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Simrad AP16 Manual

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MANUAL
Simrad AP16
Autopilot

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  • Page 1 MANUAL Simrad AP16 Autopilot...
  • 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 03.05.04 22.10.04 24.02.05 13.06.05 Document history Rev. A First edition. Rev. B Part no. for AC40 Power PCB ass’y, page 119 corrected. Added notes in chapter 3.19. Minor corrections in text and display pictures.

  • Page 5: Table Of Contents

    2.2 ON/OFF - Standby mode ..............16 Flashing course knob icon ..............17 Alarms ....................17 2.3 AP16 with MSD50 Stern Drive unit........... 18 Zero point setting ................18 2.4 Non-Follow-Up steering (NFU) ............19 2.5 R3000X Remote Control (NFU)............20 2.6 JS10 Joystick (NFU) ................
  • Page 6 2.12 Tacking in Auto mode ................ 25 2.13 NoDrift ....................26 Dodge in NoDrift mode ..............27 2.14 Navigating with the AP16..............27 Setting the waypoint arrival circle ............29 2.15 Dodge in NAV ..................30 2.16 Selecting a different Navigation source..........31 2.17 Wind vane steering................
  • Page 7 3.2 Installation checklist ................53 3.3 Unpacking and handling ..............54 3.4 Determine system configuration ............54 3.5 AP16 System Layout ................55 3.6 RF300 Rudder feedback installation........... 55 3.7 Autopilot computer installation ............57 3.8 Cable connections ................58 3.9 Grounding and RFI ................
  • Page 8 Simrad AP16 Autopilot 3.20 Single NMEA input/output ..............76 3.21 Double NMEA input/output ............... 76 3.22 NMEA output on Port 2..............77 3.23 NMEA Compass input................ 77 3.24 Radar Clock/Data................78 3.25 IS15 Instrument installation ..............78 3.26 External Alarm..................79 3.27 LF3000 Linear Feedback ..............
  • Page 9 Instruction manual Compass calibration................101 Compass Offset ................. 103 Wind Offset..................104 Wind damping................... 104 Depth Offset..................105 Automatic tuning................105 Transition Speed ................107 Init NAV ................... 107 NAV change limit ................108 4.8 Parameters ..................108 Manual parameter adjust..............110 Recall Autotuned?................
  • Page 10 Simrad AP16 Autopilot 6.1 Alarms ....................124 Spare Parts List..................129 Technical Specifications ................132 8.1 AP16 Autopilot System ..............132 8.2 AP16 Control Unit ................133 8.3 Autopilot Computers................. 135 8.4 RFC35 Fluxgate compass ..............137 8.5 RC36 Rate compass ................138 8.6 RF300 Rudder Feedback..............

  • Page 11: System Description

    The autopilot system can be expanded and enhanced with a selection of options and accessories. The brain in the AP16 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.

  • Page 12: System Components

    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): − AP16 Control Unit with accessories −...

  • Page 13: Ap16 Control Unit

    Simrad products. A NMEA2000 Adapter Cable is available for interface through a SimNet port (page 131). Autopilot Computer The autopilot computer is the heart in the AP16 autopilot system. It contains the steering computer, interface other system components, NMEA 0183 interface and drive electronics for the drive unit motor and clutch.

  • Page 14: 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 This page is intentionally left blank. 20221560E...

  • 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

    In a multistation system the command can easily be transferred from one unit to another. AP16 units not in control will display the icon. The AP16 system is capable of the following primary steering modes: STBY (power steering), AUTO, NAV and WIND, each mode having a dedicated push button.

  • 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" and/or depending on model. Control is transferred to any single unit by pressing its’...

  • Page 20: Ap16 With Msd50 Stern Drive Unit

    Simrad AP16 Autopilot AP16 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.

  • Page 21: Non-Follow-Up Steering (Nfu)

    Operation 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. Activates Activates PORT rudder...

  • Page 22: R3000X Remote Control (Nfu)

    Simrad AP16 Autopilot 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. Port and Stbd In AUTO mode and Wind modes the commands set course or set wind angle will change 1°...

  • Page 23: Automatic Steering

    Set course: 340 degrees Compass reading: 340°M Steering parameter: LO-A Rudder angle: 00° The AP16 will keep the boat on the set course until a new mode is selected or a new course is set with the PORT or STBD buttons. Port course Port course Stbd.

  • Page 24: Automatic Control Of Steering Parameters

    Regain manual steering by pressing the STBY button Automatic control of steering parameters The AP16 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.

  • Page 25: Sailboat

    Operation 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.

  • Page 26: U-Turn

    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 AP16 will return to the AUTO mode and stay on course.

  • Page 27: Tacking In Auto Mode

    Operation you exit DODGE by a second press on the TURN/DODGE button or select a mode. TURN DO DG E Quick double press on TURN/DODGE to activate Dodge mode Perform dodging in one of the following ways: 1. Manually steer the boat by the wheel: 2.

  • Page 28: Nodrift

    Simrad AP16 Autopilot TURN DO DG E Press Boat Select TURN/DODGE to makes STBD enter TACK mode STBD tack tack 2.13 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...

  • Page 29: Dodge In Nodrift Mode

    The source when operating in NAV mode is the Navigation (Nav) source. The AP16 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 AP16 uses the compass as heading source for course keeping.
  • Page 30 (XTE) steering in conjunction with the turning capability of bearing mode steering (Course To Steer, CTS) and automatic waypoint shift. If the AP16 is connected to a navigation receiver that does not Note ! transmit a message with bearing to next waypoint, it will pick a XTE message and steer on Cross Track Error only.

  • Page 31: Setting The Waypoint Arrival Circle

    Operation When operating the AP16 in NAV mode to steer through a route of waypoints, the AP16 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 AP16 will output an audible warning, display an alert screen with the new course information, and automatically change course onto the new leg.

  • Page 32: Dodge In Nav

    Dodge in NAV The previous set course is stored by the AP16. When DODGE is flashing on the display, the AP16 is no longer in control of the steering and you must either steer the boat manually or take control using the Non-Follow-up steering. On manual steering, the clutch (or bypass valve) in the drive unit will be disengaged when dodging.

  • Page 33: Selecting A Different Navigation Source

    Selecting a different Navigation source If you have more than one navigation source connected to the AP16, you will be able to choose any for navigation. Refer to the ‘Source Select’ item in the User Set-up menu for details on selecting a different navigator (page 42).
  • Page 34 Simrad AP16 Autopilot Wind (vane) mode Set wind angle: 044 degrees from stbd. Measured wind angle: 041°A A = Apparent T = True Parameter: HI-M (High value, manually set) Compass reading: 311° M (magnetic) or T (true) Rudder angle: 01° to port.

  • Page 35: Tacking In Wind Mode

    Operation 2.18 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.

  • Page 36: 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 37: 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 38 Simrad AP16 Autopilot [2] [4] [3] [7] Figure 2-2 20221560E...

  • Page 39: Operating In Wind 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 40: Multiple Station System

    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 41: User Set-Up Menu

    − The system is switched OFF by any control unit (press STBY for 2-3 seconds). 2.22 User Set-up Menu In the AP16, all modes except NFU 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. INFO...

  • Page 42: Standby Mode

    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 116). NAV source Select the source for NAV mode steering e.g. CP34.
  • Page 43 Operation Wind, RACING parameters If ‘Wind setup’ is set to ‘RACING’ in the Installation/Dockside menu (see page 92), more settings are available as ‘Wind’ parameters: • WIND Apparent • WIND True • WIND Auto Default: WIND Auto ‘WIND Apparent’ is selected when you only want to steer to apparent wind.
  • Page 44 Simrad AP16 Autopilot 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 (page 36).
  • Page 45 – – indicates that no source is supplying the data available. Notes ! 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.
  • Page 46 Simrad AP16 Autopilot 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.

  • Page 47: Auto Mode

    Other relevant settings are described under STANDBY mode in this chapter. Response The Autotune function in the AP16 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.

  • Page 48: Nav Mode

    Simrad AP16 Autopilot Nav/Wind setting, see page 40 RACING parameters, see page 41 Source select, see page 42 NAV Mode The User setup for NAV mode is similar to the User setup for AUTO mode. It does however not include the Nav/Wind and the Source select items.

  • Page 49: Info Menu

    Operation 2.23 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 116). The INFO menu is accessed by a single press on the INFO/SETUP button (not necessary if the unit is inactive).
  • Page 50 Simrad AP16 Autopilot Depth/Speed Depth Speed through water Speed Over Ground Apparent wind Wind angle Wind Speed Rudder angle True wind Wind angle Wind Speed VMG to wind Wind direction True wind speed Wind shift angle Track data Waypoint name Bearing Position –...

  • Page 51: Course Knob Icon

    Operation Sea Temperature If you prefer not to have all instrument pages available in the INFO menu, you may remove pages under the User setup menu. See page 39. Return to last instrument screen by a simple press on the INFO/SETUP button.

  • Page 52: Info Menu Flowchart

    Simrad AP16 Autopilot INFO menu flowchart 3-5 sec. time-out Toggle 3-5 sec. time-out 20221560E...

  • Page 53: Info Menu And Main Screen Active Unit

    Operation INFO menu and Main screen active unit INFO-menu Main screen 3-5 sec. time out Note ! Whenever the INFO menu is active and the mode index is present on an active unit, operating the PORT and STBD buttons will immediately make the main screen reappear. INFO menu and Main Screen, inactive unit Previous INFO page Next INFO page...
  • Page 54 Simrad AP16 Autopilot This page is intentionally left blank. 20221560E...

  • Page 55: Installation

    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 56: Unpacking And Handling

    − RF300 Feedback unit with 10 m (33') cable attached and transmission rod. − Appropriate drive unit for the installation (unless the AP16 is going to operate an existing drive unit or solenoids). − Optional equipment that may have been ordered for the installation.

  • Page 57: Ap16 System Layout

    (page 95). 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. AP16 System Layout...
  • Page 58 Simrad AP16 Autopilot 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. Note ! The unit is factory adjusted and need no further adjustment at installation than described below.

  • Page 59: Autopilot Computer Installation

    Installation Due to space limitations, it may be necessary to cut the length of Note ! 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.

  • Page 60: Cable Connections

    Simrad AP16 Autopilot 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 (AWG14). Signal cables should be 0.5 mm (AWG20) twisted pairs.
  • Page 61 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 20221560E...

  • Page 62: Drive Unit Installation

    (17,7) Steering gear interface: Hydraulic plumbing Notes ! 1. The AP16 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.
  • Page 63 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 64: 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 65: Connecting A Hydraulic Linear Drive

    Installation Connecting a hydraulic linear drive HYDRAULIC AUTOPILOT COMPUTER LINEAR DRIVE POWER PCB TB1 TB2 TB3 TB4 TB5 Drive Engage 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 66: 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 67: Robnet2 Network Cables

    − Connect the Robnet2 cable(s) to the control unit connector(s). Figure 3-8 AP16 Bracket mounting 3.12 ROBNET2 network cables As Robnet units have two Robnet2 connectors (blue) they can be used as "jack points"...
  • Page 68 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 69: Ap27 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 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.
  • Page 70 Simrad AP16 Autopilot mounting location. As the heading is displayed on the AP16 Control Unit, the heading sensor can be mounted at a remote location. The RFC35 compass can be mounted on deck or bulkhead, athwartship or alongship. The heading offset feature in the AP16 will compensate for the mechanical offsets that may be a result of the selected location and orientation of the RFC35.

  • Page 71: 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 72: Js10 Joystick

    3.18 Interfacing With the AP16 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.

  • Page 73: 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 74 Simrad AP16 Autopilot 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).
  • Page 75 Installation COM BI COM BI COM BI DATA SIM RAD IS12 SIM RA D IS1 2 SIM RAD IS12 SIM RA D IS1 2 ALARM UPPER LOWER ALARM UPPER LOWER ALARM UPPER LOWER UPPER LOWER LIGHT LIGHT LIGHT LIGHT PAGE TIMER INFO INFO...
  • Page 76 Simrad AP16 Autopilot DATA COM BI COM BI STBY SIM RAD IS12 SIM RAD IS12 SIM RAD IS12 AUTO INFO ALARM UPPER LOWER ALARM UPPER LOWER UPPER LOWER LIGHT LIGHT LIGHT PAGE TURN INFO INFO TIM ER INFO INFO TIM ER...
  • Page 77 Installation Figure 3-20 Robnet2, SimNet and Roblink network Notes ! 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.

  • Page 78: 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 79: 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 80: 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 8 T B 1 0 T B 9 RADAR R a d a r Figure 3-24 Radar Clock/Data connection 3.25...

  • Page 81: 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 82: 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 83 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 84 Simrad AP16 Autopilot This page is intentionally left blank. 20221560E...

  • Page 85: 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 86: Description Of Installation Settings

    Description of Installation Settings Note ! The installation settings must be performed as part of the 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 87: Installation Menu

    Configuration and setup 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.
  • Page 88 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 89: 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.

  • Page 90: Boat Type

    During the Rudder Test, the AP16 system will automatically detect whether the drive unit is a reversible motor or whether a solenoid is operated.

  • Page 91: Rudder Feedback Calibration

    Note ! standard. So if you are not making any adjustment to the display readout, the AP16 will set a (default) value of 45° to each side. However, you should always simulate an adjustment by a single press on each of the STBD 10 and PORT 10 buttons. This is necessary to prevent the rudder from hitting the end stops.

  • Page 92: Rudder Test

    Activate the automatic rudder test by pressing the STBD 10 button. The AP16 will after a few seconds issue a series of PORT and STBD rudder commands and automatically verify correct rudder direction. It...

  • Page 93: 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 124 Test of LF3000/LFI3000 Mk2 feedback 1.

  • Page 94: Rudder Deadband

    Simrad AP16 Autopilot 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.

  • Page 95: 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 96: Tack Time (Racing)

    Simrad AP16 Autopilot 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...
  • Page 97 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.
  • Page 98 Simrad AP16 Autopilot entered as a numerical value equal to the physical rudder angle observed at the hard over position. Use the STBD 10 or PORT 10 buttons to enter the starboard and port rudder angle. Rudder test Activate the automatic rudder test by pressing the STBD 10 button.
  • Page 99 Configuration and setup by pressing the STBD 10 button. Press and hold the TURN/DODGE button. Release the button when the rudder reaches the port hard over position. 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.

  • Page 100: Interface Settings

    Simrad AP16 Autopilot 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 101: Sea Trial

    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 AP16 the precise midships position of the rudder) − Minimum rudder − Compass calibration (To automatically compensate for onboard magnetic interference) −...

  • Page 102: Set Rudder Zero

    Simrad AP16 Autopilot 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.

  • Page 103: Minimum Rudder

    RATE-0 = Rate compass, FLUX-0 = Fluxgate compass on HS terminals. 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.
  • Page 104 Simrad AP16 Autopilot Before you start the compass calibration, make sure you have enough open water around you to make a full turn with the boat. 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.

  • Page 105: Compass Offset

    Configuration and setup 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 Note ! interference becomes more significant and heading errors exceeding ±3°...

  • Page 106: Wind Offset

    Simrad AP16 Autopilot If an OFFSET still exists after having compensated for it, one of Note ! 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”.

  • Page 107: Depth Offset

    Configuration and setup 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”...
  • Page 108 Simrad AP16 Autopilot Automatic tuning is an optional procedure that is not required for the AP16 to function. The AP16 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.

  • Page 109: Transition Speed

    Proceed to the next menu item by pressing the STBD 1 button, or return to Standby mode by pressing the STBY button. Transition Speed The transition speed is the speed where the AP16 will automatically change the steering parameter set from HI to LO parameters, or vice versa (page 22).

  • Page 110: Nav Change Limit

    Simrad AP16 Autopilot NAV change limit In NAV mode, when the required course change at the approaching waypoint is more than the set limit, you are prompted to verify that the upcoming course change is acceptable. The limit can be set to 10°, 20°...

  • Page 111: Parameters

    Configuration and setup This adjustment must be made when steering in dead calm sea. Confirm by pressing the STBD 10 button. Note! This menu item can also be accessed directly in Auto mode. Press and hold the INFO/SETUP button until this display appears.

  • Page 112: Manual Parameter Adjust

    Simrad AP16 Autopilot 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.
  • Page 113 Configuration and setup 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 fail to keep a steady course.

  • Page 114: Recall Autotuned

    When parameter values are recalled, Confirmed is displayed. Exit the Parameter menu by pressing STBD 1 button to proceed to the Service menu, or press STBY to return to normal AP16 operation. Service Menu The Service menu includes System data and NMEA data which are test functions to analyze data processed by the AP16.

  • Page 115: System Data Menu

    Configuration and setup Select System data by pressing the STBY 10 button. System Data Menu 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.
  • Page 116 Decoding The incoming signals are decoded according to a built in priority table in the AP16. Cross Track Error and bearing information are taken from the NMEA messages with highest priority. For all data items, one of the following codes will be displayed: –...

  • Page 117: Nmea Port Test (Ac Hardware)

    Configuration and setup • Open the source select page in the User Setup 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”...

  • Page 118: Simnet Setup

    Simrad AP16 Autopilot Proceed to the SimNet Setup menu by pressing the STBD 1 button, or press STBY to return to normal AP16 operation. SimNet setup Select the SimNet setup menu by pressing the STBD 1 button and confirm this by pressing the STBD 10 button.

  • Page 119: Master Reset

    PORT 10 button. 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 AP16 operation. In the event a Master Reset has been made, refer to chapter 4.2. 20221560E...

  • Page 120: Final Sea Trial

    − Try the NoDrift mode. − If the boat is a sailboat use the WIND mode and try the AP16 at different settings of the apparent wind angle. Also try the WINDN(av) mode, optimized VMG and WCV when sailing (tacking) to a waypoint.

  • Page 121: Providing User Training

    Configuration and setup 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).
  • Page 122 Simrad AP16 Autopilot This page is intentionally left blank. 20221560E...

  • Page 123: 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 124: 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 125: 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 126: 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. Audible and visual alarm is provided for every fault being detected.
  • Page 127 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 128 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 129 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 130 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 131: Spare Parts List

    22087613 Left bracket 22084859 Locking knob 44163145 Locking washer for left and right bracket 44163160 Cradle, locking washer 22087514 AP16 Sub Ass’y (incl. board and front ass’y) 22087498 AP16 Back plate Ass’y 22087373 AP16 Board Ass'y 22091854 AP16 Protection Cover...
  • Page 132 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 133 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 134: Technical Specifications

    NMEA output sentences:.. BWC, BWW, GLL, HDG, HDM, HDT, HSC, RMB, RMC, RSA, VTG, XTE. See chapter 8.12 for NMEA0183 details. Optional output: ....Simrad and Furuno radar display (clock/data) NMEA2000 interface..Via SimNet port and SimNet/NMEA2000 adapter cable 20221560E...

  • Page 135: Ap16 Control Unit

    Heading sensors: Standard: ......RFC35 Electronic Fluxgate compass Options:......RC36 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: ......Off course, system failures, overload Steering modes: ......
  • Page 136 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) Figure 8-1 AP16 Control Unit – dimensions (Mounting bracket is optional equipment) 20221560E...

  • Page 137: 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 138 Simrad AP16 Autopilot Figure 8-2 AC10/AC20 Autopilot Computer - Dimensions Figure 8-3 AC40 Autopilot Computer - Dimensions 20221560E...

  • Page 139: 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 140: 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 141 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 142: R3000X Remote Control

    Simrad AP16 Autopilot R3000X Remote Control Dimensions: ..See Figure 8-7 Weight:.... 0,4 kg (0,9 lbs) Material:..Epoxy coated aluminum 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 +70 °C (–22 to + 158 °F)

  • Page 143: 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 144: 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 145: 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 146: 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 147 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 148 Simrad AP16 Autopilot SimNet/NMEA2000 messages and data overview Message ident. Data source: N=nav, P=pos, H=heading, D=depth, Wa=Wind apparent, P P P P P P Wt=Wind True, WaS=Water Speed/ WaT=Water temp, Dl=Distance log, C=Calculated) Compass heading Compass Data Rudder Data Rudder angle...
  • Page 149 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* 20221560E...

  • Page 150: 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 151 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.
  • Page 152 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 153: Index

    Index INDEX offset, 105 depth offset, 105 depth source, 43 alarm display units, 98 external, 79 dockside settings, 87 listing, 124 dodging, 24 apparent wind, 32, 41, 148 dodging in Nav mode, 30 arrival circle, 29 drive engage, 91 auto setup, 83 drive out, 90 automatic tuning, 105 drive unit...
  • Page 154 Simrad AP16 Autopilot IP protection code, 143 racing, 37, 41 radar connection, 78 language, 87 radar interface, 98 layline, 37, 41 rate compass linear feedback installation, 69 installation, 80 recall autotuned, 112 lock function, 38 remote control log source, 43...
  • Page 155 Index software program exchange, user set-up, 39 software setup, 83 user training, 119 source manually update, 43 U-turn, 24 source update, 42 specifications, 132 steering lever Virtual feedback, 87, 95, 108 installation, 70 VMG, 37, 41 system basic, 10 components, 10 specifications, 132 water speed source, 43 with options, 55...
  • Page 156 Simrad AP16 Autopilot 20221560E...

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