Page 1 MANUAL Simrad AP16 Autopilot...
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Page 3 AP16 autopilot. Great care has been paid to simplify operation and set-up of the Simrad AP16, however, an autopilot is a complex electronic system. It is affected by sea conditions, speed of the vessel, hull shape and size.
Page 4 Simrad AP16 Autopilot Document revisions Date Written by Checked by Approved by 19.03.04 Document history Rev. A First edition. 20221560A...
Page 5: Table Of Contents
Instruction manual Contents System description ..................9 1.1 General ....................9 1.2 How to use this manual................. 9 1.3 System components................10 1.4 AP16 Control Unit ................11 1.5 Autopilot Computer ................11 1.6 RF300 Rudder Feedback unit ............. 11 1.7 Heading Sensors..................
Page 6 Simrad AP16 Autopilot 2.8 Automatic control of steering parameters........... 21 Power boats ..................21 Sailboat....................22 2.9 Manual Parameter Selection ............... 22 2.10 U-turn ....................23 2.11 Dodge in AUTO.................. 24 2.12 Tacking in Auto mode ................ 25 2.13 Navigating with the AP16..............25 Setting the waypoint arrival circle ............
Page 7 Instruction manual Installation....................49 3.1 General ....................49 3.2 Installation checklist ................49 3.3 Unpacking and handling ..............50 3.4 Determine system configuration ............50 3.5 AP16 System Layout ................51 3.6 RF300 Rudder feedback installation........... 51 3.7 Autopilot computer installation ............53 3.8 Cable connections ................
Page 8 Simrad AP16 Autopilot 3.23 NMEA Compass input................ 73 3.24 Radar Clock/Data................74 3.25 IS15 Instrument installation ..............74 3.26 External Alarm..................75 3.27 LF3000 Linear Feedback ..............76 Configuration and setup ................79 4.1 First time turn on................. 79 4.2 Description of Installation Settings............. 80 4.3 Installation Menu ................
Page 9 Instruction manual Wind damping..................97 Depth Offset..................98 Automatic tuning................. 98 Transition Speed ................. 99 Init NAV ................... 100 4.8 Parameters ..................101 Manual parameter adjust..............101 Recall Autotuned?................103 4.9 Service Menu ..................104 System Data Menu ................104 SimNet and NMEA Data Screen ............
Page 10 Simrad AP16 Autopilot 8.2 AP16 Control Unit ................123 8.3 Autopilot Computers................. 125 8.4 RFC35 Fluxgate compass ..............127 8.5 RC36 Rate compass ................128 8.6 RF300 Rudder Feedback..............128 8.7 R3000X Remote Control ..............130 8.8 JS10 Joystick..................130 8.9 IS15 Rudder ..................
Page 11: System Description
System Description SYSTEM DESCRIPTION General Congratulations on the purchase of your new Simrad AP16 autopilot system and thank you for selecting what we feel is the most advanced autopilot system available on the market today. Today, Simrad manufactures a complete range of autopilots for all types of vessels, from recreational boats to merchant marine vessels.
Page 12: System Components
Simrad AP16 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. System components A basic AP16 system consists of the following units (refer to Figure 1-1): −...
Page 13: Ap16 Control Unit
System Description AP16 Control Unit A compact autopilot control for panel, bulkhead or bracket mounting. It has a multifunction LCD 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.
Page 14: Heading Sensors
Simrad AP16 Autopilot Heading Sensors The AP16 autopilot can be used with the following combinations of heading sensors: RFC35 Electronic Fluxgate Compass 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.
Page 15: Optional Equipment
System Description Optional equipment A series of options are available for the basic AP16 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.
Page 16 Simrad AP16 Autopilot 20221560A...
Page 17: Operation
Operation 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 •...
Page 18: On/Off - Standby Mode
Simrad AP16 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"...
Page 19: Flashing Course Knob Icon
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.
Page 20: Zero Point Setting
Simrad AP16 Autopilot Zero point setting If you do not need a rudder angle display when leaving the dock, Note ! just steer the boat manually on a straight course and press the AUTO button. The zero point is then set automatically.
Page 21: R3000X Remote Control (Nfu)
Operation Activates Activates PORT rudder STBD command rudder command When a NFU steering lever or remote control is operated, other Note ! control units become “Inactive”. R3000X Remote Control (NFU) In STANDBY mode, the rudder will SIMRAD move as long as the Port or Stbd Push button for button is pressed.
Page 22: Js10 Joystick (Nfu)
Simrad AP16 Autopilot JS10 Joystick (NFU) 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 Note ! control units become "Inactive".
Page 23: Heading Catch
Operation Heading catch When in AUTO modes this feature allows you to automatically cancel the turn you are in by an instant press on the AUTO button. 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 button.
Page 24: Sailboat
Simrad AP16 Autopilot Speed 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.
Page 25: U-Turn
Operation To toggle between LO and HI parameters, press the "AUTO" button two times quickly. A AUTO 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.
Page 26: Dodge In Auto
Simrad AP16 Autopilot 2.11 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.
Page 27: Tacking In Auto Mode
Operation 2.12 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.
Page 28 Simrad AP16 Autopilot − 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.
Page 29: Setting The Waypoint Arrival Circle
Operation − NAV mode − Course to steer (CTS): 353 is set internally by the autopilot to steer the boat onto the track line. − Cross track error (XTE): 0.012 nm to stbd. − Compass heading: 352° M. − Rudder angle: 00° For Cross Track Error, the number of decimals shown depends Note ! on the output from the GPS/chart plotter.
Page 30: Dodge In Nav
Simrad AP16 Autopilot The figure below may be used to select the appropriate waypoint circle on the GPS/chartplotter. 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...
Page 31: Selecting A Different Navigation Source
Operation press on the TURN/DODGE button or until you select another mode. TURN DODGE Quick double press on TURN/DODGE to activate Dodge mode Perform dodging the same way as in AUTO mode above. To return from Dodge mode, press one of the following: Selects AUTO mode with the current heading as AUTO the set course.
Page 32 Simrad AP16 Autopilot The set course to steer (CTS) and set wind angle are entered from the compass heading and the wind transducer 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.
Page 33: Tacking In Wind Mode
Operation 2.17 Tacking in Wind mode In WIND mode there is a tacking and gibing 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.
Page 34: Gybing
Simrad AP16 Autopilot Gybing 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.
Page 35: Wind Steering And Navigation
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.
Page 36 Simrad AP16 Autopilot [2] [4] [3] [7] Figure 2-2 20221560A...
Page 37: Operating In Wind Nav Mode
Operation Operating in WIND 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°...
Page 38: Multiple Station System
Simrad AP16 Autopilot 2.19 Multiple station system In normal operation control is accessible from every control unit connected to the AP16 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.
Page 39: User Set-Up Menu
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.
Page 40: Standby Mode
Simrad AP16 Autopilot 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 107).
Page 41 Operation Nav/Wind, RACING parameters If ‘Wind setup’ is set to ‘RACING’ in the Installation/Dockside menu (see page 88), more settings are available under the ‘Nav/Wind’ parameter: • NAV • WIND Apparent • WIND True • WIND Auto Default: WIND Auto The ‘Nav/Wind’...
Page 42 Simrad AP16 Autopilot Layline Steering ‘Layline steering’ can only be enabled or disabled when ‘Wind setup’ is set to ‘RACING’. It is enabled in the ‘NORMAL’ sub-mode. . 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.
Page 43 Operation Source Select Provides you with automatic or manual selection of interfaced data sources heading (Compass), Navigation, Position, Wind Angle, Wind Calculated, Water speed, Water temperature, Distance log and Depth. Wind-C(alculated) is a common term for true wind and wind direction. Auto source update Is used for automatic selection of the interfaced sources or for automatically update of sources if the interfaced...
Page 44 Simrad AP16 Autopilot Compass Select the compass to be used if more than one compass is connected. Navigation Select the source for navigational data. Position Select the source for position data. Wind Angle Select the source for Wind Angle. Wind Calculated Select the source for Calculated Wind data.
Page 45: Auto Mode
Operation 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. Seastate filter OFF: Seastate filter is disabled. AUTO: Automatically reduces rudder activity and autopilot sensitivity in rough weather by an adaptive process (default).
Page 46: Nav Mode
Simrad AP16 Autopilot NAV Mode The User setup for NAV mode is identical to the User setup for AUTO mode. WIND Mode The User setup for WIND mode includes the same functions as the User setup for AUTO mode. In addition you have the:...
Page 47: Info Menu
Operation 2.22 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 (see page 107). The INFO menu is accessed by a single press on the INFO/SETUP button.
Page 48 Simrad AP16 Autopilot True wind Wind angle Wind Speed VMG to wind Wind direction True wind speed Wind shift angle Track data Waypoint name Bearing Position – Waypoint Cross Track Error Nav data Waypoint name Bearing Position – Waypoint Course Over Ground...
Page 49: Course Knob Icon
Operation 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.
Page 50: Info Menu And Main Screen Active Unit
Simrad AP16 Autopilot INFO menu and Main screen active unit INFO-menu Main screen 3-5 sec. time out Whenever the INFO menu is active and the mode index is Note ! present on an active unit, operating the PORT and STBD buttons will immediately make the main screen reappear.
Page 51: Installation
Installation INSTALLATION General This section provides detailed information required to successfully installing AP16 Autopilot system. The AP16 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: −...
Page 52: Unpacking And Handling
Simrad AP16 Autopilot d) Automatic tuning e) Viewing parameters 9. Test Autopilot Operation at Sea (refer to Sea Trial instructions, pages 91, 109) 10. Provide the user with training (Page 110) Unpacking and handling Care should be taken when unpacking and handling the equipment.
Page 53: Ap16 System Layout
Installation AP16 System Layout STBY AUTO STBY STBY AUTO AUTO pfjo^a=oPMMMu INFO INFO TURN TURN WIND WIND SETUP DODGE SETUP DODGE STBY AUTO SPEED SETUP TURN Figure 3-1 AP16 system layout with options 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.
Page 54 Simrad AP16 Autopilot 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.
Page 55: Autopilot Computer Installation
Installation AUTOPILOT COMPUTER MAIN PCB Rudder Feedb. * NON POLARIZED (COLOR INDEPENDENT) Figure 3-3 RF300 connection Autopilot computer installation junction unit designed to operate in a location that provides ambient temperatures below +55°C (+130°F). The autopilot computer Note ! units (AC10, AC20 and AC40) weatherproof and should be mounted vertically as...
Page 56: Grounding And Rfi
Simrad AP16 Autopilot Refer to the table below for recommended cable sizes. Cable length Drive Unit Voltage 1. Breaker panel to autopilot computer. 12 V 24 V 2. Autopilot computer to Drive Unit motor (Length refers to each of the two cables) Up to 3 m (10 ft.)
Page 57 Installation Note! Ground terminal The Mains input is not polarity protected on AC40. Power Board terminals TB9 and TB10 are not on the AC10 Power Board Main Board terminals 20221560A...
Page 58: Drive Unit Installation
Simrad AP16 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 page 58 onwards.
Page 59 Installation LINEAR DRIVE UNITS MODEL MOTOR AUTO- PEAK HARD- PWR. TILLER VOLTS PILOT STROKE THRUST RUDDER OVER CON- COM- mm (in.) kg (lb.) TORQUE TIME SUMP. PUTER sec. (in.) (lb.in.) (30% load) MLD200 AC10 300 (11,8) 1,5-6 A (440) (4350) (10,4) HLD350 AC10...
Page 60: Connecting A Reversible Pump
Simrad AP16 Autopilot PREVIOUS MODELS OF DRIVE UNITS Model Autopilot Drive unit Input Drive output Interface to computer voltage voltage steering (Mains) gear RPU100 (1,0l) AC20 12,24,32V Proportional Hydraulic RPU150 (1,5l) AC20 rate plumbing RPU200 (2,0l) AC20 (Reversible hydraulic pump)
Page 61: Connecting A Hydraulic Linear Drive
Installation Connecting a hydraulic linear drive HYDRAULIC AUTOPILOT COMPUTER LINEAR DRIVE POWER PCB TB1 TB2 TB3 TB4 TB5 Bypass Clutch Single pole clutch/bypass switch Figure 3-6 Connecting a hydraulic linear drive Connecting a solenoid valve AUTOPILOT COMPUTER SOLENOID POWER PCB VALVE TB1 TB2 TB3 TB4 TB5 Sol.
Page 62: Control Unit Installation
Simrad AP16 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.
Page 63: Robnet2 Network Cables
Installation − 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).
Page 64 Simrad AP16 Autopilot 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').
Page 65: Ap27 Connection
Installation AP16 CONTROL UNIT AUTPILOT COMPUTER REAR VIEW MA IN PCB TB15 Pnk Gry Yel ROBNET Figure 3-11 Control unit connection J1 and J2 (left) are Robnet2 connectors. J3 and J4 are SimNet connectors. AP27 connection If a Simrad AP27 is part of the system, use the SimNet connector in a free receptacle (see Figure 3-9).
Page 66 Simrad AP16 Autopilot The heading sensor is the most important part of the AP16 system and great care should be taken when deciding the mounting location. As the heading is displayed on the AP16 Control Unit, the heading sensor can be mounted at a remote location.
Page 67: Rc36 Rate Compass Installation
Installation RFC35 AUTOPILOT COMPUTER FLUXGATE COMPASS MAIN PCB Heading Sensor * NON POLARIZED (COLOR INDEPENDENT) Figure 3-13 RFC35 connection 3.14 RC36 Rate Compass installation (Optional) The RC36 Rate Compass also contains a magnetic heading sensor, which means you have to take the same precautions at installation as for the standard RFC35 (see previous page).
Page 68: Js10 Joystick
Simrad AP16 Autopilot 3.16 JS10 Joystick Refer to separate installation procedure for 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 junction unit according to Figure 3-15.
Page 69: Simnet
Installation The NMEA0183 output may also drive Simrad IS15 instruments directly. The different connecting diagrams on the following pages illustrate the interface possibilities of the autopilots. 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.
Page 70 Simrad AP16 Autopilot In a small system consisting of maximum 5 SimNet products and a total length of 5 m SimNet cable you need the SimNet power cable with built in termination (red disc on cable plug). For further information about SimNet ask for the separate SimNet Manual.
Page 71 Installation a^q^ `lj_f `lj_f `lj_f pfjo^a=fpNO pfjo^a=fpNO pfjo^a=fpNO pfjo^a=fpNO rmmbo iltbo ifdeq ^i^oj rmmbo iltbo ifdeq ^i^oj rmmbo iltbo ifdeq ^i^oj rmmbo iltbo ifdeq m^db fkcl fkcl qfjbo fkcl fkcl qfjbo fkcl fkcl qfjbo fkcl fkcl STBY AUTO INFO TURN SETUP WIND DODGE...
Page 72 Simrad AP16 Autopilot `lj_f `lj_f a^q^ pfjo^a=fpNO pfjo^a=fpNO pfjo^a=fpNO STBY AUTO INFO ^i^oj rmmbo iltbo ^i^oj rmmbo iltbo ifdeq m^db rmmbo iltbo ifdeq ifdeq fkcl fkcl TURN qfjbo fkcl fkcl qfjbo fkcl fkcl WIND SETUP DODGE Figure 3-19 Robnet2 and SimNet network...
Page 73 Installation STBY AUTO WIND STBY AUTO SETUP DODGE INFO TURN SETUP WIND DODGE Figure 3-20 Robnet2, SimNet and Roblink network Maximum total length of SimNet cable is 40 m (130 ft.) excluding the 30 m (99 ft.) of masthead cable. It is not necessary to connect all autopilot control units to Note ! SimNet for data sharing.
Page 74: Single Nmea Input/Output
Simrad AP16 Autopilot 3.20 Single NMEA input/output NAV RECEIVER AUTOPILOT COMPUTER OR PLOTTER MAIN PCB (NMEA talker) TB13 TB14 NMEA listener NMEA NMEA Output1 Input 1 Note IS15 RUDDER IS15 COMPASS RADAR Figure 3-21 Single NMEA connection If an IS15 Instrument is powered from TB14 Vbat+ and Gnd,...
Page 75: Nmea Output On Port 2
Installation 3.22 NMEA output on Port 2 Output signal Output terminal Output sentence Continuous output of compass Autopilot Computer Power HDT (True) or HDG (Magn.) heading at 10 Hz (10x/sec.) PCB. depending on heading source. Rudder angle output at 5 Hz NMEA2, TX2+, TX2–...
Page 76: Radar Clock/Data
Simrad AP16 Autopilot 3.24 Radar Clock/Data SIMRAD/ AC20/AC40 AUTOPILOT COMPUTER ANRITSU P O W E R P C B FURUNO T B 1 0 T B 8 T B 9 RADAR R a d a r Figure 3-24 Radar Clock/Data connection 3.25...
Page 77: External Alarm
Installation If IS15 Expander is used in the instrument system, the NMEA connections are made to this unit. See Figure 3-26. Figure 3-25 IS15 Instruments / Autopilot computer connection Figure 3-26 IS15 Expander / Autopilot computer connection 3.26 External Alarm The external alarm circuit has an open collector output for an external alarm relay or buzzer.
Page 78: Lf3000 Linear Feedback
Simrad AP16 Autopilot AUTOPILOT COMPUTER POWER PCB Ext. alarm Figure 3-27 External alarm connection 3.27 LF3000 Linear Feedback The rod of the LF3000 is not locked in place in the cylinder. Caution ! Pay attention as it may slip out of its housing and end up on the seabed.
Page 79 Installation 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.
Page 80 Simrad AP16 Autopilot 20221560A...
Page 81: Configuration And Setup
Configuration and setup CONFIGURATION AND SETUP First time turn on Before attempting to turn on the AP16 and perform an Installation Setup, the hardware installation and electrical connections must be completed in accordance with the installation instructions. The design of the AP16 includes advanced features that have simplified the installation and setup of an autopilot.
Page 82: Description Of Installation Settings
Simrad AP16 Autopilot Description of Installation Settings The installation settings must be performed as part of the Note ! installation of the AP16 system. Failure to do so correctly may prohibit the AP16 from functioning properly! The Installation menu can only be accessed in STBY mode.
Page 83: Installation Menu
Configuration and setup − 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. Installation Menu Installation Menu...
Page 84 Simrad AP16 Autopilot ENTER INSTALLATION MENU INSTALLATION SYMBOLS BY PRESSING AND HOLDING THE MENU NAV BUTTON FOR 5 SECONDS SELECT OR CONFIRM LANGUAGE MENU PROCEED TO NEXT MENU ITEM LANGUAGE ENGLISH BY PRESSING STBD 1 BUTTON DEUTSCH FRANCAIS REVERT TO PREVIOUS...
Page 85: Language Selection
Configuration and setup Language selection To access the language selection in the Installation Menu, confirm “Yes” by pressing the STBD 10 button. The AP16 can present the display text in eight different languages: English, Deutsch, Francais, Espanol, Italiano, Nederlands, Svenska and Norsk. Press the STBD 10 or PORT 10 buttons to select language.
Page 86: Boat Type
Simrad AP16 Autopilot Select STANDBY mode and enter the Installation Menu as previously described. Select Dockside by pressing STBD 1 button and confirm by pressing the STBD 10 button. Boat type Actual boat type is selected by pressing the STBD 10 or PORT 10 buttons.
Page 87: Rudder Feedback Calibration
Configuration and setup the output voltage to the solenoids will be the same as the input voltage. Proceed to next menu item by pressing STBD 1 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).
Page 88: Rudder Test
Simrad AP16 Autopilot Rudder zero may still be inaccurate and should be adjusted later during sea trial. Proceed to next menu item by pressing STBD 1 button. Rudder Test If the boat uses power assisted steering, it is important that the...
Page 89: Drive Engage
Configuration and setup speed on automatic steering (Maximum speed is used in NFU mode). The screen also tells whether a clutch is installed or not. If the Automatic rudder test fails, refer to ”Alarms” beginning on page 114 Test of LF3000/LFI3000 Mk2 feedback 1.
Page 90: Rudder Deadband
Simrad AP16 Autopilot Rudder Deadband The rudder deadband function is adaptive 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.
Page 91: Minimum Wind Angle (Normal)
Configuration and setup 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.
Page 92: Tack Time (Racing)
Simrad AP16 Autopilot Tack time (RACING) When performing tack 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...
Page 93: Interface Settings
Configuration and setup 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. Press the STBD 10 button to access the Interface Setup items. Use the PORT 10 or STBD 10 buttons to select the connected type of radar.
Page 94: Sea Trial
Simrad AP16 Autopilot Exit the Display units menu by pressing STBD 1 button to proceed to the Sea trial menu, or press STBY to return to normal AP16 operation. Sea Trial The Sea-trial must always be performed in open waters at a Caution ! safe distance from other traffic.
Page 95: Set Rudder Zero
Configuration and setup Set Rudder zero 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. −...
Page 96: Compass Calibration
Simrad AP16 Autopilot Compass calibration This function will activate the compass calibration procedure for Simrad compasses connected to Robnet2 and the Autopilot Computer terminals (HS). Notes ! The RC36 Rate Compass that comes with the autopilot as standard will store the calibration and off-set data in its own memory.
Page 97 Configuration and setup 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.
Page 98: Compass Offset
Simrad AP16 Autopilot 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 1 button or return to STANDBY mode by pressing the STBY button.
Page 99: Wind Offset
Configuration and setup Wind Offset This offset only applies if you have a wind transducer directly Note ! 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.
Page 100: Depth Offset
Simrad AP16 Autopilot boat speed that is 1.5 times the Transition Speed set in the Installation/Seatrial menu. Range: 1 – 100 seconds Use the PORT 10 or STBD 10 button to adjust Default: 15 seconds Depth Offset This adjustment only applies to “smart” depth transducers that Note ! outputs depth on NMEA2000 format.
Page 101: Transition Speed
Configuration and setup 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.
Page 102: Init Nav
Simrad AP16 Autopilot 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.
Page 103: Parameters
Configuration and setup Parameters To access the Parameters, press the STBY 10 button. 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.
Page 104 Simrad AP16 Autopilot The values in the table are factory set (default) and listed for Note ! 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.
Page 105: Recall Autotuned
Configuration and setup New course Counter rudder setting too high, sluggish and creeping response 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.
Page 106: Service Menu
Simrad AP16 Autopilot Service Menu The Service menu includes System data and NMEA data which are test functions to analyze data processed by the AP16. The menu can be useful when testing or trouble shooting the system. Select STANDBY mode.
Page 107: Simnet And Nmea Data Screen
Configuration and setup 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. To exit the menu, press any mode key (STBY, AUTO or NAV). SimNet and NMEA Data Screen Select STANDBY mode.
Page 108 Simrad AP16 Autopilot For all data items, one of the following codes will displayed: – – – No data or no NMEA sentence containing the data needed is available at the input port. Valid data found Message with invalid information.
Page 109: Nmea Port Test (Ac Hardware)
Configuration and setup 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”...
Page 110 Simrad AP16 Autopilot Group selection SIMRAD: Autopilot is part of Simrad Group. Source selection will be common for the products group (synchronized). STAND ALONE: Source selection for the autopilot will not be transferred to other products in the Simrad Group (no synchronization).
Page 111: Master Reset
Configuration and setup Master Reset A Master Reset is part of the final test at the factory, which will Note ! 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.
Page 112: Providing User Training
Simrad AP16 Autopilot − Set waypoints into each navigator connected to the system, and verify that the AP16 steers in NAV mode for each NAV source. − If the boat is a sailboat use the WIND mode and try the AP16 at different settings of the apparent wind angle.
Page 113: Maintenance
Maintenance MAINTENANCE Control unit The AP16 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.
Page 114: Exchange Of Software Programme
Simrad AP16 Autopilot Exchange of software programme Autopilot Computer Autopilot Computer EPROM 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.
Page 115: Autopilot Control Unit
Maintenance Autopilot Control Unit You will need a special kit for a PC to perform the programming of the Control Unit. Order the following from Simrad: Programming kit P/N 22088595. Instructions are included. Software download connector Figure 5-2 Part of AP16 PCB Remove the cables and unscrew the screws that secure the back cover.
Page 116: Trouble Shooting
Simrad AP16 Autopilot 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 AP16’s numerous test features will assist you in isolating a probable fault.
Page 117 Trouble shooting Display readout Probable fault Recommended action Shallow water The depth is inside 1. Carefully observe the actual the set limit or outside depth. (Only if AP25 is the range. part of the 2. Adjust the alarm limit if not system) Depth data is missing.
Page 118 Simrad AP16 Autopilot Display readout Probable fault Recommended action Rudder test failed Following conditions Refer to recommended actions for may exist: the specific probable faults. a) Rudder feedback failure b) Autopilot Computer current overload c) Bypass/clutch overload Rudder moves in only...
Page 119 Trouble shooting Display readout Probable fault Recommended action Failure active Active control unit 1. Press the STBY button on an Control Unit goes silent. "Inactive" unit to reset. 2. Check/repair RobNet2 cable. 3. Replace the control unit PCB. ACXX current The drive unit shut 1.
Page 120 Simrad AP16 Autopilot Display readout Probable fault Recommended action Com. failure with Faulty Autopilot 1. Check Robnet2 connectors and ACXX Computer or poor cable. Robnet2 cable 2. Replace Autopilot Computer Main connections from PCB. the same. Low supply Mains voltage less 1.
Page 121: Spare Parts List
Spare parts list SPARE PARTS LIST AP16 Control Unit 22087399 AP16 Control Unit 22088207 AP16 mounting kit consisting of: 22087589 Gasket 22084529 Cabinet corner 44165181 Screw 3,5x19 44165645 Screw 3,5x32 22088249 Optional mounting kit consisting of: 44141778 Screw M4x12 22087621 Cradle 22087605 Right bracket 22087613 Left bracket 22084859 Locking knob...
Page 122 Simrad AP16 Autopilot 22082036 AC40 Base plate 22081350 Main cover 22081368 Terminal cover RFC35 Electronic Fluxgate Compass 22081459 RFC35 Fluxgate Compass 22081442 Installation accessories consisting of: 20104972 Mounting plate (2) 44140762 Screw 3.5x25 (2) 44140770 Screw 30x9 (4) 22081376 Plug (2)
Page 123 Spare parts list 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 24005662 Robnet2, T-joint SimNet cables and accessories...
Page 124: Technical Specifications
Simrad AP16 Autopilot TECHNICAL SPECIFICATIONS AP16 Autopilot System Boat size and type:..... Up to 80 feet, Power, Displacement, Sail Steering system types: ....Hydraulic, Mechanical Inter-unit connection: ....ROBNET network or two-wire supply/data System ON/OFF: ....... From control units Supply voltage:......See junction units Power consumption: ....
Page 125: Ap16 Control Unit
Technical specifications Heading sensors: Standard: ......RFC35 Electronic Fluxgate compass Options:......RC25 Rate 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: ......
Page 126 Simrad AP16 Autopilot 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: ......
Page 127: Autopilot Computers
Technical specifications 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: ....
Page 128 Simrad AP16 Autopilot Figure 8-2 AC10/AC20 Junction Unit - Dimensions Figure 8-3 AC40 Junction Unit - Dimensions 20221560A...
Page 129: Rfc35 Fluxgate Compass
Technical specifications RFC35 Fluxgate compass Dimensions: ....... 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:......
Page 130: Rc36 Rate Compass
Simrad AP16 Autopilot RC36 Rate compass Dimensions: ....... Same as RFC35. See Figure 8-4 Weight: ........0,9 kg (2,0 lbs) Supply and interface:....Robnet Power consumption: ....0,9 watts Automatic Performance: Calibration: ....... Automatically activated by control head ..Gain compensation: ..Automatically adjusted continuously Rate sensor stabilized heading output Accuracy:........
Page 131 Technical specifications Frequency resolution: ..Centre: 3400 Hz, 20 Hz/degree of change Linearity:......± 3 degrees up to 45 degrees of rudder Transmission link: ..... Stainless 350mm (13.8") with 2 ball joints. Ball joint stud for rudder arm requires 4.2mm diameter hole and 5mm tap.
Page 132: R3000X Remote Control
Simrad AP16 Autopilot 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.) Temperature range: Operation: ...–25 to +55 °C (–13 to +130 °F) Storage: ..–30 to +80 °C (–22 to + 176 °F)
Page 133: Is15 Rudder
Technical specifications IS15 Rudder Dimensions: ....... See Figure 8-9 Weight: ........225 grams Material:........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: ..
Page 134: Simnet
Simrad AP16 Autopilot Figure 8-9 IS15 Rudder - Dimensions 8.10 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: ....
Page 135: Ip Protection
Technical specifications 8.11 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.
Page 136: Nmea And Simnet Messages
Simrad AP16 Autopilot 8.12 NMEA and SimNet messages. NMEA0183 messages and data overview for AC10, AC20, AC40 Message ident. Data source: p p p (n/p/h=nav/pos/heading source, c=calculated) Accept. cond P P P . (N=nav. flag, P= pos. flag) Status flag...
Page 137 Technical Specifications Remarks: Indata use p p n n n n n P P* N N N* N* N N * Pos flag or NMEA version 3.01 N/P=nav/pos data warning, *DGPS if flag=2 1 3* x * Only if Magnetic variation is present 10 10 2 5 10 * HDG out if magn.
Page 138 Simrad AP16 Autopilot SimNet/NMEA2000 messages and data overview Message ident. Data source: (N/P/H/D/Wa/Wt/WaS/WaT/Dl=nav/pos/heading/depth/Wind P P P P P P apparent/Wind True/Water Speed/Water temp/Distance log, C=Calculated) Compass Data Compass heading Rudder Data Rudder angle Wind Data Apparent wind angle Apparent wind speed...
Page 139 Technical Specifications Remarks: Indata use * SimNet proprietary x In INFO views Depth+Offset is displayed if x offset is present *Only transmitted if NMEA183/RC36/RFC35 is source x* x* x* 20221560A...
Page 140: Glossary
Simrad AP16 Autopilot 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.
Page 141 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.
Page 142 Simrad AP16 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.
Page 143: Index
Instruction manual INDEX depth offset, 98 depth source, 42 display units, 91 alarm dockside settings, 83 external, 75 dodging, 24 listing, 114 dodging in Nav mode, 28 apparent wind, 30, 39, 138 drive engage, 87 arrival circle, 27 drive out, 86 auto setup, 79 drive unit automatic tuning, 98...
Page 144 Simrad AP16 Autopilot lock function, 36 rudder angle, 104 log source, 42 Rudder deadband, 88 loopback, 107 rudder feedback calibration, 85 installation, 51 maintenance, 111 master reset, 80, 109 specifications, 128 Minimum rudder, 93 rudder limit, 103 minimum wind angle, 89...
Page 145 Instruction manual tacking in auto mode, 25 water speed source, 42 in wind mode, 31 water temperature source, 42 transition speed, 21, 99 wind True bearing, 140 damping, 97 True heading, 140 offset, 97 true wind, 30, 39 wind angle adjust, 89 turn on, 79 wind angle source, 42 wind auto, 38...
Page 146 Simrad AP16 Autopilot...

Kongsberg Simrad AP16 Manual

1 System Description

2 Operation

3 Installation

4 Configuration and Setup

5 Maintenance

6 Trouble Shooting

7 Spare Parts List

8 Technical Specifications

9 Glossary

10 Index

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