair battery charger
AC20/AC40 Mains exceeds 44 V
AC10 Mains exceeds 29 V
1. Verify in the System Data Menu
2. Switch the autopilot off
3. Check / repair battery charger
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Simrad AP25 Autopilot
7 SPARE PARTS LIST
AP25 Control Unit
22087811 AP25 Control Unit
22084693 Gasket (2 mm)
22086029 Gasket (7.5 mm)
22084941 Optional mounting bracket consisting of:
22084768 Cradle
144
44163145 Locking washer for left and right bracket
44163160 Cradle, locking washer
22087829 AP25 Front Housing Ass’y
22087894 Back cover with gasket
22087738 AP25 Board Ass'y
Autopilot Computers
22088108 AC10 Autopilot Computer
22088116 AC20 Autopilot Computer
22088124 AC40 Autopilot Computer
22081707 AC20 Installation accessories
22081855 AC10 Installation accessories
22081962 AC40 Installation accessories
22081251 AC20 Power PCB Ass'y
22081715 AC10 Power PCB Ass'y
22088694 AC40 Power PCB Ass'y
22088447 AC Main PCB Ass'y (All models)
22088462 EPROM for all autopilot computers
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Spare parts list
22081434 AC10/AC20 Base plate
22082036 AC40 Base plate
RFC35 Electronic Fluxgate Compass
22086995 RFC35 Fluxgate Compass
20104972 Mounting plate (2)
44140762 Screw 3.5x25 (2)
44140770 Screw 30x9 (4)
22081178 RFC35 PCB Ass'y
RC36 Rate compass
22086920 RC36 Rate Compass
22081442 Installation Accessories Consisting of:
20104972 Mounting plate (2)
44140762 Screw 3.5x25 (2)
44140770 Screw 30x9 (4)
22086938 RC36 PCB Ass'y
24005647 Robnet2 Cable, 15 m with Plug
RF300 Rudder Feedback Unit
20193744 RF300 Rudder Feedback
20193470 RF300 transmission lever
20193454 RF300 transmission link
44133122 Transmission rod M5x325mm
20193624 RF300 Ball joint Ass'y (2)
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Simrad AP25 Autopilot
Robnet2 cables
24005613 Robnet2 cable, 1 m (3’) with two plugs
24005621 Robnet2 cable, 5 m (16’) with two plugs
24005639 Robnet2 cable, 10 m (33’) with two plugs
24005647 Robnet2 cable 15 m (49’) with one plug
SimNet cables and accessories
24005829 SimNet cable 0.3 m (1’)
24005837 SimNet cable 2 m (6.6’)
24005845 SimNet cable 5 m (16.6’)
24005852 SimNet cable10 m (33’)
24005878 SimNet cable gland
24005886 SimNet protection plug
24005894 SimNet termination plug
24005902 2 m (6.6’) SimNet power w/termination
24005910 2 m (6.6’) SimNet power w/o termination
24005936 AT10 Universal NMEA0183 converter
24005944 AT15 Active Tee w/connector, IS15
24005928 SimNet cable protection cap
24005729 SimNet cable to Micro-C. Adapter (drop) cable for
SimNet products in a NMEA2000 network.
Tools
44139806 Extraction tool for EPROM
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Technical specifications
8 TECHNICAL SPECIFICATIONS
8.1 AP25 Autopilot System
Boat size and type:..................... Up to 80 feet, Power, Displacement, Sail
Steering system types: ............... Hydraulic, Mechanical
Inter-unit connection: ................ ROBNET2 network or two-wire supply/data
System ON/OFF: ....................... From control units
Supply voltage:.......................... See autopilot computers
Power consumption: .................. Dependent on system configuration
Environmental Protection:
Control Unit:..................... IP56 from front, IP43 from back.
RC36, RFC35, CDI35: ..... IP56
RF300: .............................. IP56
AC10, AC20, AC40:......... IP44
EMC protection: ........................ EN60945 : 1993, A1 : 1993
Automatic Steering control:
Rudder Drive: ................... Proportional rate or solenoid on/off
Parameter selection:.......... Automatic with manual override
Sea state control:............... Adaptive sea state filter or manual
Language selection: ................... English, Norwegian, French, Spanish, German,
Italian, Dutch, Swedish.
Electronic Interface:
Navigation interface:......... Standard (NMEA 0183)
NMEA inp./outp. ports: Max. 6 (see autopilot computers)
NMEA input sentences:.... APA, APB, BOD, BWC, BWR, BWW, DBT,
DPT, GGA, GLL, MTW, MWV, RMA, RMB,
RMC, VHW, VLW, VTG, XTE.
NMEA output sentences:.. BWC, BWW, GLL, HDG, HDM, HDT, HSC,
RMB, RMC, RSA, VTG, XTE.
See chapter 8.13 for NMEA0183 details.
Optional output: ............... Simrad and Furuno radar display (clock/data)
NMEA2000 interface........ Via SimNet port and SimNet/NMEA2000 adapter cable
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Simrad AP25 Autopilot
Heading sensors:
Standard: ........................... RC36 Rate Compass
Options:............................. RFC35 Electronic Fluxgate compass
NMEA Compass (Not AC10)
Simrad RGC50/RGC10 gyrocompasses *
* By GI51
Course Selection:....................... Rotary course dial and push button
Alarms: ...................................... Audible and visual, optional external
Alarm modes: ............................ Off course, system failures, overload
Steering modes: ......................... Standby, Non-follow up, Follow-up, Auto, Nav,
Wind
Special Turn modes: .................. Dodging, Tacking, Gybing, U-Turn, C-Turn,
Spiral, Zigzag, Square, Lazy S, Depth contour.
Instrument screen interface:
Instrument screen
MAIN (HDG+RUDDER)
SPEED/DEPTH
APPARENT WIND
TRUE WIND/WIND
DIRECT
MOTORWAY
NMEA0183 messages and SimNet
ROBNET2 PROPRIETARY, NMEA HDT and HTG, SimNet
VHW + DBT/DPT, SimNet
MWV, SimNet
MWV + VTG/RMC; SimNet
APB + RMB + VTG + GGA/RMC, SimNet
NAV/TRACK DATA APB + VTG/RMC + GGA/RMC +
RMB/BWC, SimNet
LOG/SEA TEMPERATURE VLW + MTW, SimNet
Note ! Alternative messages are separated by slashes.
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Technical specifications
8.2 AP25 Control Unit
Dimensions: ............................... See Figure 8-1
Weight: ...................................... 0,5 kg (1.1 lbs)
Power consumption ................... 3 W
Display:
Type: ................................. Backlit LCD matrix display
Resolution: ........................ 160 x 128 pixels
Colour: ....................................... Black
Illumination: .............................. Adjustable in 10 steps
Environmental Protection:......... IP56 from front, IP43 from back.
Safe distance to compass:.......... 0.5 m (1.6 ft.)
Temperature:
Operating: ......................... 0 to +55 °C (+32 to +130 °F)
Storage: ............................. –30 to +70 °C (–22 to +158 °F)
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Figure 8-1 AP25 Control Unit – dimensions
(Mounting bracket is optional equipment)
149
Simrad AP25 Autopilot
8.3 Autopilot Computers
Dimensions: ............................... See Figure 8-2 and Figure 8-3
Weight:
AC10/AC20 ...................... 1,3 kg (2,9 lbs.)
AC40................................. 2,8 kg (6,2 lbs)
Supply voltage:
AC10................................. 10-28V DC
AC20/AC40 ...................... 10-40V DC
Reverse voltage protection ........ Yes (not AC40)
Power consumption: .................. 5 Watt (electronics)
Motor / solenoid drive:
AC10:................................ 6 A continuous, 12 A for 5 sec.
AC20:................................ 10 A continuous, 20 A for 5 sec.
AC40:................................ 20 A continuous, 40 A for 5 sec.
Heading Sensor input: ............... Composite pulse width modulated
Rudder feedback input:.............. Frequency signal, 3400 Hz., 20 Hz/deg.
Rudder feedback units: .............. RF300, LF3000
NMEA input/output ports:......... AC10: 1 (one)
AC20, AC40: 2 (two)
External Alarm: ......................... Open collector (not AC10)
Temperature range:
Operation: ......................... 0 to +55 °C (+32 to +130 °F)
Storage: ............................. –30 to +70 °C (–22 to +158 °F)
Mounting: .................................. Bulkhead mount
Material:..................................... Anodized aluminium and black ABS cover
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Technical specifications
Figure 8-2 AC10/AC20 Autopilot Computert - Dimensions
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Figure 8-3 AC40 Autopilot Computer - Dimensions
151
Simrad AP25 Autopilot
8.4 RC36 Rate compass
Dimensions: ............................... See Figure 8-4
Weight: ...................................... 0,9 kg (2,0 lbs)
Supply and interface:................. RobNet2
Power consumption: .................. 0,9 watts
Automatic Performance:
Calibration: ....................... Automatically activated by control head
Gain compensation: .......... Automatically adjusted continuously
Rate sensor stabilized heading output
Accuracy:................................... <1.25° (rms)
Repeatability:............................. <0.2° (rms)
Roll/Pitch:..................................
± 35 degrees
Cable supplied: .......................... 15 m TP shielded cable
Temperature range:
Operation: ......................... 0 to +55 °C (+32 to + 130 °F)
Storage: ............................. –30 to +70 °C (–22 to +158 °F)
Environmental Protection:......... IP56
Mounting: .................................. Deck or bulkhead
Material:..................................... White ABS
152
Figure 8-4 RC36 Rate Compass - Dimensions
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Technical specifications
8.5 RFC35 Fluxgate compass
Dimensions: ............................... Same as RC36. See Figure 8-4
Weight: ...................................... 0,9 kg (2,0 lbs)
Supply and output:..................... Polarity independent 2-wire supply with superimposed pulse width modulation
Automatic Performance:
Calibration: ....................... Automatically activated by control head
Gain compensation: .......... Automatically adjusted continuously
Repeatability:.............................
± 0.5 degrees
Roll/Pitch:..................................
± 35 degrees
Accuracy:...................................
± 3 degrees after calibration
Cable supplied: .......................... 15 m TP shielded cable
Temperature range:
Operation: ......................... 0 to +55 °C (+32 to + 130 °F)
Storage: ............................. –30 to +70 °C (–22 to +158 °F)
Environmental Protection:......... IP56
Mounting: .................................. Deck or bulkhead
Material:..................................... Black ABS
8.6 RF300 Rudder Feedback
Dimensions: ............................... See Figure 8-5 and Figure 8-6.
Weight: ...................................... 0,5 kg (1,1 lbs)
Material: .................................... Arnite T06 200 PBT
Environmental Protection:......... IP56
Temperature range:
Operation: ......................... –25 to +55 °C (–13 to +130 °F)
Storage: ............................. –30 to +70 °C (–22 to + 158 °F)
Mounting: ................................. Horizontal, vertical, or upside down
Cable supplied: .......................... 10 m (33 ft.) twisted pair shielded cable
Rudder angle:.............................
± 90 degrees
Output signal: ............................ Polarity independent two wire frequency signal
Frequency resolution: ....... Centre: 3400 Hz, 20 Hz/degree of change
Linearity:...........................
± 3 degrees up to 45 degrees of rudder
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Simrad AP25 Autopilot
Transmission link: ..................... Stainless 350mm (13.8") with 2 ball joints.
Ball joint stud for rudder arm requires 4.2mm diameter hole and 5mm tap.
154
Figure 8-5 RF300 Rudder Feedback - Dimensions
Figure 8-6 Transmission link - Dimensions
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Technical specifications
8.7 R3000X Remote Control
Dimensions: .... See Figure 8-7
Weight:............ 0,4 kg (0,9 lbs)
Material:.......... Epoxy coated aluminium
Protection ........ IP56
Safe distance to compass: 0.15 m (0.5 ft.)
Figure 8-7 R3000X - Dimensions
Temperature range:
Operation: ...–25 to +55 °C (–13 to +130 °F)
Storage: .......–30 to +70 °C (–22 to + 158 °F)
Cable length: ... 7 m, shielded
Mounting bracket:....... Supplied
8.8 JS10 Joystick
Figure 8-8
JS10 Joystick
Dimensions
Dimensions: ...............................................See Figure 8-8
Weight: .......................................................0.5 kg (1.1 lbs.)
Environmental Protection:
Joystick.............................................................. IP66
Terminals........................................................... IP20
Safe distance to compass:.......................... 0.15 m (0.5 ft.)
Shock resistance (according to MIL 202 B method 202
A):
1/2 sinusoid 11 ms:
No damage or disassembling at 100 g
Vibration resistance (according to IEC 68-2-6):
16 g with frequency range from 40 to 500 Hz and maximum shifting 0,75 mm (peak -to- peak)
Temperature range:
Operation: .....................–25 to +70°C (–13 to +158°F)
Storage: ........................ –40 to +70°C (–40 to +158°F)
Mounting: ..................................................... Panel-mount
Cable: ..................................................... 10 meters (33 ft.)
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Simrad AP25 Autopilot
8.9 FU25 Steering Lever
Dimensions: ............................... See Figure 8-9
Handle can be mounted pointing upwards or downwards.
Weight: ...................................... 1.2 kg (2.6 lbs.) including cable
Material:..................................... Polyacetal (POM)
Environmental Protection:......... IP56
Power consumption: ................. 3W
Safe distance to compass:.......... 0.15 m (0.5 ft.)
Temperature:
Operating: ......................... –25 to +55°C (–13 to +130°F)
Storage: ............................. –30 to +70°C (–22 to +158°F)
Cable:......................................... 10 m (33 ft.) cable with three twisted pairs of wire run through a cable gland.
(cable gland can alternatively be mounted on back cover; see Figure 8-9)
Max. rudder command angle:.... Equal to physical stop minus 2°
Autopilot interface:.................... Via proprietary Robnet2™ bus
Accuracy:................................... ±1° within ±40° of mid-position at 25°C
156
Figure 8-9 FU25 Steering Lever Dimensions
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Technical specifications
8.10 IS15 Rudder
Dimensions: ............................... See Figure 8-9
Weight: ...................................... 225 grams
Environmental Protection:......... IP56 from front, IP44 from rear
Power requirement: .................. 12/24 VDC, 70 mA (100 mA max with max lighting)
Safe distance to compass:.......... 0.15 m (0.5 ft.)
Temperature: Operating: ........ –0 to +55°C (+32 to +130°F)
Storage: ............................. –30 to +70°C (–22 to +158°F)
Scale: ......................................... Full deflection adjustable for any h.o. angle between ±20° and ±45°. Divisions: Marking per each 1/8 of full deflection. Accuracy: ±2° of full scale deflection.
Heading Display (Digital): ........ 0 to 359°
Heading Resolution: .................. 1°
Heading reference:..................... True or Magnetic North
Heading Lock: ........................... Course and direction to steer on digital display
Course to Steer: ......................... Settable on digital display
Display Backlighting:................ Green color with seven levels plus Off
Display Backlighting Control:... Two independent lighting banks or individual settings (bank 0)
Inputs: Rudder Angle: ............ 2-wire p.w.m.
NMEA 0183, RSA
Roblink (IS15 system)
Compass heading: ...... NMEA 0183, HDG, HDM, HDT
Outputs: Rudder Angle:............ NMEA 0183, RSA, 5 Hz*
Compass heading: ...... NMEA 0183, HDG
Other:.......................... NMEA 0183 sentences according to IS15
NMEA in/out table.
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Simrad AP25 Autopilot
Figure 8-10 IS15 Rudder - Dimensions
8.11 SimNet
Maximum number of products connected in a network:...................................... 50
Maximum cable length:............. .........................................................120 m (400’)
Bit rate of the bus: ..................... ....................................................250 Kbit/second
Maximum DC current through a single SimNet plug ......................................... 5A
SimNet power supply: ............... ................................................................. 12VDC
Maximum drop cable length:..... ...............................................................6 m (20’)
Maximum total length of all drop cables (accumulated):......................60 m (200’)
Environmental protection: Cable and plug/connector system.......................... IP66
Temperature:.............................. ........................................................ 70°C (158°F)
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Technical specifications
8.12 IP protection
Each part of a Simrad autopilot system has a two digits IP protection code.
The IP rating is a method to classify the degree of protection against solid objects, water ingress and impact afforded by electrical equipment and enclosures. The system is recognised in most European countries and is set out in a number of British and European standards.
The first code number describes the protection against solid objects, and the second number describes the protection against liquids.
FIRST NUMBER
Protection against solid objects
SECOND NUMBER
Protection against liquids
IP TESTS
0 No protection
1 Protection against solid objects up to 50 mm, eg. accidental touch by hands.
2 Protection against solid objects up to 12 mm, eg. fingers.
3 Protection against solid objects over 2.5 mm (tools + wires)
4 Protection against solid objects over 1 mm (tools + wires + small wires)
5 Protection against dust - limited ingress (no harmful deposit)
6 Totally protected against dust
IP TESTS
0 No protection
1 Protected against vertically falling drops of water (eg. condensation).
2 Protected against direct sprays of water up to 15° from the vertical.
3 Protected against sprays to 60° from the vertical.
4 Protected against water sprayed from any direction.
5 Protected against low pressure jets of water from all directions - limited ingress permitted.
6 Protected against strong jets of water, eg. for use on shipdecks - limited ingress permitted.
7 Protected against the effects of immersion between 15 cm and 1 m.
8 Protected against long periods of immersion under pressure.
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Simrad AP25 Autopilot
8.13 NMEA and SimNet messages
NMEA0183 messages and data overview for AC10, AC20, AC40
Message ident.
Data source: (n/p/h=nav/pos/heading source, c=calculated) : h h h c
Accept. cond . (N=nav. flag, P= pos. flag) :
Status flag
Compass_Data Compass heading, M 1)
Compass heading, T
2 1
3
Rudder_Data
Wind_Data
Rudder angle
Apparent wind angle
1)
Apparent wind speed 1)
True wind angle
True wind speed
Velocity made good to windward 1)3)
1
1
1
1
1 p p p
P P P
P* P P
1
Depth_Data Depth ref transducer
Transducer-Keel Offset
Speed_Temp_Data Speed through water
1)
Log distance and trip
Water temperature
Gps_Data Present position Lat, Lon 1)
COG, T
COG, M 1)
Magnetic variation
SOG 1)
Nav_Data To-wp position
1)
To-wp ident.
Bearing wp-wp, T
Bearing wp-wp, M 1)
Bearing pos-wp, T
Bearing pos-wp, M 1)
Distance pos-wp 1)
XTE 1)
Waypoint closure velocity 1)
Heading steering cmd, T / M Steering_contr1
AC NMEA-1 Rx:
AC NMEA-2 Rx:
AC NMEA-1 TX:
AC NMEA-2 TX:
Transmission interval in sec.->
1
1 2
1
1
1
1
2
4 1 2
1
5
1 x x x
1 1 1 1
.1* 1 .1* .2
x x x x x x x x x x x x x x x x x x x x x x
2
1) Information required to operate in WIND
N
mode
2) Recommended sentences for operating in WIND
N
mode
3) If the VPW sentence is not available, the autopilot will calculate the VMG internally.
160
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Technical Specifications
Indata use Remarks: p p n n n n n n n c
P P* N N N N* N* N N
P N N N d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d x x
* Pos flag or NMEA version 3.01
N/P=nav/pos data warning, *DGPS if flag=2
3
2 3
1
6 4
2 3
3 2
4
4
2 1 3
6 5 1 3 2 4
3 2 1
3 2 1
2 1 3
2 1 3*
2 1 3
3 1 2
1 x x x x x x x x x x x x x x x x x x
2 2 10 10 2 5 10
10 d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d x x x x x x x x x x x x x x * Only if Magnetic variation is present x
* HDG out if magn. sensor, HDT out if true sensor
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161
Simrad AP25 Autopilot
SimNet/NMEA2000 messages and data overview
Message ident.
Data source:
N=nav, P=pos, H=heading, D=depth, Wa=Wind apparent,
Wt=Wind True, WaS=Water Speed/ WaT=Water temp,
Dl=Distance log, C=Calculated) :
Compass Data Compass heading 1)
Rudder Data
Wind Data
Rudder angle
Apparent wind angle
1)
Apparent wind speed 1)
True wind angle
True wind speed
Depth Data
Speed Data
Distance Log Data
Temperature Data
Position Data
Navigation Data
Steering Data
APXX Gateway
Depth ref transducer
Transducer-Keel Offset
Speed through water 1)
Log distance and trip
Water temperature
Present position Lat, Lon 1)
COG 1)
Magnetic variation
SOG
1)
To-wp position 1)
To-wp ident.
Bearing wp-wp
1)
Bearing pos-wp 1)
Distance pos-wp 1)
XTE 1)
Waypoint closure velocity
1)
Heading steering cmd, T / M
H C
1
1
1
1
1
1
1
1 2
1
1 1
2 1
2 1
3 2 1
2 1 x* x x* x* x* x* x* x*
Additional PGNs supported
Simrad Propriatory
61184 Parameter Command
65480 Parameter Reply
130840 DataUserGroup Configuration
65323 DataUserGroup Request
NMEA2000
59392 ISO acknowledge
60928 ISO Adress claim
1) Information required to operate in WIND
N
mode.
Dl P P P P P P P x* x*
162
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Technical Specifications
Indata use Remarks:
* SimNet proprietary
N N C d d d d d d d d d d d
1
1
1
1
1
1 x* x* x* x d d d d d d d d d d d d d d d d d d d d d d d d d d d x x d x d x d x x d x x d x d x d x d x d x d x x d x d x d x d x d x d x d x In INFO views Depth+Offset is displayed if x offset is present
*Only transmitted if NMEA183/RC36/RFC35 is source
Date of change: 20.12.2005
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163
Simrad AP25 Autopilot
9 GLOSSARY
Apparent wind – The speed and direction from which the wind appears to blow with reference to the bow when the boat is moving (also called relative wind).
Arrival alarm – An alarm signal issued by a GPS/chartplotter that indicates arrival at or at a predetermined distance from a waypoint. (see arrival circle).
Arrival circle – An artificial boundary placed around the destination waypoint of the present navigation leg, the entering of which will signal an arrival alarm.
Bearing – The horizontal direction of one terrestrial point from another, expressed as the angular distance from a reference direction, usually measured from 000° at the reference direction clockwise through 359°.
BPW – Bearing to a specified waypoint from present position.
BWW – Bearing waypoint to waypoint - Bearing angle of the line between the “TO” and the “FROM” waypoint, calculated at the “FROM” waypoint for any two arbitrary waypoints.
COG - Course Over Ground - The actual direction of progress of a vessel, between two points, with respect to the surface of the earth, The vessel’s heading may differ from the course over ground due to the effects of wind, tide, currents.
GPS - Global Positioning System - This system is based on satellites in fixed orbits, circling the earth at an altitude of approximately 20,200 km. The system will provide the user with
24 hour a day all weather position coverage, with an accuracy of
5 to 30 meters.
Magnetic bearing – Bearing relative to magnetic north; compass bearing corrected for deviation.
Magnetic deviation – A local magnetic field onboard a vessel.
Can interfere with the earth’s magnetic field and create compass readings that may deviate from the actual magnetic heading. The deviation will vary with the actual heading.
Magnetic heading – heading relative to magnetic north.
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Glossary
Magnetic variation - A magnetic compass points to the magnetic north pole. The difference between this direction and true north is the magnetic variation. The amount and direction of this variation is dependent upon where on the earth you are located.
NMEA0183 - A format (language) designed to permit communication between various types of marine electronic equipment. In essence this is a two-wire shielded, serial data link, permitting one device to talk while other devices listen.
Numerous different sentences are available, permitting communication between various different devices.
NMEA2000 – A modern serial-data communications network to interconnect marine electronic equipment onboard vessels.
Equipment designed to this standard will have the ability to share data, including commands and status, with other compatible equipment over a single signalling channel.
Product ID – A number, suffix, acronym or term that can identify a product.
Product name – The name of a Simrad product known from sales and other literature.
Route - A stored sequence of waypoints. These waypoints will be listed in the order in which you desire to follow them.
SimNet Source – Any product or device directly connected to
SimNet or NMEA2000, or interfaced to SimNet via NMEA0183 or Robnet2.
Simrad Group – A number of Simrad products that are selecting and sharing the same data sources via the SimNet network.
Simrad Class 1 products – Simrad products that are SimNet controllers, i.e. they have an appropriate display and routines that can set up and control the SimNet.
Simrad Class 2 products – Simrad products that do not contain a SimNet controller. When connected to SimNet they will automatically pick the first available source on SimNet and lock on to that. When a Class 1 product is added to the Simrad Group,
Class 2 products will automatically subordinate themselves to the Class 1 source selection.
SOG - Speed over ground is the actual speed of the vessel relative to the ocean floor.
165
Simrad AP25 Autopilot
True bearing – Bearing relative to true north; compass bearing corrected for compass error.
True heading – Heading relative to true north (the meridian).
Waypoint - A discrete point, stored in a navigator, located on the surface of the earth. Normally this point will be identified by
Lat/Lon coordinates although in some systems it may be shown by T.D.'s.
XTE - Cross Track Error - Used to identify a vessels position relative to a straight line drawn between two waypoints. The amount the vessel is off to the left or to the right of this line is known as the track. It is normally displayed in thousands of a nautical mile, equal to 6 ft or 1.85 m.
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Index
10 INDEX
A alarm external, 93 listing, 139 apparent wind, 42, 47, 164 arrival circle, 39 auto source update, 53 automatic tuning, 121 autopilot computer installation, 69 maintenance, 135 autotrim, 128
B backlight, 50 boat type, 100
BPW, 38, 47, 164
C cable
Robnet, 77 specifications, 70 compass calibration, 116 maintenance, 135 offset, 118 selection, 54 contrast, 55 control unit front panel, 16 installation, 76 maintenance, 135 specifications, 149 counter rudder, 56 setting, 127 course adjust, 55 course detector interface specifications, 152 course knob icon, 50 course over ground, 47 course to steer, 37, 58 cross track error, 37, 47, 166
C-turn, 25, 55
D depth offset, 121 depth source, 54 depth unit, 113 depth-turn, 30, 55 deviation, 117 display units, 113 dockside settings, 100 dodging, 32 drive engage, 105
Drive out, 104 drive unit hydraulic pumps, 72 installation, 72 linear drive, 72 maintenance, 135 reversible pump, 74 solenoid valve, 75 stern drive, 18 voltage, 101
DTT, 47, 107
E
ETT, 47, 107
F fluxgate compass installation, 80 specifications, 153 follow-up steering, 19
G grounding, 70 gybing, 43, 44
H heading capture, 21
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167
Simrad AP25 Autopilot
I illumination. See backlight
Init NAV, 123 instrument installation, 91 log, 55, 61 main, 55, 61 menu, 60 motorway, 55, 61 nav data, 55, 61 position, 55, 61 screen, 60 select, 55, 61
SOG/depth, 55, 61 speed/depth, 55, 61 wind angle, 55, 61 wind direction, 55, 61 wind shift, 55, 61 interface setting, 113 interfacing, 83
IP protection code, 159
J junction unit specifications, 150
L language, 98 layline, 47, 60 lazy S-turn, 29, 55 linear feedback installation, 93 lock function, 48 log source, 54
M master reset, 132
Minimum rudder, 115 minimum wind angle, 106 modes of operation auto, 21 nav(igating), 37
NoDrift, 35
168 standby, 16 turn, 24 wind, 41 multiple station, 48
N
NAV change limit, 124
NAV source, 50
Nav/Wind, 51 navigating, 37 navigation source, 54
NFU Steering lever, 13
NMEA compass, 12, 90
NMEA data, 129
NMEA input/output, 89
NMEA messages, 160
NMEA test, 130
NMEA0183, 165
NMEA2000, 53, 86, 165
NoDrift, 35, 50, 54 non-follow-up steering, 19
P parameter selection automatic, 22 manual, 23 position source, 54
Q quick setup, 59
R racing, 47, 51, 106 radar connection, 91 radar interface, 113 rate compass installation, 81 recall autotuned, 128 remote control installation, 82 specifications, 155 response, 56 rudder, 56
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20221495F setting, 127 rudder deadband, 105
Rudder deadband, 131 rudder feedback calibration, 102 installation, 67 maintenance, 135 specifications, 153 rudder limit, 128
Rudder play compensation,
124 rudder test, 103 rudder zero, 115
S sea trial, 114, 132 seastate filter, 57 shallow water, 54, 58
SimNet, 9, 11, 53, 83 backlight, 131 gateway, 131 number, 131 reset, 131 setup, 131 source, 131
SimNet messages, 162
SimNet source, 165
Simrad group, 131 software program exchange,
137 software setup, 95 source manually update, 53 source select, 53 specifications, 147 spiral-turn, 26, 55 square-turn, 28, 55 steering lever installation, 82 system basic, 10 components, 10 specifications, 147 system data, 128
Terms of Warranty
T tack angle, 107 tack time, 43, 107 tacking in auto mode, 35 in wind mode, 43 thrust direction, 119 thruster, 52 thruster interface, 13 thruster sensitivity, 57
Thruster steering, 33 transition speed, 123 trip reset, 52, 57 true bearing, 166 true heading, 166 turn on, 95 turn pattern, 55
U user training, 133
U-turn, 24, 55
V
Virtual feedback, 100, 109,
124, 125
VMG, 47, 59, 107
W water speed source, 54 water temperature source, 54 water temperature unit, 113 wind damping, 120 offset, 120 wind angle source, 54 wind apparent, 52 wind auto, 51 wind calculated source, 54 wind response, 58 wind setup, 51, 106 wind shift limit, 108, 109 wind speed unit, 113 wind true, 52
169
Simrad AP25 Autopilot wind vane steering, 41 Z zigzag-turn, 27, 55
170
20221495F
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