Simrad AP14 User Manual
Manual
Simrad AP14
Autopilot
Page 3Page 2
The technical data, information and illustrations contained in this publication were to the best of our knowledge correct at the time of going to print. We reserve the right
to change specifications, equipment, installation and maintenance instructions without notice as part of our policy of continuous development and improvement.
No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form, electronic or otherwise without prior permission from Simrad
Navico Ltd.
No liability can be accepted for any inaccuracies or omissions in the publication, although every care has been taken to make it as complete and accurate as possible.
© 1999 Simrad Navico Ltd
For service and advice please contact the main Simrad dealer in your country of residence.
E03716 Issue 1.1
30/11/1999 MDL
1. General
1.1 Introduction
1.2 AP14H & AP14R Configurations
2. Operation
2.1 General
2.2 Autopilot Mode
2.3 Adjusting Course
2.4 Nav Mode
2.5 Set Key
2.6 Dodge
2.7 Backlighting
2.8 Alarms
2.8.1 Off Course Alarm
2.9 Default Boat Speed
2.10 Adjusting Dodge Angle
3. Parameter Adjustment
3.1 Rudder Movement (Gain)
3.2 Seastate
3.3 Autotrim
4. Installation - AP14H Hydraulic Drive
4.1 Pump Installation SRP12
4.2 Bleeding The Steering System
4.2.1 Two or Three Line Systems
4.2.2 Pressurised Systems
4.3 Linear Feedback Unit SLF12
4.4 Fitting Control Unit SHC14
4.5 Fitting Compass Unit SHS12
4.6 Fitting Course Computer SCP12
4.7 Electrical Installation
4.8 Interfacing via NMEA
CONTENTS
5. Installation - AP14R Rotary Drive
5.1 Drive Installation
5.2 Removing Existing Steering Helm
5.3 Fitting Drive Unit SRD12
5.4 Changing the Steering Cable
5.5 Fitting Control Unit SHC14
5.6 Fitting Compass Unit SHS12
5.7 Electrical Installation
5.8 Interfacing via NMEA
6. Commissioning
6.1 Commissioning Checks
6.1.1 Installation Check
6.2 Compass Orientation
6.3 Compass Adjustment
6.4 Setting Rudder Limits
6.5 Seatrial / Compass Calibration
7. Appendix
7.1 Advice On Operation
7.2 Warning
7.3 NMEA Sentences Received
7.4 Fault Finding
7.5 Optional Accessories
7.6 Specification & Dimensions
7.7 Service & Warranty
Page 5
Fig 2.1 - Standby Mode (AP12H / AP14H)
Fig 2.2 - Engaging autopilot Mode
2 Operation
2.1 General
The keypad of the AP14 is easy to operate. Using the five
main keys it is simple to change modes, set the course to
steer and adjust navigational functions.
When powered up the AP14 enters Standby Mode indicated by the STBY legend in the display (Fig 2.1)
While in Standby Mode, the helmsman is in control. The
boat can be hand steered using the helm as normal, or
“power steered” using the and (Port and Starboard)
keys on the controller.
• All functions are confirmed audibly by a “beep” and
visually on the display. The display also shows the current magnetic bearing of the vessel.
• If fitted to an AP14H version, the display will also show
the rudder angle (Fig 2.1).
2.2 Autopilot Mode
To engage Autopilot Mode, press the Stby/Auto key and
the pilot will lock onto the current course (Fig 2.2). The
AUTO legend will show on the display while the pilot is
in Autopilot Mode.
• To lock the pilot onto the desired course, either steer the
correct course and then engage the pilot, or engage the
pilot and then adjust the heading until the correct course
is being steered (see section 2.3).
AP14R Rotary Pilot - it is recommended that if a sudden
course change is necessary while in Auto Mode (e.g. to
avoid an obstacle) the clutch is disengaged and the
autopilot is returned to Standby Mode by pressing
Stby/Auto.
In an emergency the clutch can be overridden by
firmly turning the steering helm, although the autopilot will
try to bring the boat back to the set course.
AP14H Hydraulic Pilot - The autopilot must be disengaged by pressing Stby/Auto if a sudden course change
is necessary otherwise the autopilot will counteract any
movement made manually to the helm.
Page 4
1 General
1.1 Introduction
Combining sophisticated electronics with advanced software and powerful drives, the Simrad AP14
autopilot provides accurate and dependable steering in varying sea conditions with minimal current
consumption.
The AP14, a state of the art autopilot system with many advanced features, is simple to operate and
occupies little space on the dash. The keypad accesses all functions and pilot status is indicated clearly in the backlit LCD display.
To ensure the best results from your autopilot it is essential that the unit is installed correctly please read this manual thoroughly before attempting installation and use.
Thank you for choosing Simrad
We hope you will also be interested in our full range of marine electr onic equipment, which ar e all manufactured to the same high standards as the AP14. Please contact your nearest Simrad Agent for a catalogue showing our full range of high tech marine electronic equipment.
Simrad operate a policy of continual development and reserve the right to alter and improve the
specification of their products without notice.
1.2 AP14 System Configurations
The AP14 autopilot system is designed for power vessels and is available in two configurations.
• The AP14H - designed for hydraulically steered boats with a ram displacement of 15 in
3
(250cc).
• The AP14R - designed for powerboats with a push-pull steering cable system which are 30 ft (9M) or
smaller in length.
Although the operation and functions of these two versions are identical, there are some differences
in the configuration and installation of the AP14H and AP14R. To make installation easier, there are
two separate installation sections in this manual. Section 4 relates to the installation of the AP14H
Hydraulic version, section 5 is for the AP14R Rotary version. Some of the setup and calibration routines apply only to the AP14H, but this is clearly indicated at the beginning of the relevant section.
SHS12
Compass
SCP12
Course Computer
GPS
(NMEA)
SRP12
Hydraulic Pump
SLF12
Linear Feedback Unit
GPS
(NMEA)
SHS12
Compass
SJB12
Junction Box
SRD12
Rotary Drive Unit
AP14H Hydraulic Drive Option
AP14R Rotary Drive Version
Optional
Fixed
Control
SFC12
Optional
Fixed
Control
SFC12
Control
SHC14
Control
SHC14
Page 7
• If Cross Track Error data is being received, but no
Bearing To Waypoint data, then the display will show
“– – –” instead of the Bearing To Waypoint.
2.5 Set Key
The Set key performs several functions, including adjusting the parameters of the AP14 such as seastate, dodge
angle etc. Refer to the relevant sections for more information on these.
In addition, depending on the NMEAdata being received
by the AP14, the following data can be displayed by
pressing the Set key the specified number of times -
Press SET Data Shown
1 Cross Track Error [XTE] (Fig 2.5)
2 Bearing To Waypoint [BTW] (Fig 2.6)
3 Distance To Waypoint [DTW] (Fig 2.7)
• The individual data will only be shown if it is being
received from the navigational receiver , so for example, if
BTW is not being received, the second press will show
DTW. Subsequent pr esses of the Set key will access functions in the following order -
SEASTATE SETTING (Section 3.2)
OFF COURSE ALARM ANGLE (Section 2.8)
DODGE ANGLE (Section 2.10)
DEFAULT BOAT SPEED (Section 2.9)
Page 6
2.3 Adjusting Course
While in Autopilot Mode, precise course adjustments can
be easily made -
• Press the or key once to make a 1º course adjustment, confirmed by one beep and on the display by the
new heading shown
• Press and hold the key for a 10º course change, confirmed by a double beep and on the display by the new
heading shown (Fig 2.3).
2.4 Nav Mode
The AP14 has an inbuilt interface which allows it to be
connected to NMEA0183 compatible equipment such as
GPS, LORAN, Chart Plotters etc.
Once connected, the AP14 can steer using data from this
source in addition to the compass, allowing a highly accurate course to waypoint
• To enter Nav Mode the pilot must be in Auto Mode and
receiving waypoint or route data from the navigational
receiver.
Press Nav to activate Nav Mode (Fig 2.4). The display will
show NAV and the pilot will steer to the first waypoint.
• If no NMEA information is being received, the AP14
will beep twice and will not enter Nav Mode.
• If Nav is pressed while in Standby mode, the pilot will
beep once if Nav Mode is available when in Auto Mode,
or twice if Nav Mode will not be available.
At the target waypoint, an intermittent alarm will sound.
As a safety feature (to avoid an unexpected course
change) the next waypoint will not be loaded until the
Nav key is pressed again. When the boat reaches the final
waypoint, the pilot will switch back to Auto Mode, holding the current course.
Note - If a course correction is made while in Nav Mode
using the and keys, the boat will gradually return to
the original track, so that the boat can avoid an obstacle
without exiting Nav Mode or having to reset the boat on
the correct course.
Pressing Nav when in Standby mode will bring up the
current Bearing To Waypoint (BTW) on the display.
Fig 2.3 - Course adjustment to Port
Fig 2.4 - Activating Nav Mode
Fig 2.6 - Bearing To Waypoint
Fig 2.7 - Distance To Waypoint
Fig 2.5 - Cross Track Error
Nm
Nm
Return
Page 9
2.6 Dodge
The Dodge function allows the autopilot to dodge to port
or starboard by a specified angle (normally 40º), and then
return to the original course. This function is useful for
avoiding obstacles in the path of the boat.
A Dodge can only be initiated in Auto mode. Press the
Dodge key - the display will show DODGE.
• If no further key is pressed within 5 seconds, the display will return to normal.
Press either or within 5 seconds to choose the direction to dodge (Fig 2.8). The display will show the new
heading selected and DODGE will flash in the display.
Selecting a dodge in the opposite direction while the
manoeuvre is in progress will cancel it, and the boat will
return to its original course.
• The default dodge angle is 40º, but this can be adjusted
- see section 2.10.
2.7 Backlighting
To switch the display backlighting on and off, press
Light.
To set the backlighting level (1-5), press and hold Light.
The SHC14 will step through each lighting level, which
will be shown on the display (Fig 2.9). Release the Light
button when the desired lighting level has been selected.
• While the backlighting is on, the Lamp symbol will
be shown. The backlighting level set is retained by the
SHC14 even if it is disconnected from the power.
2.8 Alarms
When an alarm is triggered by the autopilot ALARM will
flash in the display. To acknowledge and cancel the
alarm, press Alarm.
• The alarm may continue to sound at the autopilot if the
alarm condition still exists.
2.8.1 Off-course Alarm
The Off-course Alarm will sound if the boat goes off course
further than a pre-set limit for more than 10 seconds.
To toggle the alarm on and of f, press and hold the Alarm
FIg 2.8 - Dodging to Starboard
Press
& hold
Fig 2.9 - Selecting backlighting level
Page 8
key (Fig 2.10). The alarm icon will be displayed while
the alarm is on.
• If the off course alarm sounds, press Alarm to
acknowledge and disable the alarm.
The off-course limit can be set from 10-60º. Press Set (see
section 2.5) until ALARM appears at the bottom of the display (Fig 2.11). The display will show the alarm limit set.
While ALARM is shown in the display, press to increase
the value and to decrease it.
• If no key is pressed within 5 seconds, the controller will
return to the main display and the value currently
entered will be set.
2.9 Default Boat Speed
The AP14 needs to know how fast the boat is going for
accurate performance when in Nav Mode. If this information is not available through the NMEA input, an
average value can be manually entered.
Press Set (see section 2.5) until SPEED appears on the
display. The main boat speed will be shown in knots.
Press to increase the setting and to decrease it.
• If no key is pressed within 5 seconds, the controller will
return to the main display and the speed currently
entered will be set.
• This option will not appear if the true boat speed is
being received through the NMEA input.
2.10 Adjusting Dodge Angle
The SHC14 is set with a default dodge angle of 40º, but
this can be adjusted to any value between 10 and 40º.
Press Set (see section 2.5) until DODGE appears in the
display and the display shows the current dodge angle.
Press to increase angle and to decrease it.
• If no key is pressed within 5 seconds, the controller will
return to the main display and the dodge angle currently
entered will be set.
Fig 2.10 - Turning off-course alarm on
Fig 2.11 - Setting off-course alarm
Pressed
3 times
Pressed
and held
Fig 3.4 - Auto Seastate
3.2 Seastate
In a rough sea, more heading errors will be
detected by the pilot as the heavy seas yaw the
boat back and forth. The pilot would normally
be overworked trying to correct every error,
causing unnecessary strain on the unit and
excessive drain on the batteries.
The AP14 monitors the course errors as it goes
and it allows a “dead band” within which the
boat can go off course without corrections being
made (Fig 3.3). This is automatically set and
updated by the pilot to give the best compromise between course holding and battery consumption, but can be set manually if wished.
The Seastate can be adjusted in all modes, without interrupting the operation of the pilot.
Press Set (see section 2.5) until the display
shows SEA on the bottom line, along with the
Seastate setting (1-10º or “–” for the fully automatic Seastate setting).
To increase the Seastate, press . To decrease,
press . To select auto Seastate, press until
“–” appears in the display (Fig 3.4).
• If no key is pressed within 5 seconds, the controller will return to the main display and the
Seastate currently entered will be set.
3.3 Autotrim
To compensate for changing conditions, a rudder bias (sometimes known as rudder trim) is
applied in order to steer a straight course. The
amount varies according to factors such as
wind strength, boat speed, and trim tab setting.
If this was not done then the boat would tend to
veer off course.
The AP14 monitors the average course error
and applies a bias to the rudder to compensate
until the optimum condition is reached (Fig
3.5). This bias is applied gradually to not upset
the normal performance of the pilot, so it may
take a minute or so to fully compensate after a
major course change.
Fig 3.3 - Seastate “deadband”
Average Course
Fig 3.5 - Autotrim principle
COURSE HELD
WIND
&
TIDE
Autotrim
applied
(Course Without Autotrim)
Page 10
Page 11
3 Parameter Adjustment
The AP14 uses highly advanced steering software, which constantly assesses how the boat is
being affected by the sea conditions. By adjusting its own performance, the pilot is able to
maintain the most accurate course for these conditions, just as a human pilot would. So in a
rough sea, the pilot is not overworked and battery drain is kept to a minimum.
3.1 Rudder Movement (Gain)
The AP14 will make corrections if it detects that
the boat is off course. How much rudder it
applies to correct this is set by the Gain (sometimes referred to as the rudder ratio).
• The Gain setting can be compared to driving
a motor vehicle - at high speeds, very little
helm movement is necessary to steer the vehicle (LOW Gain). When driving at slow
speeds, more helm movement is necessary
(HIGH Gain).
• Fig 3.1A shows when the Gain is too low: the
boat takes a long time to correct the heading.
• Fig 3.1B is ideal - errors are quickly corrected.
• Fig 3.1C the Gain is too high - the boat starts
to “S”, or oscillate around the correct heading.
• Excessive Gain (Fig 3.1D) makes the boat
oscillate increasingly off course.
The Gain can be adjusted in all modes, without
interrupting the operation of the pilot.
Press Gain once. The display will show GAIN
on the bottom line, along with the Gain setting
(1-9). The default setting is 5, which should give
good course keeping in most situations.
To increase, press (Fig 3.2). To decrease Gain,
press .
• If no key is pressed within 5 seconds, the controller will return to the main display and the
Gain currently entered will be set.
Fig 3.1 - Effects of Gain setting
Fig 3.2 - Adjusting Gain setting
Page 13
Balanced
Unbalanced
Fig 4.1 - Hydraulic ram types
4 Installation - AP14H
Section 4 covers the installation of the AP14H
Hydraulic version. Please refer to section 5
for AP14R Rotary version installation instructions.
4.1 Pump Installation
The AP14H links a reversing pump into the existing hydraulic steering system on the boat using Tfittings. The pump reproduces the effect caused
by turning the helm, so the pilot can steer the boat
without attaching any device directly to the helm.
Confirm that the volume of the cylinder of the
hydraulic ram is within the capacity of the
SRP12 pump. For the pilot to operate efficiently,
the cubic capacity of the boat’s ram must be less
than 250cc (15 in
3
). With hydraulic systems the
ram size is related to the steering load.
• If the volume of the ram cylinder is not known
then an approximate calculation can be made for
a balanced cylinder (these have the rod emerging from both ends of the cylinder - unbalanced
rams have the rod emerging from one end only
- Fig 4.1).
Volume = 3.142 x S(R2- r2)
S = Stroke length
R = Cylinder bore radius
r = Push rod radius
If S, R and r are in inches, the volume will be in
cubic inches (in
3
). If they are in centimetres, then
the volume will be in cubic centimetres (cc).
An ideal location for the pump is in a
gas/inflammable vapour free area, where it will
not be immersed in water.
The pump accepts hoses with
1
⁄4in NPT fittings.
NPT to BSP adaptors are supplied with European
versions to convert BSP hoses to NPT type if necessary (Fig 4.2).
• Try to keep hydraulic fluid loss during connection to the pump as low as possible - this will
help to reduce the time and effort required later
to bleed the system of trapped air.
• Absolute cleanliness is essential - even the
smallest particle of dirt could clog the check
valves in the pump.
BSP System
NPT System
Fig 4.2 - SRP12 pump hose connections
Page 12
Fig 4.3 - Hydraulic pump & mounting dimensions
Components supplied -
M5 x 25mm st stl hex set screw x 4
M5 st stl plain washer x 8
M5 st stl full nut x 4
1
/
4
in(NPT) -
1
/
4
in BSP adaptor x 3 (European version only)
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