Simrad AP20, AP21 User Manual

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Simrad AP20 and AP21

Autopilots

ALWAYS AT THE FOREFRONT OF TECHNOLOGY

MANUAL

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Instruction manual

Instruction Manual

This manual is intended as a reference guide for operating and correctly installing the AP21 and AP22 autopilots.

Great care has been paid to simplify operation and set-up of the autopilots. However, an autopilot is a complex electronic system. It is affected by sea conditions, speed of the vessel, hull shape and size.

Please take time to read this manual to get a thorough understanding of the operation and system components and their relationship to a complete autopilot system.

Other documentation material that is included in this manual is a warranty card. This must be filled out by the authorized dealer that performed the installation and mailed in to activate the warranty.

20220596G 1

Simrad AP21 and AP22 Autopilots

Document revisions

Rev Date Written by Checked by Approved by

– 09.03.98 A 21.04.98 B 09.03.99 C 23.06.99 D 15.03.00

E 14.06.00 F 02.10.01

G 27.05.02

N.G. N.S. Th.H. N.G. Th.H. N.G. N.S. Th.H. N.G. Th.H. N.G. Th.H. N.G. Th.H. N.G. I.K. Th.H.

Document history

Rev. – First edition Rev. A Drawings for panel mounting the control unit included. Changed note,

page 118. Spare parts list: Changed description of part no. 22085872

from Optional mounting kit to Optional mounting bracket. Rev. B AP21 and JP21 included. Rev. C Minor corrections in text. Added spare parts for AP21 Rev. D LFI3000 Mk2 included. Rev. E Minor modifications in text. New art. no. on Robnet connectors, page

123. Distributor list updated.

Rev. F

Rev. G

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IS11 instruments replaced by IS15. Added RPU300, 24V to the table on

page 58. CD100A included. Minor corrections to text.

Updated according to software versions AP21&AP22 V1R3 and J300X

V1R8.

Instruction manual

Contents

1 INTRODUCTION........................................................................................9

1.1 General ............................................................................................9

1.2 How to use this manual.........................................................................9

1.3 System components.............................................................................10

1.4 AP22 Control Unit ..............................................................................11

1.5 AP21 Control Unit ..............................................................................11

1.6 Junction units ......................................................................................11

1.7 Rudder Feedback unit .........................................................................12

RF300 Rudder Feedback unit..............................................................12

LF3000 Linear Feedback ....................................................................12

LFI3000 Mk2 Linear Feedback Interface...........................................12

1.8 Heading Sensors..................................................................................13

RFC35 Electronic Fluxgate Compass.................................................13

RFC35R Rate compass .......................................................................13

CDI35 Course Detector Interface and CD100A Course Detector......13

NMEA compass..................................................................................13

Other fluxgate compass models..........................................................13

Simrad RGC10 and RGC50 gyrocompasses.......................................13

1.9 Optional equipment.............................................................................14

R3000X Remote Control.....................................................................14

S35 NFU Lever...................................................................................14

FU35 Follow-Up Steering Lever ........................................................14

NI300X NMEA Interface Unit ...........................................................14

CI300X Compass Interface.................................................................14

Mounting Bracket................................................................................14

2 Operation of the autopilot.........................................................................15

2.1 Overview ..........................................................................................15

2.2 ON/OFF - Standby mode....................................................................16

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Simrad AP21 and AP22 Autopilots

2.3 AP21 and AP22 with MSD50 Stern Drive unit..................................18

Zero point setting ................................................................................18

Operation.............................................................................................19

2.4 Follow-Up steering (FU).....................................................................19

2.5 Non-Follow-Up steering (NFU)..........................................................19

2.6 R3000X Remote Control.....................................................................20

2.7 S35 Steering lever...............................................................................20

2.8 Automatic Steering..............................................................................20

2.9 Automatic Speed selection..................................................................21

2.10 Manual speed selection.......................................................................22

2.11 Navigating with the AP21 or AP22 ....................................................23

2.12 Selecting a different Navigator ...........................................................25

2.13 Dodging ......................................................................................26

2.14 Dodge in NAV ....................................................................................27

2.15 TURN-mode ......................................................................................28

2.16 Tacking in Auto mode.........................................................................28

2.17 Wind vane steering..............................................................................29

2.18 Tacking in Wind mode........................................................................30

2.19 Multiple station system.......................................................................31

2.20 Lock function......................................................................................31

2.21 User Set-up Menu ...............................................................................33

3 Technical Specifications ............................................................................37

3.1 AP21 and AP22 Autopilot System......................................................37

3.2 AP22 Control Unit ..............................................................................38

3.3 AP21 Control Unit ..............................................................................40

3.4 Junction units ......................................................................................41

3.5 RFC35 Fluxgate compass ...................................................................43

3.6 RFC35R Rate compass .......................................................................44

3.7 CDI35 Course Detector Interface .......................................................44

3.8 RF300 Rudder Feedback.....................................................................45

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Instruction manual

3.9 CI300X Compass Interface.................................................................46

3.10 NI300X NMEA Interface....................................................................47

3.11 R3000X Remote..................................................................................48

S35 NFU Steering Lever..............................................................................48

3.13 LF3000 Linear Feedback ....................................................................49

3.14 LFI3000 Mk2 Linear Feedback Interface...........................................49

3.15 NMEA sentences.................................................................................50

3.16 IP protection ......................................................................................52

4 Installation ..........................................................................................53

4.1 General ..........................................................................................53

4.2 Installation checklist............................................................................53

4.3 Unpacking and handling .....................................................................54

4.4 Determine the system configuration ...................................................54

4.5 Autopilot System Layout.....................................................................55

4.6 RF300 Rudder feedback installation...................................................55

4.7 Junction unit installation.....................................................................57

4.8 Cable connections ...............................................................................58

4.9 Grounding and RFI .............................................................................58

4.10 Drive unit installation..........................................................................60

Connecting a reversible pump.............................................................62

Connecting a hydraulic linear drive....................................................63

Connecting a solenoid valve ...............................................................63

4.11 Control unit installation.......................................................................64

Panel mounting of AP22.....................................................................64

Alternative panel mounting of AP22 ..................................................64

Optional bracket mounting of AP22...................................................65

4.12 ROBNET network cables....................................................................65

4.13 Control unit connection.......................................................................67

AP22 connection.................................................................................67

AP21 connection.................................................................................67

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Simrad AP21 and AP22 Autopilots

JP21 Jack Point installation.................................................................68

4.14 RFC35 Fluxgate Compass installation................................................69

4.15 RFC35R Rate Compass installation....................................................70

4.16 R3000X Remote Control installation..................................................72

4.17 S35 NFU Lever installation ................................................................73

4.18 Interfacing ......................................................................................74

4.19 Single NMEA input/output.................................................................74

4.20 Double NMEA input/output................................................................75

4.21 Additional NMEA output on Port 2....................................................75

4.22 NMEA Compass in.............................................................................75

4.23 Radar Clock/Data................................................................................76

4.24 IS15 Instrument installation................................................................76

4.25 External Alarm....................................................................................78

4.26 NI300X NMEA Interface Unit ...........................................................78

4.27 CI300X Analogue Interface Unit........................................................80

4.28 LF3000 Linear Feedback ....................................................................81

4.29 CD100A Course Detector...................................................................83

4.30 CDI35 Interface...................................................................................84

4.31 Software Setup Procedure...................................................................85

Description of Installation Settings.....................................................85

Installation Menu ................................................................................86

Language selection..............................................................................88

4.32 Dockside settings ................................................................................89

Drive unit voltage selection ................................................................90

Rudder Feedback Calibration..............................................................90

Automatic Rudder Test.......................................................................92

Transition Speed..................................................................................93

Interface Settings.................................................................................94

4.33 Sea Trial ....................................................................................100

Rudder zero adjust.............................................................................100

Compass calibration..........................................................................101

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Instruction manual

Compass Offset.................................................................................102

Automatic tuning...............................................................................103

View parameters................................................................................104

Manual parameter adjust...................................................................105

NMEA Test.......................................................................................107

Master Reset......................................................................................107

Final sea trial.....................................................................................107

Providing user training......................................................................108

5 Maintenance ........................................................................................109

5.1 Control unit .......................................................................................109

5.2 Junction Unit.....................................................................................109

5.3 Rudder Feedback...............................................................................109

5.4 Compass ........................................................................................109

5.5 Drive unit ........................................................................................109

5.6 Exchange of software programme ....................................................110

6 Trouble shooting ......................................................................................113

6.1 Alarms ........................................................................................113

6.2 System Data Menu............................................................................117

6.3 NMEA Data Menu............................................................................118

Decoding...........................................................................................119

NMEA signal monitor.......................................................................120

NMEA (hardware) test......................................................................120

7 Spare Parts List........................................................................................121

8 Glossary ........................................................................................124

SALES AND SERVICE WORLDWIDE TERMS OF WARRANTY WARRANTY CARD QUICK REFERENCE GUIDE

English, German, French, Italian, Spanish, Dutch, Swedish, Norwegian

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Simrad AP21 and AP22 Autopilots

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1 INTRODUCTION

1.1 General

Congratulations on the purchase of your new Simrad autopilot system and thank you for selecting what we feel is the most advanced autopilot system available on the market today.

Today Simrad manufacture a complete range of autopilots for all types of vessels, from leisure boats up to advanced steering systems for merchant marine vessels. Our factory for these products is located in Egersund on the south/west coast of Norway. The company's involvement in autopilots began in 1953 with equipment for the North Sea fishing fleet. Professional mariners around the world acknowledge that the Simrad name is synonymous with the absolute best in autopilot technology.

Introduction

The Simrad AP21 and AP22 autopilots represents yet another step forward in autopilot technology with the intent to provide leisure boats between 30 and 80 foot with a host of new f eatures. The system can be expanded and enhanced with a selection of options and accessories.

The brain in the autopilot system is the single "intelligent" junction unit that communicates with all other system modules on the ROBNET network. The ROBNET has been developed to establish a reliable digital communication and power distribution network between the units in the system. The ROBNET simplifies installation and enables the autopilot system to be easily expanded at any time.

1.2 How to use this manual

This manual is intended as a reference guide for operating, installing and maintaining the Simrad AP21 and AP22 autopilots. Great care has been paid to simplify operation and set-up, however, an autopilot is a complex electronic system. It is affected by sea conditions, speed of the vessel, hull shape and size.

Please take time to read this manual to get a thorough understanding of the operation and system components and their relationship to a complete autopilot system.

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Simrad AP21 and AP22 Autopilots

Other documentation material provided with your system includes a warranty card. This must be filled out by the authorized dealer that performed the installation and mailed in to activate the warranty.

1.3 System components

A basic autopilot system consists of the following units (refer to Figure 1-1 and Figure 1-2):

• AP22 Control Unit or AP21 Control Unit

• Heading sensor (compass)

• Rudder Feedback Unit with transmission link

• Junction Unit

• Drive unit

The basic system can be expanded with remote control unit, hand held remote and steering lever.

JUNCTION

UNIT

AP22

CONTROL

UNIT

REVERSIBLE

PUMP

RFC35

FLUXGATE

COMPASS

RF300

RUDDER

FEDDBACK

Figure 1-1 AP22 Basic system

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AP21

CONTROL

UNIT

Introduction

JUNCTION

UNIT

RFC35

FLUXGATE

COMPASS

REVERSIBLE

PUMP

Figure 1-2 AP21 Basic System

1.4 AP22 Control Unit

A compact autopilot control for panel, bulkhead or overhead mounting. It has a multifunction LCD display for readout of autopilot data, dedicated keys and rotary course knob. Two Robnet connectors are provided for system interconnection and expansion.

1.5 AP21 Control Unit

RF300

RUDDER

FEDDBACK

A portable control unit with 7 m (20 ft.) of cable. It has the same autopilot functions as AP22 and can be used as a hand held autopilot or be mounted in a fixed, bracket mount.

1.6 Junction units

The junction unit is the heart in the autopilot system. It contains the steering computer, interface circuits to all system components and drive circuits for the drive unit motor and clutch. Three models, J300X, J300X-40 and J3000X are available.

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Simrad AP21 and AP22 Autopilots

Junction unit comparison chart:

Supply voltage 10-28 V 10-40 V

J3000X J300X (J300X-40)

Motor current (continuous/peak)

Clutch/bypass current 1,5 A 1,5 A Number of Robnet units 2 5 NMEA ports (input/output) 1 2 Solenoid output x x Input for NFU control x x External alarm x Radar clock/data interface x

1.7 Rudder Feedback unit

RF300 Rudder Feedback unit

Rudder feedback unit with transmission link and 10 m (30 feet) of cable. Transforms the angular travel of the rudder to a digital signal read by the autopilot steering computer.

6/10 A 10/20A (20/40A)

LF3000 Linear Feedback

Linear feedback unit for boats with outboard engine. Transforms the linear movement to an analogue signal. Supplied with 8,5 m cable and mounting clamps.

LFI3000 Mk2 Linear Feedback Interface

Interface unit for LF3000 Linear Feedback. Converts the analogue LF3000 signal to the standard digital feedback signal for the autopilot steering computer.

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1.8 Heading Sensors

The AP21 and AP22 autopilots 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.

RFC35R Rate compass

Fluxgate compass with integrated rate sensor. Provides a dramatic improvement to the dynamic performance of both the autopilot and a stabilized radar display when connected to the autopilot system.

Introduction

Same dimensions as RFC35.

CDI35 Course Detector Interface and CD100A Course Detector

Interface and sensor unit to connect AP21 and AP22 to a magnetic compass. The autopilot provides excitation current for CD100A and converts the analogue sin/cos signal to digital two wire format for the autopilot steering computer.

Note ! You can not connect both an RFC35 and a CDI35 at the same

time.

NMEA compass

(Applies for AP21&AP22 V1R3/J300X V1R8) Any NMEA 0183 compass with HDT, HDG or HDM messages

can be connected directly to the J300X/J300-40X junction units.

Other fluxgate compass models

The optional CI300X can interface AP21 and AP22 to fluxgate compasses with heading signal on a sine/cosine format.

Simrad RGC10 and RGC50 gyrocompasses

The optional CI300X unit is needed to interface these two gyrocompass models. Other gyrocompass models with synchro 1:1 (max 110V) can also be interfaced.

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Simrad AP21 and AP22 Autopilots

1.9 Optional equipment

A series of options are available for the basic AP21 and AP22 systems.

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.

S35 NFU Lever

S35 is designed for indoor and outdoor bulkhead mount. The lever has spring loaded return to mid-position. A push button with light indicator is used for limited mode change.

FU35 Follow-Up Steering Lever

The FU35 Follow-up steering lever features a dial (scale) with 10° markings. The rudder will move and stop at the commanded angle as read on the dial. FU35 has a mid-position detent, push buttons for (limited) mode selection and mode indicators (STBY, FU, AUTO and NAV). It is designed for indoor and outdoor bulkhead or panel mount. See separate manual for FU35.

NI300X NMEA Interface Unit

Unit with 4 NMEA I/O ports for communication to other systems, and a selectable heading output for radars (Anritsu or Furuno). Includes two Robnet connectors for connection to the autopilot system.

CI300X Compass Interface

Unit for interface to non-Simrad fluxgate compasses and windvane systems with analogue output, and NFU levers. Input for Simrad RGC50 and RGC10 gyro compasses.

Mounting Bracket

Optional bracket for bulkhead or overhead mount of AP22. See Figure 4-8 on page 65.

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Introduction

2 OPERATION OF THE AUTOPILOT

WARNING ! An autopilot is a very useful navigational aid, but DOES

NOT under any circumstance replace a human navigator.

Do not use automatic steering when:

• In heavy traffic areas or in narrow waters

• In poor visibility or extreme sea conditions

• When in areas where use of autopilot is prohibited

by law

When using an autopilot:

• Do not leave the helm unattended

• Do not place any magnetic material or equipment

near heading sensor used in the autopilot system

• Verify at regular intervals course and position of

vessel

• Always switch to Standby mode and reduce speed in

due time to avoid hazardous situations

2.1 Overview

STBY

PWR

AUTO

SPEED

NAV

SETUP

TURN

PORT key

Multifunction LCD

Rotary course knob

STARBOARD key

DODGE / U-TURN / TACK NAV or WIND / setup AUTO / manual speed select STANDBY / POWER On/Off

Figure 2-1 AP22 Front Panel

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Simrad AP21 and AP22 Autopilots

Multifunction LCD

PORT key STARBOARD key

Rotary course knob

STANDBY / POWER On/Off

AUTO / manual speed select DODGE / U-TURN / TACKNAV or WIND / setup

Figure 2-2 AP21 Front Panel

The control unit 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".

The autopilot system is capable of the following primary steering modes: STBY (manual steering), AUTO, NAV or WIND, each mode having a dedicated push button.

Each of the mode push buttons is clearly identified with the primary function in large text, and a secondary function listed in smaller text. Each button provides you with access to a primary display and a secondary.

A group of user adjustable settings and selections are provided in the USER SETUP MENU (page 33). Adjustment of display visibility, selection of heading sensors, navigation sources are among the menu items.

Alarms are presented in plain text to alert you in the event of system or external data failure conditions. Alarms include both audible and visual presentations. The alarm listing is on page

113.

2.2 ON/OFF - Standby mode

A single press on the STBY button switches the system ON and the following status displays are shown:

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Robertson

AP22

SW V1R3

HW rev. 0

Robertson

J300X

SW V1R8

P00 M00 S000

Operation

Autopilot model Software V(ersion) and R(elease)

Hardware revision

Junction unit model Software V(ersion) and R(elease)

Self check

Power board revisi o n

Main board revision

SW and HW revisions shown are examples only. After approx. 5 seconds the system is operative and the unit that

was turned on will show the STBY mode display. Other units in a multistation system will display "Inactive". Control can be available at any unit by pressing the STBY button.

STBY

First press

Standby mo de Current heading

RFC

STBY

Second press

Stan dby mod e. Current heading from RFC compass. HI speed parameter manually selected. Rudder angle: 12 degrees to starboard.

A long press (2-3 sec.) on the STBY button switches the system OFF.

Note ! In an emergency it is possible on a multistation system to turn

OFF the system at any control unit by pressing down the STBY button for 2-3 seconds.

STBY mode is also the mode that is used when steering the boat at the helm.

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Simrad AP21 and AP22 Autopilots

2.3 AP21 and AP22 with MSD50 Stern Drive unit

Note ! The information in this paragraph only applies if your autopilot

is driving a Simrad MSD50 Stern Drive.

The MSD50 Stern drive unit has a relative feedback signal which needs a zero point setting after the autopilot has been turned on. Refer to paragraph 1.1 of the MSD50 manual for further information.

Zero point setting

Note ! If you not need a rudder angle display when leaving the dock,

just steer the boat manually on a straight course and press the AUTO button. The zero point is then set automatically.

If you prefer to use the rudder angle display when leaving the dock, proceed as follows:

After turn on the rudder angle display will alternate between 10° port and 10° starboard to indicate that the "rudder" zero point need be set.

RFC

Use the wheel to bring the "rudder" to midship position. Turn the wheel from lock to lock (H.O. to H.O.) and count the exact number of turns. Then start from one lock position and turn the half number of turns.

Press AUTO and then STBY. The zero point is now set and the display will show:

RFC

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Operation

Follow the operating instructions on the following pages. There is no further need for zero point setting until next time you turn the autopilot on.

2.4 Follow-Up steering (FU)

When both the PORT and STBD push buttons are pressed simultaneously the autopilot is set to Follow-Up mode and rudder commands can be set by the course knob. One revolution of the knob equals 44° rudder command. The commanded rudder angle is shown on the display and the rudder will move to the commanded angle and stop.

Note ! The maximum rudder angle is limited to the LO rudder limit

setting. Refer to paragraph “View parameters” on page 104.

Press both buttons simultaneously to activate Fol lo w-U p

Use course knob to comma nd ru dd er angle

Follow-Up mode. Current heading. Commanded rudder angle 22° to stbd. Rudder angle: 12° to stbd.

Return to manual control in STBY by pressing:

STBY

WARNING ! While in Follow-Up mode, you cannot take manual control

of the wheel.

2.5 Non-Follow-Up steering (NFU)

When PORT or STBD push button is pressed in STBY mode the NFU display is presented. The rudder will move as long as the button is pressed and the actual rudder angle is shown on the display.

PORT Rudder Command STBD Rudder Command

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Simrad AP21 and AP22 Autopilots

2.6 R3000X Remote Control

In the STBY mode the rudder will move as long as the Port or Stbd

REMOTE

Push buttons for Port and Stbd NFU commands

button is pressed. In AUTO mode, the set course will

change 1° each press.

STBY-AUTO

STBY/AUTO mode button. AUTO mode is when lamp is lit

R3000X

2.7 S35 Steering lever

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.

Note!

If you keep the button pressed, it will automatically change the course at a rate of 3°/second.

Operation of mode button cycles the pilot as follows:

AUTO NAV

→

STBY → AUTO

→

STBY → AUTO *

* NAV mode can only be entered from the Control unit

Note ! When a NFU steering lever or remote control is operated, the

control unit(s) become "Inactive".

2.8 Automatic Steering

The AUTO mode is used to make the autopilot steer the boat automatically on a set course. AUTO is always available from any mode or function within the autopilot by a single press on the AUTO button. When changing from STBY to AUTO mode, the autopilot uses the current boat heading as the set course and the simultaneous rudder angle. This gives a bumpless transfer at the mode change.

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Operation

AUTO

First press

Automatic steering mode Set course

In AUTO, the autopilot is issuing rudder commands to keep the boat on the set course. Heading input is provided by the compass for course keeping.

AUTO

RFC

LOG

Second press

The autopilot will keep the boat on the set course until a new mode is selected or a new course is set with either the course knob or the PORT or STBD buttons. One revolution of the course knob equals 44° course change.

Course adjust Course change

Decrease Increase

1°(or 10°)/push

Once the course is changed to a new set course, the boat will automatically turn to the new heading and continue to steer the new set course.

Automatic steering mode. RFC compass heading. Speed input from log (HI ) . Rudder angl e: 12 degree s to starboard.

CW: Increase CCW: Decrease

2.9 Automatic Speed selection

The autopilot provides two different sets of steering parameters to control the response of the boat at different speeds (HI or LO) while in AUTO and NAV modes.

The autopilot always selects the HI speed steering parameters when first switched on. This is a safety feature. After initial turn

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Simrad AP21 and AP22 Autopilots

on, selection of the steering parameters may be accomplished automatically, based on the availability of input data from either an external speed log or an external navigator, or manually.

The autopilot automatically selects the HI or LO parameter set. The speed at which the autopilot changes from HI to LO (or opposite) is determined by the "Transition Speed" set in the Installation Setup Menu.

Note ! It is not recommended to use automatic speed switching if input

is from Loran.

Example of Transition speeds with

26 24 22 20 18 16 14 12 10 8 6 4 2 0

AUTOMATIC Speed parameter selection

Transition to HI parameters with increasing speed: 10 Knots

Transition Speed set to 9 Knots

Transition to LO parameters with decreasing speed: 8 Knot s

2.10 Manual speed selection

Select AUTO mode. To toggle between HI and LO speed parameters, press the "AUTO" button two times quickly.

If you change boat speed it is recommended that you select HI or LO parameters correspondingly.

AUTO

Quick double press to toggle between HI and LO speed pa rameters

Note ! The manually selected speed setting (HI or LO) will override the

automatic speed selection and remain in effect until you re-enter AUTO mode.

setting

HI speed parameters

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2.11 Navigating with the AP21 or AP22

The autopilot 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 NAV mode, the autopilot uses the heading sensor as it's reference for course keeping. The steering information received from the external navigator alters the set course to direct the autopilot to the destination waypoint.

The autopilot is designed to steer in mixed mode operation. This combines the straight steering capability of cross track error (XTE) steering in conjunction with the turning capability of bearing mode steering.

To obtain satisfactory navigation steering, the following points must be fulfilled prior to entering the NAV mode:

• The autopilot autosteering must be tested and found

satisfactory.

Operation

• The navigation receiver must be operating and the navigation

system (GPS/Chart Plotter) must be in full operating mode with adequate signal characteristics for valid position and steering data.

• At least one waypoint must be entered and selected as the

current waypoint in the navigation receiver.

• The navigation source in the AUTOPILOT USER SETUP

menu must be set for the navigator that contains the current waypoint.

Note ! Navigational steering must only be used in open waters. The

process of having an external navigation receiver direct an autopilot can be a slow acting process. By selecting the NAV mode, the autopilot is set for automatic steering on the current set course and then waits for the user to accept the course change to the destination waypoint.

WP: Egersund

Press

NAV

to activate prompt display

Brg.: 153° Chg.: 23°

OK?:P ress NA V

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Simrad AP21 and AP22 Autopilots

Press

NAV

again to activate NAV mode

* CTS (course to steer) is the course set internally in the autopilot to steer the boat on to the track.

NAV

Second p ress

173

CTS

Course to steer: 173° * Cross track error: 0.02 nm to stbd.

Egersu nd BRG 153°M MAN DST 23.0 nm HI P 03 S

Next waypoint: Egersund Bearing to waypoint: 153° Distance to waypoint: 23.0nm HI speed parameter manually selected Rudder angle: 3° to starboard

When operating the autopilot in NAV mode to automatically steer through a route of waypoints, the autopilot will steer to the first waypoint in the route after you accept the first waypoint as the location to steer to. When you arrive at the waypoint, the autopilot will give an audible warning and display the proposed new course information. If the required course change is more than 10° you will need to verify that the upcoming course change is acceptable. Verification is performed by pressing the NAV button after the prompt screen is displayed. If no verification is received, the autopilot will continue on the current set course in AUTO mode.

Verify course change greater than 10° by pressing

At the arrival of each new waypoint in a route:

WP: Fish ing Brg.: 100°

NAV

Chg.: 3 5°

OK?:Press NAV

Name of new waypoint. Bearing to new waypoint. Required cour se ch ange .

Regain manual steering at any time by pressing:

STBY

24 20220596G

Origin

New heading accepted automatically after NAV/SETUP button is pressed

Waypoint 1

Waypoint arriv al zone (determined by the navigator)

2.12 Selecting a different Navigator

If you have more than one navigation source connected to the autopilot, you will be able to choose any for navigation. Refer to the User Set-up menu for details on selecting a different navigator.

Operation

Waypoint 2

Note ! If the autopilot is connected to a navigation receiver that does

not transmit a message with bearing to next waypoint, it will pick a XTE message and steer on Cross Track Error only. In that case you have to revert to AUTO mode at each waypoint and manually change set course to equal bearing to next waypoint and then select NAV mode again.

20220596G 25

Simrad AP21 and AP22 Autopilots

2.13 Dodging

Dodging is useful in situations where you need to quickly take control of the helm to steer around an obstruction, and then wish to return to the previous set heading after performing the evasive manoeuvre. Dodging is activated by a quick press on the DODGE button.

When in DODGE mode the displayed set course is the last one set prior to activating the dodge function. When DODGE is displayed, the autopilot is in STBY mode and is no longer in control of the steering. You must either manually steer the boat by the helm or take control using Non Follow Up or Follow Up steering. The autopilot will remain in DODGE mode until you exit DODGE by a second press on the TURN/DODGE button or select another mode.

Press to activate DODGE mode

DODGE

Perform do dge using:

Press both

DODGE

Next press

AUTO

A123

Last set course: 123° Current heading: 034°

Wheel

or Non Follow Up

Follow Up

Selects AUTO mode at the last set course

Selects AUTO mode with current heading as set course

034

Note ! Using NFU or FU modes while dodging will make “NFU” or

“FU” flash instead of “DODGE”.

26 20220596G

2.14 Dodge in NAV

Press to activate DODGE mode

Operation

DODGE

Perform dodge using:

or Non Follow Up

Press both

To return from Dodge mode press one of the foll owin g buttons :

Selects NAV mode at present position with

NAV

new bearing to wayp oint

AUTO

Selects AUTO mod e with current heading as set course

Returns to NAV mode at the current trac k

DODGE

(not recommended as it may result in a big course change)

Wheel

Follow Up

N.02 nm

Cross track error: 0.02 nm to st arboard

20220596G 27

Simrad AP21 and AP22 Autopilots

2.15 TURN-mode

The autopilot provides a special U-turn feature when in AUTO mode. This feature is very useful in a man overboard situation.

U-Turn changes the current set course to be 180 degrees in the opposite direction. The user may decide if the U-Turn should be made to Port or Starboard to bring the boat on the new course. UTurn is activated by a quick double press on the DODGE button. The autopilot will continue on the set course until you press either the PORT or STBD button to select the direction to make the U-Turn. If you do not press PORT or STBD within 1 minute, the autopilot will return to the AUTO mode and stay on course.

Quick double press to enter TURN mode

DODGE

TURN

Press

PORT STB D

Press

Boat makes STBD U-turn

2.16 Tacking in Auto mode

When the autopilot is installed on a sailboat, a fixed tack of 100 degrees can be made in AUTO mode.

The use of this function should be carefully considered based on the boat's characteristics and the weather conditions. The tack function should only be used into the wind and must be tried out in good weather conditions with light wind to find out how it works on your boat. Due to wide range in boat characteristics (from cruising to racing boats) the performance of the tack function may vary from boat to boat. Except for the course change of 100° the procedure is similar to that of the U-Turn described above.

to select STBD U-turn

28 20220596G

2.17 Wind vane steering

Prior to entering WIND mode the autopilot system should be operating in AUTO, with valid input from the selected wind transducer. The WIND mode is an alternative function to the NAV mode and it is only available if the system has been set up for SAIL-boat in the Installation Menu, and NAV/WIND source is set to WIND under the USER SETUP menu. (Ref. to page 33).

WIND function can only operate when reaching as it is necessary to have a stable apparent wind. The sails should be trimmed so that the autopilot can easily steer the boat in AUTO mode and the wind transducer must give a stable signal.

Enter the WIND mode by pressing the NAV/SETUP button.

Operation

NAV

First press

Set appar en t win d an gl e : 34 ° fr om stbd .

The pilot will read the apparent wind angle at the moment the WIND function is selected and enter it as the set apparent wind angle. From that point the pilot will change the course to maintain this apparent wind angle as the wind direction may change.

Note ! If the cumulative shift of the apparent wind exceeds 15° from the

value at the time the WIND mode was selected, a WIND SHIFT alarm will sound.

The display will show the set apparent wind angle. Adjustments to this set angle can be done by using PORT or STBD button or the rotary course knob.

DecreaseIncrease

Adjust set

wind angle

1° (or 10°)/push

Wind angle adjust: CW: Decrease CCW: Increase

When pressing the NAV/SETUP button a second time the display presents current heading and rudder angle.

20220596G 29

Simrad AP21 and AP22 Autopilots

RFC

NAV

Second press

Dodging while in WIND mode is very similar to dodging in AUTO or NAV modes. Refer to DODGE mode operation in the AUTO mode section on page 26.

Regain manual steering by pressing:

2.18 Tacking in Wind mode

In WIND mode on sailboats there is also a tacking aid function. This function may only be used when the boat is reaching and will when activated take the boat from the course you are steering to the computed course that gives you the same apparent wind on the other side.

RFC compass heading: 123° HI speed param eter m anuall y selected Rudder angle: 12° to starboard

STBY

This tacking function as compared to tacking in AUTO mode can only be used when you are sailing with the apparent wind as the reference (WIND mode), and with apparent wind angle less than 80-90 deg.

A quick double press on DODGE will activate the tack function which will prompt you for which way the tack should be performed. Press PORT or STBD to select the tack.

Quick double press to enter TURN mode

TACK

Press

DODGE

Boat makes STBD Tack

PORT STBD

Press to select STBD Tack

50°

30 20220596G

2.19 Multiple station system

In normal operation of multiple control units, control is accessible from every control unit connected to the autopilot system. One control unit is "active" and provides the user with access to all functions and enables the user to change modes and set the course for automatic course keeping. All remaining control units are "inactive" and have no effect on course changes. A single press on any of the mode buttons on an "inactive" control unit will allow transfer of command and make it "active".

2.20 Lock function

The "LOCK" function is a safety feature included in the autopilot system when you have more than one control unit installed. It will disable all control units except for a single, user selected control unit location.

Operation

When the "lock" function is in use, no transfer of command may take place; only the "active" control unit stays in command.

To enable the "lock" function, make a quick double press on the STBY button.

STBY

PWR

Quick double

ress to"Lock"

The display on the "active" control unit will first show a icon and then the icon will alternate with the mode index.

The "locked" control units in the system will show:

Inactive

20220596G 31

Simrad AP21 and AP22 Autopilots

The “Lock function is disengaged by the following actions:

• The “active” control unit unlocks by another double press on

the STBY button.

• The system is switched OFF by any control unit (press STBY

for 2-3 seconds).

After having "unlocked" the other control stations, the "active" control unit will show the above symbol before the display returns to normal. All other control units will return to the "inactive" state.

32 20220596G

2.21 User Set-up Menu

NAV

SETUP

Quick double press

to enter

User Setup Menu

BACK FWD

Scrolls through menu selections or sets value on menu items

Nav/Wind

NAV

SETUP

The Nav/Wind selection only appears if the autopilot is configured for sailboat. (See Dockside settings, page 89). Determines whether the NAV mode button will activate NAVigation mode or WIND mode steering.

Nav

Operation

Sequences FWD in MENU

Sequences BACK in MENU

Backlight

Contrast

Adjust backlight of display and pushbuttons (10 steps, 10 = brightest). Setting is stored when system is turned off, and resets to stored level at turn on. Adjustment is local to the control head you adjust.

Backlight

Contrast

Adjust contrast of displays (10 steps). Setting is stored when system is turned off, and resets to stored level at turn on. Adjustment is local.

20220596G 33

Simrad AP21 and AP22 Autopilots

NAV. source

------Seastate Filt MAN 1

Select the source for NAV mode steering. Refer to interface setup table on page 98.

NAV. source

-------

Seastate Filt

MAN 1

Select value for Sea State Filter. OFF: Provides precise steering but increases rudder

activity.

AUTO: Reduces rudder activity and reduces sensitivity of

autopilot in rough weather automatically.

MANUAL: Sets yaw band manually (1-10, 10 ≈ +/–6°).

POS. source

GPS1 Select comp. RFC

Select the source of speed over ground (SOG). This option will only appear if there is more than one GPS receiver connected to the system.

POS. source GPS1

Select comp.

RFC

Select the compass to be used for AUTO steering if more than one compass is connected. Refer to the interface setup table on page 97.

RFC = Simrad RFC35 Fluxgate compass or Simrad

RFC35R Rate compass (See Note)

34 20220596G

Operation

MAGN = Magnetic compass (or Simrad RFC35 Fluxgate

Compass. (See Note) FLUXG = Non-Simrad fluxgate compass GYRO = Simrad gyrocompass NMEA = NMEA compass

Note ! It is necessary to select the correct compass and Nav. source to

make the autopilot operate.

When using the PORT or STBD buttons in automatic mode you are changing the set course in 1° increments. If you prefer the increments to be 10° each press, proceed as per below:

Course adjust

SYSTEM DATA NMEA DATA

Select Course adjust using the PORT or STBD button. Turn the rotary knob to display the setting

Course adjust

1°

The default value is 1° which is the preferred setting. Select 10° if you want to make major course changes in 10° steps with the buttons and fine tune the set course with the rotary knob.

System data and NMEA data found in this menu are test functions to analyse data processed by the autopilot. (See Trouble shooting page 113).

Except when NMEA data or System data is displayed, the menu will disappear after 30 seconds if no key is pressed. It will disappear immediately if any mode key (STBY, AUTO or NAV/WIND) is pressed.

20220596G 35

Simrad AP21 and AP22 Autopilots

This page is intentionally left blank

36 20220596G

Technical specifications

3 TECHNICAL SPECIFICATIONS

3.1 AP21 and AP22 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: .................. Dependent on system configuration

Environmental Protection:

AP21 Control Unit:...........IP56.

AP22 Control Unit:...........IP56 from front, IP43 from back.

RFC35, RFC35R, CDI35:. IP56

RF300:............................... IP56

J300X:...............................IP44

NI300X, CI300X: ............. IP44

EMC protection: ........................ EN60945 : 1993, A1 : 1993

Automatic Steering control:

Rudder Drive:.................... Proportional rate or solenoid on/off

Parameter selection:................... Automatic with manual override

Sea state control:...............Adaptive sea state filter or manual

Language selection:................... English, Norwegian, French, Spanish, German,

Italian, Dutch, Swedish.

Electronic Interface:

Navigation interface:......... NMEA 0183

NMEA inp./outp. ports: .... Max. 6 (see junction units and NI300X

specifications)

NMEA input sentences:.... APA, APB, BOD, BWC, BWR, BWW, DBK,

DBT, DPT, GGA, GLL, MTW, MWV, RMA, RMB, RMC, VHW, VLW, VTG, VWR, XTE, XTR, ZTG, ZDA, (PSTOE, PSTOI).

NMEA output sentences:.. BWC, BWW, GGA, HDG, HDM, HDT, HSC,

RMB, RMC, RSA, VTG, XTE.

20220596G 37

Simrad AP21 and AP22 Autopilots

Optional output: ............... Anritsu and Furuno radar display (clock/data)

Heading sensors:

Standard:........................... RFC35 Electronic Fluxgate compass

Options:............................. Magnetic compass

RFC35R Rate compass NMEA compass (Not J3000X) Simrad RGC50/RGC10 gyrocompasses * Analogue fluxgate compass (sin/cos)* Analogue wind vane (sin/cos)*

* By CI300X

Course Selection:....................... Rotary course dial and push button

Alarms: ...................................... Audible and visual, optional external

Alarm modes:............................. Off course, system failures, overload

Steering modes: ......................... Standby, Non-follow up, Follow-up, Auto, Nav,

Wind

Special Turn modes:.................. Dodging, Tacking, U-Turn

3.2 AP22 Control Unit

Dimensions:............................... See Figure 3-1

Weight: ...................................... 0,5 kg (1.1 lbs)

Power consumption ................... 3 W

Display:

Type:................................. Backlit LCD matrix display

Resolution:........................ 80 x 32 pixels

Colour:....................................... Black

Illumination: .............................. Adjustable in 10 steps

Environmental Protection:......... IP56 from front, IP43 from back.

Safe distance to compass:.......... 0.3 m (1’)

Temperature:

Operating: ......................... 0 to +55 °C (+32 to +130 °F)

Storage:............................. –30 to +80 °C (–22 to +176 °F)

Mounting: .................................. Panel by four screws

Optional bracket for bulkhead and overhead mount.

38 20220596G

Technical specifications

Figure 3-1 AP22 Control Unit - dimensions

(Mounting bracket is optional equipment)

(D3-208503)

20220596G 39

Simrad AP21 and AP22 Autopilots

3.3 AP21 Control Unit

Dimensions:............................... See Figure 3-2

Weight: ...................................... 0,57 kg (1,25 lbs)

Power consumption ................... 3 W

Display:

Type:................................. Backlit LCD matrix display

Resolution:........................ 80 x 32 pixels

Colour:....................................... Black

Illumination: .............................. Adjustable in 10 steps

Environmental Protection:......... IP56.

Safe distance to compass:.......... 0.3 m (1’)

Temperature:

Operating: ......................... 0 to +55 °C (+32 to +130 °F)

Storage:............................. –30 to +80 °C (–22 to +176 °F)

Mounting: .................................. Handheld or mounted in a fixed, bracket mount.

Cable.......................................... 7m (23’) special Robnet cable with air tube.

Figure 3-2 AP21 Control Unit - dimensions

40 20220596G

Technical specifications

3.4 Junction units

Dimensions:............................... See Figure 3-3 and Figure 3-4

Weight:

J300X/J3000X................... 1,3 kg (2,9 lbs.)

J300X-40........................... 2,8 kg (6,2 lbs)

Supply voltage:

J3000X.............................. 10-28V DC

J300X/J300X-40............... 10-40V DC

Reverse voltage protection ........ Yes (not J300X-40)

Power consumption: .................. 5 Watt (electronics)

Motor / solenoid drive:

J3000X.............................. 6 A continuous, 10 A for 5 sec.

J300X................................ 10 A continuous, 20 A for 5 sec.

J300X-40........................... 20 A continuous, 40 A for 5 sec.

Heading Sensor input: ............... Composite pulse width modulated

Rudder feedback input:.............. Frequency signal, 3400 Hz., 20 Hz/deg.

Rudder feedback units:.............. RF300, LF3000

NMEA input/output ports:......... J3000X: 1 (one)

J300X, J300X-40: 2 (two)

External Alarm: ......................... Open collector

Temperature range:

Operation: ......................... 0 to +55 °C (+32 to +130 °F)

Storage:............................. –30 to +80 °C (–22 to +176 °F)

Mounting: .................................. Bulkhead mount

Material:..................................... Anodized aluminium and black ABS cover

20220596G 41

Simrad AP21 and AP22 Autopilots

Figure 3-3 J300X/J3000X Junction Unit - Dimensions

Figure 3-4 J300X-40 Junction Unit - Dimensions

42 20220596G

Technical specifications

3.5 RFC35 Fluxgate compass

Dimensions:............................... See Figure 3-5

Weight: ...................................... 0,9 kg (2,0 lbs)

Supply and output:..................... Polarity independent 2-wire supply with

superimposed pulse width modulation

Automatic Performance:

Calibration: ....................... Automatically activated by control head

Gain compensation: .......... Automatically adjusted continuously

Repeatability:............................. ± 0.5 degrees

Roll/Pitch:.................................. ± 35 degrees

Accuracy:................................... ± 3 degrees after calibration

Cable supplied: .......................... 15 m TP shielded cable

Temperature range:

Operation: ......................... 0 to +55 °C (+32 to + 130 °F)

Storage:............................. –30 to +80 °C (–22 to +176 °F)

Environmental Protection:......... IP56

Mounting: .................................. Deck or bulkhead

Material:..................................... Black ABS

Figure 3-5 RFC35 Fluxgate Compass - Dimensions

20220596G 43

Simrad AP21 and AP22 Autopilots

3.6 RFC35R Rate compass

Dimensions:............................... See Figure 3-5

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 stabilised heading output

Accuracy:................................... <1.25° (rms)

Repeatability:............................. <0.2° (rms)

Roll/Pitch:.................................. ± 35 degrees

Cable supplied: .......................... 15 m TP shielded cable

Temperature range:

Operation: ......................... 0 to +55 °C (+32 to + 130 °F)

Storage:............................. –30 to +80 °C (–22 to +176 °F)

Environmental Protection:......... IP56

Mounting: .................................. Deck or bulkhead

Material:..................................... Black ABS

3.7 CDI35 Course Detector Interface

Dimensions:............................... See Figure 3-6

Weight: ...................................... 0,9 kg (2,0 lbs)

Supply and output:..................... Polarity independent 2-wire supply with

superimposed pulse width modulation

Automatic Performance:

Calibration: ....................... Automatically activated by control head

Gain compensation: .......... Automatically adjusted continuously

Repeatability:............................. ± 0.5 degrees

Accuracy:................................... ± 0,5° (not including errors from course

detector)

Cable supplied: .......................... 15 m TP shielded cable

44 20220596G

Technical specifications

Weight: ...................................... 0,9 kg including cable (2,0 lbs.)

Power consumption: .................. 0,9 watts

Temperature range:

Operation: ......................... 0 to +55 °C (+32 to + 130 °F)

Storage:............................. –30 to +80 °C (–22 to +176 °F)

Environmental Protection:......... IP56

Mounting: .................................. Deck or bulkhead

Material:..................................... Black ABS

Figure 3-6 CDI35 Course Detector Interface - Dimensions

3.8 RF300 Rudder Feedback

Dimensions:............................... See Figure 3-7 and Figure 3-8.

Weight: ...................................... 0,5 kg (1,1 lbs)

Rudder angle:............................. ± 90 degrees

Output signal: ............................ Polarity independent frequency signal

Frequency resolution:........ Centre: 3400 Hz, 20 Hz/degree of change

Linearity:........................... ± 3 degrees up to 45 degrees of rudder

Cable supplied: .......................... 10 m twisted pair shielded cable

Mounting: ................................. Horizontal, vertical, upside down

Material: .................................... Polyacetal (POM)

Environmental Protection:......... IP56

20220596G 45

Simrad AP21 and AP22 Autopilots

Temperature range:

Operation: ......................... –10 to +55 °C (+14 to +130 °F)

Storage:............................. –30 to +80 °C (–22 to + 176 °F)

Transmission link: ..................... Stainless 350mm (13.8") with 2 ball

joints. Ball joint stud for rudder arm requires 4.2mm dia hole and 5mm tap.

Figure 3-7 RF300 Rudder Feedback - Dimensions

Figure 3-8 Transmission link - Dimensions

3.9 CI300X Compass Interface

Dimensions:............................... See Figure 3-9

Weight: ...................................... 0,9 kg (2,0 lbs)

Power consumption: .................. 2 W

46 20220596G

Technical specifications

Gyro compass input:.................. Synchro 1:1 (RGC10/RGC50 gyrocompasses)

Heading or windvane input: ...... Sin/cos max 12V DC

NFU steering lever input: .......... Port/stbd potential free contact

Robnet network interface: ......... 2 network connectors

Cable inlets:............................... Rubber glands for cable diam. 10-14 mm

Mounting: .................................. Bulkhead mount

Material:..................................... Epoxy coated aluminium

Environmental Protection:......... IP44

Temperature range:

Operation: ......................... 0 to +55 °C (+32 to +130 °F)

Storage:............................. –30 to +80 °C (–22 to +176 °F)

Figure 3-9 CI300X and NI300X - Dimensions

3.10 NI300X NMEA Interface

Dimensions:............................... See Figure 3-9

Weight: ...................................... 0,9 kg (2,0 lbs)

Power consumption: .................. 3 W

NMEA183 input/output:............ 4 ports, max output load 20 mA

Heading output: ......................... Anritsu and Furuno radar display (clock/data)

NMEA instrument supply:......... 12V DC, max 0.25A

Robnet network interface: ......... 2 network connectors

Cable inlets:............................... Rubber glands for cable diam 10-14 mm

Mounting: .................................. Bulkhead mount

20220596G 47

Simrad AP21 and AP22 Autopilots

Material:..................................... Epoxy coated aluminium

Environmental Protection:......... IP44

Temperature range:

Operation: ......................... 0 to +55 °C (+32 to +130 °F)

Storage:............................. –30 to +80 °C (–22 to +176 °F)

3.11 R3000X Remote

Dimensions:..... See Figure 3-10

Weight:............ 0,4 kg (0,9 lbs)

Protection......... IP56

Cable length:.... 7 m, shielded

Material: .......... Epoxy coated aluminium

Figure 3-10 R3000X - Dimensions

3.12 S35 NFU Steering Lever

Dimensions:..................See Figure 3-11

Weight: ......................... 1,4 kg (3,1 lbs)

incl. 10 m cable

Protection...................... IP56

Power consumption: ....6 mA

Max. inductive load:.....4A/12-24VDC

60mA/110VAC,

25mA/220VAC

Figure 3-11 S35 - Dimensions

48 20220596G

Technical specifications

3.13 LF3000 Linear Feedback

Stroke:........................... 300 mm

Operating principle:...... Variable differential transformer, excitation and signal

conversion by separate LFI3000 Mk2 Interface unit

Power:........................... Supplied by LFI3000 Mk2

Dimensions:..................465 mm (18,3") x 22 (0,86") dia.

Mounting: ..................... Clamped to hydraulic ram

Material:........................ Rod: Stainless

Tube: Epoxy coated seawater resistant aluminium Environmental protection: IP67

3.14 LFI3000 Mk2 Linear Feedback Interface

Supply:.......................... From Junction Unit

Output signal................. Polarity independent variable frequency

Frequency resolution .... Centre 3400Hz, ±10Hz/degree equal to 1,7 mm travel

Linearity:.......................±3 degrees up to 45 degrees of rudder

Cable supplied: .............1,5 m TP shielded cable

Weight: ......................... 0,7 kg including cable (1,6 lbs.)

Power consumption: .....0,9 watts

Temperature range:

Operation:.... 0 to +70°C (+32 to + 158°F)

Storage: ....... -30 to +80°C (-22 to +176°F)

Environmental Protection:. IP56

Mounting: ..................... Deck or bulkhead

Material:........................ Black ABS

Dimensions:..................See Figure 3-6.

20220596G 49

Simrad AP21 and AP22 Autopilots

3.15 NMEA sentences

NMEA messages and data overview for IS15, AP11, AP20, AP35, AP300X, A P3000(X) and J3xx V1R8

DBT

HDT

HDG

Message ident. Data source: (n/p/h=nav/pos/heading source, c=calculated): h h h c ppppp nnn Accept. cond

Compass_Data Compass heading, M 2 1 X

Rudder_Data Wind_Data

Depth_Data

Speed_Temp_Data

Gps_Data

Nav_Data

Steering_contr1 Light_Cmd IS15 RX: x x x x xxxxxxx xxxxxxxxx

IS15 TX: J3xx RX:

J3xx TX: J3xx TX:

J3xx V1R7 onwards Channel2 TX:

. (N=no nav. flg warning, P= no pos. flg warning): PPPPP NNN

Status flag P* P P P N N

Compass heading, T 2 3 Rudder angle 1 Apparent wind angle 2

Apparent wind speed 2 Depth ref transducer

Transducer-Keel Off set X* Depth range X

Speed through water Log distance and trip Water temperature

Present position Lat, Long COG, T COG, M Universal Time Coordinated (UTC)

Magnetic variation

SOG 123 To-wp position

To-wp ident. From-wp ident. 3 Bearing wp-wp, T 65 Bearing wp-wp, M 564 Bearing pos-wp, T Bearing pos-wp, M Distance pos-wp Time to go to dest. Wp XTE Waypoint closure velocity, VMG

Heading steering cm d, T / M IS11 illumination

Transmissi on interval in sec.-> 1 1 1 1 2 2 2 If Instr. port (ref instr setup)- > .2 1 .2 .2

(HDM)

x x x xxxx xx x x x x xxxxxxxxxxxxxxxxx

.1* 1 .1* 1

RSA

MWV

(VWR)

1 1

DPT

(DBK)

132

MTW

VHW

VLW

GGA

4123

GLL

RMA

123

RMC

2 5

VTG

ZDA

(APA)

675

4 3

APB

BOD

Note ! 1. APB sentence may read in true or magnetic bearing wp-wp

and bearing pos-wp. These fields are sent as magnetic bearings from IS15. .

2. IS15. Magnetic variation from the HDG sentence is only used to calculate true heading from the data in the same Hdg sentence, and is not read in to the system.

50 20220596G

Technical specifications

Indata use

nnnn nn c NNNP P

P P N/P=nav/pos data warning, *DGPS if flag=2

cx c

d,c d,c* d,c d,c *Not for AP35

dd,c dd

cdd cdd

dd dd,cx

dx dx

MM M d,c

d,c x HD G m essage in to IS15 see note 2

cddx

2 1 3 d d,c* x Not in/out IS15 1 3 2 4 d* d d d x *Not for AP3000 12 x 4 d d d x IS15 sends bearing as magnetic 3 ddddx

213 d d d x IS15 sends bearing as magnetic

21 d* d d d x * Not for AP3000, wp-wp used if no pos-wp data

213 d* d d d x * Not for AP3000

1d 231 d,c d,c d,c d,c x X1

1 x

Remarks:

Bold red = {IS15, J3xx and IS11Multi} M=Multi only, black = {J3xx and IS15}. Blue 'X' IS15 only. Shadowed not to be used any more

* Output only

xxxx xxxx x

xxxxx

xxxx xxx x x

10 10 2 5 10

d = displayed c= used in calc.

* HDG out if magn. sensor, HDT out if true sensor

Proprietary sentences in/out IS15:

− In to IS15 $PSTOK,a<CR><LF> Status of compass calibration: a = I:init, R:running,

F:failed, C:calibrated.

− Out from IS15: $PSTOK,,,x.x,*XX<CR><LF> Set compass offset. x.x is offset angle,

0 to 360 degrees.

− Out from IS15: $PSTOC,*77<CR><LF> Sent start calibration of compass.

20220596G 51

Simrad AP21 and AP22 Autopilots

3.16 IP protection

Each part of a Simrad autopilot system has a two digit IP protection code.

The IP rating is a method to classify the degree of protection against solid objects, water ingress and impact afforded by electrical equipment and enclosures. The system is recognised in most European countries and is set out in a number of British and European standards.

The first code number describes the protection against solid objects, and the second number describes the protection against liquids.

FIRST NUMBER

Protection against solid objects

IP TESTS IP TESTS

0 No protection 0 No protection 1 Protection against solid objects

up to 50 mm, eg. accidental touch by hands.

2 Protection against solid objects

up to 12 mm, eg. fingers.

3 Protection against solid objects

over 2.5 mm (tools + wires)

4 Protection against solid objects

over 1 mm (tools + wires + small wires)

5 Protection against dust -

limited ingress (no harmful deposit)

1 Protected against vertically falling

drops of water (eg. condensation).

2 Protected against direct sprays of

water up to 15° from the vertical.

3 Protected against sprays to 60° from

the vertical.

4 Protected against water sprayed

from all directions - limited ingress permitted.

5 Protected against low pressure jets

of water from all directions - limited ingress permitted.

SECOND NUMBER

Protection against liquids

6 Totally protected against dust 6 Protected against strong jets of

water, eg. for use on shipdecks limited ingress permitted.

7 Protected against the effects of

immersion between 15 cm and 1 m.

8 Protected against long periods of

immersion under pressure.

52 20220596G

4 INSTALLATION

4.1 General

This section provides detailed information required to successfully installing the AP21 and AP22 Autopilot systems.

The autopilot system includes several modules that need to be mounted in different locations on the boat, and also need to interface with at least three different systems on the boat:

• The boat's steering system

• The boats electrical system (input power)

• Other equipment on board (NMEA interfacing)

In addition, the advanced capabilities of the autopilot require the installer to perform a series of settings and tests to verify proper operation of the system, refer to the check list below.

Installation

4.2 Installation checklist

1. Determine system configuration you are installing (Page 54)

2. Perform the hardware installation (Page 55)

3. Connect external NMEA devices (inputs and outputs, page

74)

4. Set Language (Page 88)

5. Dockside settings (Page 89) a) Boat type selection. b) Drive unit selection. c) Rudder feedback calibration. d) Automatic rudder test. e) Transition Speed

6. Interface setup for Junction Unit and NI300X/CI300X if

installed (Page 94)

7. Perform settings in User Setup Menu page 33 for NAV

source, POS source and Compass source

8. Dockside Autopilot tests (refer to Operating Instructions,

page 15)

a) Test all stations (if applicable) - lock/unlock - active/

inactive

b) Test Non-Follow Up mode c) Test Follow-Up mode d) Test AUTO mode

20220596G 53

Simrad AP21 and AP22 Autopilots

e) Test NAV mode and input interfaces (if connected)

including optional heading sensors

f) Test interface outputs to external equipment (if connected)

9. Seatrial settings (Page 100) a) Set rudder zero b) Compass calibration c) Compass Offset adjustment d) Automatic tuning (if required) e) Viewing parameters

10. Testing Autopilot Operation at Sea (refer to Sea Trial

instructions, pages 100, 107)

11. Provide the user with training (Page 108)

4.3 Unpacking and handling

Care should be taken when unpacking and handling the equipment. A visual inspection should be made to see that the equipment has not been damaged during shipment and that all components and parts are present according to the packing list.

A standard autopilot system will include:

• Control unit with standard installation accessories.

• Junction unit (J300X, J300X-40, J3000X) and one 15 m (49')

Robnet cable.

• RFC35 Fluxgate Compass with 15 m (49') cable attached.

• RF300 Feedback unit with 10 m (33') cable attached and

transmission rod.

• Appropriate drive unit for the installation (unless the autopilot

is going to operate an existing drive unit or solenoids).

• Optional equipment that may have been ordered for the

installation.

4.4 Determine the system configuration

It is important to become familiar with the configuration of the system prior to beginning the installation. The autopilot system layout with options is shown in Figure 4-1

Pay particular attention to the junction unit/drive unit combinations on page 60 and the chart on page 11.

54 20220596G

As many of the units are communicating on a common network (ROBNET), with identical connectors, the installation is simplified. Try to mount the units within the standard cable length supplied with each unit, if possible. ROBNET Extension Cable (10m) is available from your distributor.

4.5 Autopilot System Layout

Installation

Figure 4-1 Autopilot system layout with options

4.6 RF300 Rudder feedback installation

The RF300 Rudder feedback unit mounts close to the rudder, and is mechanically linked to the rudder tiller arm or rudder quadrant.

Refer to Figure 4-2 for the recommended mounting arrangement. Note that the RF300 transmitter arm has two slots for the transmission link. The slots enable maximum flexibility to provide the 1:1 mechanical linkage relationship.

Note ! Do not try to remove the transmitter arm from the feedback unit.

The unit is factory adjusted and need no further adjustment at installation than described below.

20220596G 55

Simrad AP21 and AP22 Autopilots

As a starting point, it is desirable to set the transmitter rod to the inner limit of the outer slot if possible. (Refer to Figure 4-2). Drill and tap the rudder tiller arm so that the Y1 dimension is equal to the Y2 dimension (Use 4.2 mm drill and 5 mm tap). Attach the ball joint to the tiller arm, and connect the transmitter rod to the ball joint at the rudder tiller arm.

Turn the helm wheel to set the rudder tiller arm to approximate centre position.

Rotate the RF300 transmitter lever until it is set to centre position. (Use the alignment mark to line up the transmitter lever to be opposite the cable entry into the feedback.).

Note ! Carefully observe the alignment marks. A rudder feedback alarm

may be the result if the alignment instructions as per Figure 4-2 are neglected.

Attach the transmitter rod to the RF300. Set the RF300 mounting location to be in accordance with Figure 4-2. The centre of the RF300 should be in line with the centre of the rudder post. Mount the RF300 to a suitable platform using the screws provided. If necessary, add blocking material under the RF300 to adjust the height of the transmission arm to be level with the rudder tiller arm.

Figure 4-2 RF300 mounting

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

the transmitter rod to move the RF300 closer to the rudder post.

Tighten the mounting screws for both the RF300 feedback unit and the transmitter rod ball joint.

56 20220596G

Installation

Observe the RF300 while someone turns the helm wheel through the complete travel from full port to full stbd. rudder to verify that the mechanical linkage to the RF300 is not obstructed.

JUNCTION UNIT

MAIN PCB

RF +

Rudder Feedb.

Figure 4-3 RF300 connection

* NON POLARIZED

(COLOUR INDEPENDENT)

4.7 Junction unit installation

The junction unit is designed to operate in a location that provides ambient temperatures below +55°C (+130°F).

Note ! The junction units (J3000X,

J300X and J300X-40) are not weather proof and should be mounted vertically as shown in a dry place between the control unit and the drive unit.

Figure 4-4 J3XX mounting

20220596G 57

Simrad AP21 and AP22 Autopilots

4.8 Cable connections

Use only shielded cables. This includes Mains input, drive units and if necessary for the extension of the RF300 Rudder Feedback cable. The clutch/bypass cable and the solenoid cable should be 1,5 mm twisted pairs.

The mains supply cable and the drive unit motor cable should have sufficient wire gauge. This will minimize voltage drop and allow the drive unit to operate at full power.

Refer to the table below for recommended cable sizes.

1. Breaker panel to Junction Unit. 12V 24V

2. Junction Unit to Drive Unit motor (Length refers to each of the two cables)

(AWG14). Signal cables should be 0.5 mm2 (AWG20)

Cable length Drive Unit Voltage

AWG

Up to 3 m (10 ft.) 12 2,5 12 2,5 Up to 6 m ( (20 ft.) 10 4 10 2,5 Up to 10 m (32 ft.) 8 6 10 4 Up to 16 m (52 ft.) 6 10 8 6

4.9 Grounding and RFI

The autopilot system has excellent RFI protection and all units use the Junction Unit as a common ground/shield connection. The Junction Unit should therefore have a proper ground connection to the hull/bonding system.

ROBNET cables and other signal cables (compass, feedback, NMEA) should not be run in parallel with other cables carrying RF or high current, such as VHF and SSB transmitters, battery chargers/ generators, winches and thrusters.

Remove the bottom cover to get access to the plug-in terminals. Strip about 1 cm (0.4") of the cable's insulation and pull the screen backwards to cover the insulation. Position the straps as shown and tighten well to make sure the screen has good contact.

Provide sufficient wire length so that the plug-in terminals can be easily connected/disconnected.

Pull out each terminal before connecting the wires. Remove all strands before putting on the terminal cover.

58 20220596G

ote!

Installation

The Mains input is not polarity

rotected on

300X-40.

Ground terminal

Power Board terminals

Main Board terminals

TB9 and TB10 are not on the J3000X Power Board

20220596G 59

Simrad AP21 and AP22 Autopilots

4.10 Drive unit installation

The relation between drive units, drive unit voltage, input voltage, drive output and interfacing to steering gear are shown in the table below. The autopilot system detects whether a reversible motor or a solenoid is connected and outputs the correct drive signal automatically.

Refer to the connecting diagram for the different drive units on page 62 onwards.

Installation instruction for the drive units are found in the manual for the individual units.

The maximum drive current capability of the J3000X, J300X and J300X-40 junction units are different. Use the table below as reference and observe the notes on next page.

HYDRAULIC PUMPS

RAM CAPACITY

MODEL MOTOR

VOLTS

RPU80 12V J3000X 80 (4,9) 250

RPU160 12V J300X 160 (9,8) 550

RPU200 24V J300X 190

RPU300 12V J300X-40 290

RPU300 24V J300X 290

RPU3 24V J3000X 370

RPU1 12V J3000X 140 (8,5) 600

JUNCTION

UNIT

MIN

(cu. in.)

(11,6)

(17,7)

(22,4)

MAX

(cu. in.)

(15,2)

(33,5)

670

(40,8)

960

(58,5)

960

(58,5)

1700

(103)

(36,6)

Steering gear interface: Hydraulic plumbing

FLOW RATE

AT 10 bar

/min

(cu. in/min)

800 (49) 50 2,5-6 A

1600 (98) 60 3-10 A

2000 (122) 80 3-10 A

3000 (183) 60 5-25 A

3000 (183) 60 2,5-12 A

3800/5000

(232/305)

1400/2000

(120/185)

MAX

PRESSURE

bar

40 7-22 A

PWR.

CONSUM-

PTION

60 20220596G

LINEAR DRIVE UNITS

Installation

MODEL MOTOR

VOLTS

MLD200 12V J3000X 300 (11,8) 200

HLD350 12V J3000X 200 (7,9) 350

HLD2000L 12V J300X 340 (13,4) 500

HLD2000D 24V J300X 200 (7,9) 1050

HLD2000LD 24V J300X 340 (13,4) 1050

MSD50* 12V J3000X 190 (7,5) 60

JUNC-

TION UNIT

MAX

STROKE

mm (in.)

PEAK

THRUST

kg (lb.)

(440)

(770)

(1100)

(2310)

(132)

MAX

RUDDER

TORQUE

(lb.in.)

490

(4350)

610

(5400)

1460

(12850)

1800

(15900)

3180

(28000)

– 15 0,8-2 A –

Steering gear interface: Connects to quadrant or tiller. * For stern drive power assisted steering only.

1. The motor voltage is stepped down by the junction unit when

operating from 24V or 32V mains (except for RPU1 and RPU3).

HARD-

OVER

TIME

sec.

(30% load)

15 1,5-6 A 263

12 2,5-8 A 175

19 3-10 A 298

11 3-10 A 175

19 3-10 A 298

PWR. CON-

SUMP.

TILLER

ARM

mm (in.)

(10,4)

(6,9)

(11,7)

(6,9)

(11,7)

2. The specified junction unit is necessary to achieve max drive

unit capacity.

3. Recommended operational thrust or torque is 70% of listed

value.

4. Typical average power consumption is 40% of listed maximum

value.

20220596G 61

Simrad AP21 and AP22 Autopilots

PREVIOUS MODELS DRIVE UNITS

Model Motor

RPU100, RPU150,

voltage

12V J300X Proportional

Junction

unit

Drive output Interface to

steering gear

Hydraulic

rate

plumbing (Reversible hydraulic pump)

MRD100 (Reversible mechanical drive)

MRD150 12V

12V 24V

32V

J300X 12V to clutch

24V to clutch Proportional rate to motor

J300X 12V to clutch

32V to clutch

Chain/

sprockets

Chain/

sprockets

Proportional rate to motor

Note ! When selecting DRIVE UNIT voltage in the Installation setup,

the clutch/bypass voltage is always set equal to the motor voltage. If a retrofit installation where e.g. a HLD2000 has a 12V motor and a 24V bypass valve, the bypass valve solenoid has to be changed back to standard 12V version.

Connecting a reversible pump

JUNCTION UNIT

POWER PCB

TB1

TB2 TB3 TB4

Robertson

reversible

pump

Figure 4-5 Connecting a reversible pump

62 20220596G

TB5

TB6

Sol. -Motor

Connecting a hydraulic linear drive

Installation

HYDRAULIC

LINEAR DRIVE

JUNCTION UNIT

Single pole

clutch /by p a s s

switch

Figure 4-6 Connecting a hydraulic linear drive

Connecting a solenoid valve

POWER PCB

TB1

TB2 TB3 TB4

Sol. -Motor

TB5

TB6

TB7

Sol. -Motor

Bypass

Clutch

SOLENOID

VALVE

Sol.

JUNCTION UNIT

POWER PCB

TB1

TB2 TB3 TB4

Sol. gnd

Sol.

Figure 4-7 Connecting a solenoid valve

TB5

TB7

TB6

Sol. -Motor

Sol. gnd

Sol. -Motor

20220596G 63

Simrad AP21 and AP22 Autopilots

4.11 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.

Panel mounting of AP22

The mounting surface must be flat and even to within 0.5 mm.

• Drill the 4 mounting holes and make a

panel cut-out according to supplied template.

• Place one of the three supplied gaskets

between the panel and the unit with the interlocking feature correctly orientated (see figure).

• Use the supplied screws to fasten the

control unit to the panel. Do not over-

tighten the mounting screws!

• Apply the front panel corners.

• Connect the Robnet cable(s) to the control unit connector(s)

(See note on page 66).

Alternative panel mounting of AP22

Note ! This way of mounting is simpler, but will lift

the unit from the panel surface. When installed adjacent to Simrad MarineLine equipment there will be a difference in height between the autopilot and the instruments.

• Use the template and drill hole(s) only

for the connectors.

• Place all three gaskets between panel and

unit with the interlocking feature correctly orientated (see figure).

This side towards control unit

• Follow above panel mounting

instructions.

Do not over-tighten the mounting screws!

64 20220596G

This side towards control uni

Installation

Optional bracket mounting of AP22

• Locate the cradle on the mounting site and mark the 4 holes

for the fixing screws on the mounting surface.

• Drill the 4 mounting holes and screw the cradle to the

mounting surface.

• Use the supplied screws to fasten the control unit to the left

and right brackets.

• Apply the front panel corners.

• Use the two locking knobs to assemble the cradle with the left

and right brackets and adjust the control head to best viewing angle. .

• Connect the Robnet cable(s) to the control unit connector(s)

(See note on page 66).

Figure 4-8 AP22 Bracket mounting (D2-208570)

4.12 ROBNET network cables

As Robnet units have two Robnet connectors they can be used as "jack points" for further expansion of the system. There are no dedicated "in" or "out" connectors. You may connect the cables to any available Robnet connector on the specific unit..

The Robnet cables are available in 7 and 15 m length and provided with 6 pin male connector at one or both ends. The 15 m cable to the junction unit has connector only at the control unit end.

Optional extension cable (10 m) is available and has a male and a female connector.

20220596G 65

Simrad AP21 and AP22 Autopilots

When installing a system, try to minimize total Robnet cable length by connecting all Robnet units to the nearest available Robnet connector.

Total length of Robnet cable installed in a system should not exceed 50 m (165').

Examples of interconnecting Robnet units:

CONTROL

UNIT

JUNCTION

UNIT

CONTROL

UNIT

NI300X

CONTROL

UNIT

JUNCTION

UNIT

CONTROL

UNIT

NI300X

Figure 4-9 Interconnecting Robnet units

All connectors are crimp type. These can be easily disassembled, if desired for easy of installation.

See table for pin configuration and colour code of the network cable. DO NOT MIX THE PINS AND THE CABLE COLORS!

Note ! Apply a thin layer of pure Vaseline on the connector threads and

make sure the connectors are properly secured to the receptacle by the coupling ring. The connectors are weather proof according to IP56, when properly installed. All unused Robnet plugs must be fitted with the plastic cap to keep the connector free from dirt and moisture. A separate screw cap for the Control unit comes as part of the installation kit.

Cable

pairs

Color

code

Pin Signal

1. pair Pink 5 V SYSTEM+

Grey 4 V SYSTEM–

2. pair Brown 1 Bus– White 2 Bus+

3. pair Yellow 3 On - Off Green 6 ALARM

VIEWED FR O M CA BLE S IDE

66 20220596G

Installation

HOW TO REMO VE PINS:

Extraction tool

P u ll th e wire

Insert tool in slot

Note ! For installations that require special cable length, contact your

Simrad distributor for information.

4.13 Control unit connection

AP22 connection

AP22

CONTROL UNIT

Figure 4-10 AP22 Control unit connection

JUNCTION UNIT

MA IN PCB

Bus

Bus+

Bn Gn

Vsys

Vsys+

Pnk Gry ROBNET

On-Off

Yel

Alarm

AP21 connection

If the AP21 control unit is part of the system, use the Robnet connector in a free receptacle (see Figure 4-9). Alternatively cut the connector from the cable and connect the wires in parallel with the cable shown on Figure 4-10 using the same colour code.

20220596G 67

Simrad AP21 and AP22 Autopilots

Note ! The AP21 cable contains an air-breathing tube. Check that the

tube is open after you have cut the cable.

JP21 Jack Point installation

The JP21 can be used in conjunction with the AP21 control units. It provides a quick and simple means of connection/

disconnection of the AP21 at different locations on the boat. The JP21 includes a watertight connector cover which must be

installed as shown. A 32 mm (1,26” dia.) hole needs to be drilled for flush installation, along with 3 small screw holes. As indicated, a watertight sealant must be applied to the mating surfaces of the JP21 and the mounting panel. Also apply a thin layer of Vaseline on the O-ring seal.

JUNCTION UNIT

MAIN PCB

Bus

Bus+

Bn Gn

Vsys

Vsys+

Gry

Pnk ROBNET

On-Off

Yel

Alarm

JP21

JACKPOINT

AP21

CONTROL UNIT

7m cable7m cable

Figure 4-11 JP21 mounting

68 20220596G

Installation

4.14 RFC35 Fluxgate Compass installation

Figure 4-12

RFC35 mounting

The heading sensor is the most important part of the autopilot system and great care should be taken when deciding the mounting location. As the heading is displayed on the Control Unit, the heading sensor can be mounted at a remote location.

Note ! An autopilot fluxgate compass or magnetic compass should not

be installed on the fly bridge or in the mast.

The RFC35 compass can be mounted on deck or bulkhead, athwartship or alongship. The heading offset feature in the autopilot will compensate for the mechanical offsets that may be a result of the selected location and orientation of the RFC35.

If the RFC35 is deck or bulkhead mounted athwartship with the cable gland pointing aft, little if any offset correction is required. With the cable gland pointing forward a 180° correction is required.

When mounting RFC35 on a bulkhead alongship, a +90° or –90° correction is needed dependent on whether it is port or starboard bulkhead.

Note ! Offset correction is performed after the calibration (see

paragraph 4.33).

Find a location that provides a solid mounting place free from vibration, and as close to the vessel's centre of roll and pitch as possible, i.e. close to the water line. It should be as far as possible from disturbing magnetic influences such as the engines (min. 2 meters), engine ignition cables, other large metal objects and particularly the drive unit.

20220596G 69

Simrad AP21 and AP22 Autopilots

Use the supplied mounting kit and drill the holes through the centre of the slots in the sensor or the mounting brackets.

Note ! The compass face plate on the RFC35 is the TOP. Never mount it

upside down! Level the sensor as close to horizontal as possible.

RFC35

FLUXGATE

COMPASS

JUNCTION UNIT

MAIN PCB

HS+

HS-

Heading

Sensor

* NON POLARIZED

(COLOR I ND E PENDENT)

Figure 4-13 RFC35 connection

• Select RFC = J300X in the Installation Interface Set-up

• Select RFC as compass in the User Set-up menu

4.15 RFC35R Rate Compass installation

The RFC35R Rate Compass also contains a magnetic fluxgate sensor, which means you have to take the same precautions at installation as for the standard RFC35 (see previous page). On steel hull boats, however, it should be installed 0,75-1 meter (2,5-3 feet) above the steel deck to obtain optimum performance.

• Connect the Robnet connector to the AP22 Control Unit (or

CI300X or NI300X if installed).

RFC35R

RATE

COMPASS

(AP22, AP35, AP300X)

AP20

Figure 4-14 RFC35R connection to autopilot control unit

70 20220596G

Installation

• Alternatively, if there is no free receptacle, cut the connector

from the cable and connect the wires in parallel with the wires going from the junction unit to the control unit. Do not

connect the yellow and the green wire, but secure them from connection to the terminal or chassis.

J3XX

JUNCTION UNIT

RFC35R

RATE

COMPASS

NMEA

RATE PCB

ROBNET

PINK

GREY

BROWN

EXT.COMP

WHITE

JUNCTION UNIT

MAIN PCB

TB15

Vsys+

Vsys

Bus+

Bus

Wht

GryPnk

Robnet

BROWN

PINK

GREY

WHITE

Figure 4-15 Alternative connection to J3XX Robnet terminal

• Select RFC = ROBNET in the Interface Menu.

• Select RFC as compass in the User Setup Menu.

• Perform the compass calibration as described on page 101.

Note ! After turn on the compass will stabilize in less than 30 seconds,

but it will need another 10 minutes to get the full effect of the rate sensor.

Refer to page 102 to compensate for any permanent off-set after the calibration is completed.

RFC35R calibration and offset data is stored in the compass and will not be deleted by a Master Reset in the autopilot.

20220596G 71

Simrad AP21 and AP22 Autopilots

4.16 R3000X Remote Control installation

R3000X should be mounted in the supplied bracket that can be fixed by four mounting screws. The unit is weather proof and can be mounted outdoor.

R3000X

REMOTE CONTR OL

J3000X/J300X JUNCTION UNIT

POWER PCB

TB2

TB3 TB4

TB5

TB6

TB1

Figure 4-16 R3000X connection

Lamp

Stbd

Yel

REMOTE

TB7

Port

Red Blu

TB8

Gnd

72 20220596G

4.17 S35 NFU Lever installation

The unit is mounted to bulkhead or panel by two screws from the front. The cable is connected to the junction unit according to Figure 4-17. Interchange the port and stbd wires to the screw terminals in the junction unit if necessary to make the direction of the lever movement coincide with the direction of the rudder movement.

S35

STEERING LEVER

J3000X/J300X JUNCTION UNIT

POWER PCB

TB1 TB2

NOTE! Disregard the color code on the terminal label.

TB3

TB4

TB5

TB6

Installation

TB7

REMOTE

Port

Lamp

Yel

Gnd

Stbd

Brn/Wh

Pnk/Gr y

Grn

Figure 4-17 S35 connection

The unit is opened by removing the three screws on the back cover. Inside are two sets of micro-switches, a printed circuit board with a plug-in terminal and a jumper strap.

20220596G 73

Simrad AP21 and AP22 Autopilots

4.18 Interfacing

With the autopilot system there are several possibilities to connect to other equipment for data exchange:

1. J3000X includes a single NMEA input/output port.

2. J300X includes two NMEA input/output ports and Clock Data

interface to Anritsu and Furuno radars.

3. The optional NI300X NMEA Interface (expansion) Unit with

4 additional NMEA input/output ports. The NMEA output may also drive IS15 instruments directly. The different connecting diagrams below illustrate the interface

possibilities.

Note ! See also Interface Settings, page 94.

4.19 Single NMEA input/output

NAV RECEIVER

OR PLOTTER (NMEA talker)

NMEA listener

RUDDER instr. COMPASS instr. RADAR

Figure 4-18 Single NMEA connection

JUNCTION UNIT

TX1+

NMEA Output

MAIN PCB

TX1

Vbat+

RX1+

Red Wh DATABOX (NMEA Input)

Spare

Gnd

RX1

Gn Blk

74 20220596G

4.20 Double NMEA input/output

LORAN C

(OR PLOTTER)

J300X / J300X-40 JUNCTION UNIT

POWER PCB

TB8

TB9

TB10

Installation

MAIN PCB

GPS

(OR PLOTTER)

RX2+

NMEA Input2

RX2

TX2

TX2+

NMEA

Output2

TX1+

TX1

Vbat+

Red Wh

NMEA Output

DATABOX (NMEA Input)

RX1+

Figure 4-19 Double NMEA connection

4.21 Additional NMEA output on Port 2

(Applies for AP21&AP22 V1R3/J300X V1R8 onwards)

Output signal Output terminal Output sentence

Continuous output of compass heading on 10 Hz (10x/sec.) NMEA format

Junction unit, Power PCB, NMEA2, TX2+, TX2–

HDT (True) or HDG (Magn.) depending on heading source.

RX1

Spare

Gnd

Gn Blk

4.22 NMEA Compass in

(Applies for AP20 V1R3/J300X V1R8 onwards)

J300X / J300X-40 JUNCTION UNIT

NMEA

COMPASS

Figure 4-20 NMEA compass connection

POWER PCB

TB8

TB9 TB10

RX2

RX2+

NMEA Input2

20220596G 75

Simrad AP21 and AP22 Autopilots

4.23 Radar Clock/Data

ANRITSU

FURUNO

RADAR

J300X JUNCT IO N UN IT

TB8

Data_h

Figure 4-21 Radar Clock/Data connection

4.24 IS15 Instrument installation

For installation and operation of the IS15 instruments refer to separate manuals.

POWER PCB

TB9

Data_c

Clk_h

Clk_c

Radar

TB10

NMEA In This connection will provide speed, depth and temperature input

to the autopilot. If an IS15 Wind Transducer is connected to the system, wind information will also be transferred to the autopilot.

The connection is made by a Roblink cable f rom the instrument NMEA socket (4) to the J3xx Junction Unit Main Board, Terminal RX1+ and RX1-. See Figure 4-22.

NMEA Out This will provide the instrument system with heading data. The connection is made by a Roblink cable from J3xx Junction

Unit Main Board, terminal TX1+ and TX1– to the instrument NMEA socket (4). See Figure 4-22.

You will need a minimum of two instrument heads to make the system both ‘listen’ and ‘talk’ (I/O).

If IS15 Expander is used in the instrument system, the NMEA connections are made to this unit. See Figure 4-23.

76 20220596G

Figure 4-22 IS15 Instruments / J3XX Connection

Installation

Figure 4-23 IS15 Expander / J3XX Connection

20220596G 77

Simrad AP21 and AP22 Autopilots

4.25 External Alarm

The external alarm circuit has an open collector output for an external alarm relay or buzzer. The operating voltage for the circuit is the main supply voltage. Max. load on external alarm output is 0.9 Amp.

J300X/J300X-40 JUNCTION UNIT

POWER PCB

TB6

TB7

TB8

Ext.

alarm

TB9

Figure 4-24 External alarm connection

4.26 NI300X NMEA Interface Unit

The NI300X is normally installed inside a console or locker close to Nav receivers, radar and instruments to keep cables short. The unit does not have controls that need to be operated during installation or use, but you should be able to take the lid off for inspections, to view LED indication of received signals. It should be installed with the cable inlet and the Robnet connectors facing down. The NI300X is designed to operate in a location that provides ambient temperatures below +55°C (+130°F). It is fastened to the panel/bulkhead by the external mounting brackets.

Note ! The NI300X is not weatherproof, and must be installed in a dry

location!

The NI300X NMEA Interface (expansion) Unit is designed to handle installations where more NMEA lines have to be tied into the system. Four NMEA ports are available. An additional output data-port with DATA/CLOCK signal is capable of generating heading data in the format used by some radar displays made by Anritsu and Furuno. This feature is thus added to the system if a

78 20220596G

12V DC

OUT

Installation

J3000X Junction Unit is installed (J3000X has no radar Clock/Data output as compared to J300X and J300X-40).

Configuration for Anritsu or Furuno is selected in the Installation Menu.

12V out can drive max. 2 IS15 instruments (max 250mA load), e.g. “Rudder” and “Compass”.

RED

BLACK

MAX 250 mA

GPS

RX+

RX-

TX+

NMEA1

TX-

RX+

RX-

TX+

NMEA2

TX-

RX+

RXTX+

NMEA3

TX-

RX+ RX-

TX+

NMEA4

TX-

SIGN.

RET. RED

BLACK

WHITE (YEL)

GREEN

RED BLACK

SIGN. RET. SIGN. RET.

TB7-A

TB7-B TB11

TB11

SIMRAD

STAND ALONE IS1 5 INSTRUMENT

GPS OR PLOTTER

LORAN C

OUTPUT FOR RADAR, INSTRUMENTS ETC.

IS15 INSTRUMENTS

SIMRAD SIMRAD SIMRAD

IS15 EXPANDER

DataH

DataC

N.C.

Clk H

Furuno

Clk C

ANRITSU FURUNO

RADAR

DISPLAY

+12V

EXTERNAL

TER MIN AL S LO CA TE D TO THE EX TR EM E LEFT AND RIGHT ON THE PCB AR E N OT IN USE

Figure 4-25 NI300X connection

The NMEA 1-4 ports are identical in HW and SW and can be connected as desired.

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Simrad AP21 and AP22 Autopilots

4.27 CI300X Analogue Interface Unit

The CI300X analogue interface unit is an optional module, designed to enable a variety of different equipment to connect into the autopilot systems. The CI300X converts the analogue inputs into Robnet compatible signals for use by autopilot system components. The CI300X adds the following capabilities to the autopilot system, and allows connection of each of the following simultaneously:

• Magnetic compass connection with CD100A course detector.

• Gyrocompass connection for Simrad RGC50, RGC10

• Analogue input of SIN/COS for either one of the following:

– Fluxgate compass connection (for other manufacturers

SIN/COS fluxgate compasses)

– Analogue windvane (SIN/COS)

For detailed information, see separate CI300X Manual

Note ! If an analogue wind vane is connected to the system via CI300X,

the Interface setup must be set accordingly (see page 98). Furthermore a calibration must be performed. Access to the calibration display is automatic and follows the compass calibration (see page 101). The calibration procedure is similar to the compass calibration, but will normally take 3 full turns.

80 20220596G

CI300X COMPASS INTERFACE

Installation

TB1

HI LO Vref SIN COS

MAGN. COMPANALOG

TB2

SIN COS GND

TB3

R1 R2 S1 S2

GYRO

TB4

COM STBD

PORT

NFU

ENAB

AL1 AL2

NON FOLLOW UP STEERING LEVER

TB5

ROBNET CONNECTIONS

2 1 3 5 4

NOT IN USE

SIN COS

MAGN. COMP

LO Vref

MAGNETIC CO MP ASS WITH CD100A COURSE DETECTOR

RGC10/RGC50 GYRO COM P ASS

CD100 CONNECTIONS:

ALT. 1

BROWN WHITE GREEN

YELLOW GREY

FLUXGATE COM PAS S WITH S INE/C O SIN E OUTPUT

DC SUPPLY

WIND VANE

ALT. 2

BLACK*

ORANGE

GREEN

Vref

BLACK**

SIN

BLUE

COS

MAGN. COMP

To identify the black wires, measure 8-12 ohm between orange and black* and 6-10 ohm between green and black**. Third black wire not in use.

Figure 4-26 CI300X Interconnections

4.28 LF3000 Linear Feedback

Note ! The rod of the LF3000 is not locked in place in the cylinder. If

caution is not exercised it may slip out of its housing and end up over the side, so be careful!

The LF3000 is a waterproof feedback unit. It has a 300 mm (11,8") stroke and comes with a special mounting bracket which secures the LF3000 to the cylinder of the existing outboard drive unit.

The 8,5 m (28') cable is terminated in the LFI3000 Mk2 Linear Feedback Interface according to the wiring diagram.

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Simrad AP21 and AP22 Autopilots

Center the drives. Loosely secure the LF3000 to the supplied mounting bracket, across the center of the drive unit cylinder. Either cylinder may be used if there is a dual set up. You may mount the feedback in either direction, i.e. the shaft of LF3000 may point to port or starboard.

Loosen the end bolt (a) used to secure the cylinder to the drive unit mount. Insert the rod retaining assembly (b) (end plate) and retighten this bolt. Secure the feedback rod to the end plate using the two washers and cap nut provided. Adjust the location of the LF3000 Linear Feedback to allow full travel of the hydraulic cylinder without causing the endplate of the LF3000 hitting the end of the cylinder. Check that the outboard motor can be tilted freely. Tighten all nuts and the mounting bracket.

Turn the helm slowly by hand to the stops on either side, making sure that the rod does not bind up in any direction. Also, clamp cable to allow full engine movement to port and starboard. The mounting hardware provided with this system is meant to interface with Teleflex HC5340 cylinders and Hynautic K7 and K10 Cylinders. If you are attempting to interface to another system the hardware enclosed may not be appropriate!

CYLINDER

LF3000

BRACKET

Figure 4-27 LF3000 mounting

82 20220596G

Installation

LFI3000 Mk2

LINEAR FEEDBACK

INTERFACE

TB1

Brown

White

TB2

Brown

Yellow

Green

JUNCTION UNIT

MAIN PCB

RF+

Rudder Feedb.

Figure 4-28 LF3000/LFI3000 Mk2 connection

Note ! The previous LFI3000 had no centre block terminal for screen

termination.

4.29 CD100A Course Detector

On some installations the owner may prefer to use the boats own compass. The compass must be fully gimballed and have a flat surface underneath to fit the CD100A. Make hole for a 6 mm screw in the bottom of the compass and mount the CD100A as shown on the drawing. Secure the 6 mm screw through the centre hole of the CD100A. Make sure the cable does not prevent the compass from moving freely in the gimbals.

1 Screw M6x25mm, non

magnetic 2 Washer, non magnetic 3 Course detector 4 Cable clamp, nylon 5 Washer, non magnetic

6 Screw M3x10mm, non

magnetic

Lock nut on mounting screw (pos. 1) for transportation only. To be removed before mounting.

Note!

Figure 4-29 CD100A mounting

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Simrad AP21 and AP22 Autopilots

4.30 CDI35 Interface

Locate the CDI35 as close to the compass as possible so that there will be no problem finding it in the event of a service.

Put the two fixing screws in the slots and secure the unit to the bulkhead. Open the unit to access the screw terminals.

Cut the course detector cable to make a suitable length and connect both cables as shown on the diagram below.

Figure 4-30 CDI35 connection

Note ! CD100 has a connector that has to be cut off the cable.

84 20220596G

Installation

4.31 Software Setup Procedure

Description of Installation Settings

The design of the autopilot includes advanced features that have simplified the installation and setup of an autopilot. The principle advantage is that manual adjustments that needed to be done on previous models are no longer necessary with the AP21 and AP22.

Note ! The installation settings must be performed as part of the

installation of the autopilot system. Failure to correctly set the values in the installation settings may prohibit the autopilot from functioning properly!

The Installation Settings are grouped into the following functional categories:

• Language: Selects language used for display

information

• Dockside Settings: Items to be set prior to seatrials

• Interface Setup: Sets the identification of navigation

and optional equipment connected to the autopilot system

• Seatrial Settings: Determines automatic calibrations and

steering parameters

• Parameters Permits viewing, setting or changing

of steering parameters

• NMEA test Loopback test menu to verify that the

hardware is OK.

• Master reset Master reset of memories. Each group is designed to focus on specific functions related to

an installation activity, and enable quick access when changes need to be made.

Some important points regarding the installation settings values:

• When the autopilot is delivered new from the factory, (AND

ANY TIME AFTER A MASTER RESET OF MEMORIES HAS BEEN PERFORMED) the Installation Settings are all reset to preset (default) values. The warning message "INSTALLATION SETUP REQUIRED" will appear at turn

20220596G 85

Simrad AP21 and AP22 Autopilots

on and if an attempt is made to access the AUTO or NAV modes prior to completion of setup.

• The Dockside, Interface and Seatrial settings can only be

accessed when the system is in STBY mode.

• The values that are selected (also referred to as

"PARAMETERS") from within the Installation Settings Menu, are stored in the memory of the autopilot system. No specific action is required to "SAVE" the selected values. Once the value is changed, it is stored until the next time the menu item is selected and changed.

• The Installation Settings except for the language are

considered global, enabling values to be available to all control units in the system.

• The values in the Seatrial Settings are dependent on successful

completion of the Dockside Settings.

Before attempting to turn on the autopilot and perform an Installation Setup, the hardware installation and electrical installation must be completed in accordance with the installation instructions.

Installation Menu

The Installation Menu (IM) is presented on the autopilot display by pressing and holding the NAV/SETUP push-button for 5 seconds. The below screen is the first display to be presented when the IM is accessed.

INSTALLATION

Language

English

Note ! The INSTALLATION MENU is different from the USER SETUP

MENU . Refer to flow diagram on the next page for a pictorial view of the Installation Menu.

86 20220596G

Installation

INSTALL A TIO N

LANGUAGE

Mode in STBY ?

ENTER INSTALLATION MENU BY PRESSING AND HOLDING THE NAV BUTTON FOR 5 SECONDS

LANGUAGE MENU

ENGLISH DEUTSCH FRANCAIS ESPANOL ITALIANO NEDERLANDS SVENSKA NORSK

Yes

DOCKSIDE

INTERFACE

SEATRIAL

SYMBOLS

SELECT OR CONFIRM BY ROTARY COURSE SELECTOR

GO TO NEXT MENU ITEM BY PRESSING STBD BUTTON

REVERT TO PREVIOUS MENU ITEM

DOCKSIDE MENU

BOAT TYPE DRIVE UNIT VOLTAGE RUDDER CAL STBD RUDDER CAL PORT RUDDER TEST? TRAN SITION SPEED

INTERFACE MENU

Input:

GPS 1 GPS 2 LC 1 LC2 NAV 1 NAV 2 WIND INSTR RFC MAGN FLUXG. GYRO NMEA

Output:

INSTR RADAR

SEA-TRIAL MENU

SET RUDDER ZERO? COMPASS CALIBRATION? COMPASS OFFSET AUTOMATIC TUNING?

PARAMETERS

NMEA TEST

DISPLAY

MASTER RESET

SOFTWARE

PROGRAM

DATE

PARAMETER ITEMS

RUDDER LO CONT. RUDD. LO AUTOTRIM LO RUDD. LIM LO RUDDER HI CONT. RUDD. HI AUTOTRIM HI RUDD LIM. HI

NMEA TEST

LOOPBACK NMEA1 LOOPBACK NMEA2

DISPLAY UNITS

WIND SPEED WATER TEMP DEPTH POS FORMAT

TURN CCW CONFIRMED

Figure 4-31 Installation menu

Note! Dockside, Interface and Seatrial Menus accessible only in STBY mode.

(Applies for AP21&AP22 V1R3/ J300X V1R8 onwards)

20220596G 87

Simrad AP21 and AP22 Autopilots

There are several actions that you can do once you have accessed the IM:

• Answer YES to the question by rotating the course knob

clockwise.

• Change the highlighted item by rotating the course knob.

• Proceed to the next item in the menu by pressing the STBD

push-button. (Proceeding to the next item when presented with a question is the same as answering NO to the question.)

• Proceed back to the previous item in the menu by pressing the

PORT button.

• Leave the Installation Menu by selecting STBY, AUTO, or

NAV.

On new installations, and whenever a control unit, junction unit, or software is replaced in the autopilot system, it is recommended that a MASTER RESET be performed as described in the IM prior to proceeding with the setup procedure.

When using the Installation Menu refer to the "Installation Menu" diagram on previous page.

Language selection

The autopilot can present the display in eight different languages:

• English, Deutsch, Francais, Espanol, Italiano, Nederlands,

Svenska and Norsk.

To access the language selection in the IM:

1. Select Language by pressing and holding the NAV/SETUP

push-button for 5 seconds.

INSTALLATION

Language

2. Turn the course knob to select the language you wish to use.

3. Leave the Installation Menu by a press on the STBY button, or

continue to next item in the menu by pressing STBD button.

English

88 20220596G

4.32 Dockside settings

The following menu items are accessible and can be set up in the Dockside Menu:

• Boat type

• Drive Unit voltage

• Rudder Feedback calibration

• Automatic Rudder test

• Transition Speed

In addition the Dockside Menu display will show:

• Drive output

• Clutch/bypass verification

Select STBY mode and enter the IM as previously described. Select "Dockside" by pressing STBD [>] button.

Installation

INSTALLATION

Dockside

Confirm by rotating the course knob.

Boat type

Planing Drive unit voltage ---

Actual boat type is selected by turning the course knob. The options are: Displacement, Planing, Sail.

Type of boat will affect the steering parameters, and the functions available in the autopilot system. Select appropriate boat type and press STBD [>] button.

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Simrad AP21 and AP22 Autopilots

Drive unit voltage selection

This menu option requires the installer to set the drive unit voltage to the correct level. The selections are 12V, 24V or 32V (32V only with J300X/J300X-40) and should be set to the voltage specified for your drive unit.

Note ! Selection of improper voltage level for your drive unit may

damage both the drive unit and junction unit even if the protection circuits in the junction unit are activated.

Refer to the drive unit table on page 60 for information. It is not possible to select a higher voltage than the input voltage. The CLUTCH/BYPASS voltage is automatically set to the same as the drive unit voltage. In Rudder Test, the autopilot system will automatically detect whether the drive unit is a reversible motor or solenoid operated.

Boat type Planing

Drive unit voltage ---

To change the voltage selection, rotate the course knob.

Note ! The drive unit voltage setting does not apply when operating

solenoids on a continuous running pump/steering gear. Hence, the output voltage to the solenoids will be the same as the input voltage.

Proceed to next menu item by pressing STBD [>] button.

Rudder Feedback Calibration

Make sure the RF300 is installed and aligned as pr. instruction in section 4.6 (or eventually section 4.28 for LF3000). This function enables you to compensate for any non-linearity in the transmission between the rudder and the rudder feedback.

Rudder feedbk calibration STBD --° PORT --°

Confirm by rotating the course knob clockwise.

90 20220596G

The display will show with the rudder in mid position:

Turn Rudder max. STBD

Adjust?

Installation

Manually turn the helm to starboard until the rudder stops at maximum starboard rudder.

Turn Rudder max. STBD

Adjust?

The value shown on the display is the value read by the rudder feedback unit before any adjustment is made. If the actual rudder angle is different from that of the display, correct the reading on the display by turning the course knob clockwise to increase the value or counter clockwise to decrease the value.

Note ! If the rudder feedback unit is mounted upside down, the

displayed rudder angle will be to the opposite side before you start the adjustment.

Advance to the next step by pressing the STBD [>] button

Manually turn the helm wheel to port until the rudder stops at maximum port rudder.

Note ! If you are not making any adjustment to the display readout (i.e.

not turning the course knob), the AP20 will set a (default) value of 45° to each side in order to get full deflection on the display. If the real rudder deflection is less than ±20°, make sure the Rudder Limit (which default is 20°) is set 2°-3° less to avoid the rudder hit the end stops.

Adjust the displayed angle the same way as for starboard adjustment. (This time you need not correct for wrong side if the rudder feedback unit is upside down).

Note ! Rudder zero may still not be accurate but will be adjusted later

during sea trial.

20220596G 91

Simrad AP21 and AP22 Autopilots

Proceed to next menu item by pressing STBD [>] button.

Rudder test

Motor --Clutch/Bypass

--- ---------

Automatic Rudder Test

Note ! Bring the rudder manually to midship position before starting the

test. It is important also that if the boat uses power assisted steering, that the engine or electric motor used to enable the power assist steering be turned on prior to this test. Stand

CLEAR of the wheel and do not attempt to take m anual control of the wheel during this test!

Activate the automatic rudder test by turning the course knob clockwise.

Testing

rudder

The autopilot will after a couple of seconds issue a series of PORT and STBD rudder commands and automatically verify correct motor direction, and reduce the rudder speed if it exceeds the maximum acceptable speed for autopilot operation.

When test is finished the display will read:

Rudder test

Motor OK

Motor 100% Clutch /Bypass

If the drive unit has a clutch or bypass, “NOT” will be excluded.

Test of LF3000/LFI3000 Mk2 feedback

1. Align engines to centre position; “zero rudder”.

2. Rev engines to 3-4000 rev/min and observe the rudder angle

indicator on the autopilot, a 2° change in the reading should be accepted.

NOT Installed

3. If the rudder angle exceeds 2°, connect the screen on the TB1

cable to the centre block terminal and repeat item 2 (See

92 20220596G

Installation

Figure 4-28). If this gives a better result keep the screen

connected.

Proceed to next menu item by pressing STBD [>] button.

Transition Speed

Transition speed 00kn

The transition speed is the speed where the autopilot will automatically change the steering parameter set from HI speed to LO speed parameters, or vice versa.

The default setting of transition speed is zero, which requires that steering parameter selection be done manually. If a GPS, Loran, or external speed log input from the instrument system is connected the transition speed must be set to a value greater than 0, to enable the automatic speed selection feature in the autopilot.

It is recommended that you set the transition speed to a speed that represents the speed where the hull begins to plane, or where you would manually change the parameters from HI to LO.

The speed used for the automatic transition is obtained as follows:

1. Data from the source set for the INSTR channel in the

interface setup. If this is a valid source of VHW (speed through the water) data, then this data is used to change the HI-LO parameter sets.

2. If VHW data is not available from the INSTR channel or if the

INSTR channel is not selected as source, the autopilot will use the speed data obtained from the VTG (speed over ground) sentence received from the currently selected POS source.

If no speed data is available, manual speed selection is required. The autopilot will always default to the HI speed steering parameters when the system is first turned on, or if there is a speed data failure.

If manual speed selection is used, the manual setting will override the automatic until the AUTO mode is re-selected.

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Simrad AP21 and AP22 Autopilots

Rotate the course dial clockwise until the transition speed is set to the desired value in knots.

Proceed to next menu item by pressing STBD [>] button.

Interface Settings

The autopilot system provides a totally flexible approach to the input of data from heading sensors and other peripheral equipment. Identification of the type of equipment connected to the autopilot system is performed in the Interface Menu.

When your system includes connection of external equipment to the NMEA0183 data ports in Junction Unit or NI300X, or if the CI300X is installed with optional compass units or an optional analogue wind vane unit, they must be configured under the Interface Menu. This procedure allows you to assign an abbreviated name to identify the type of equipment that is connected to each of the available hardware ports in the autopilot system.

94 20220596G

Installation

Abbreviate

Equipment / Usage NOTES

d name

GPS1 Primary GPS Can be used as either NAV GPS2 Backup GPS source or POS source. Also for VTG

data for automatic LC 1 Primary Loran AUTO HI/LO speed selection LC 2 Backup Loran NAV1 Chart plotter NAV2 Other Nav source. INSTR Source of data for

instrument screens and

Log input (VHW) for speed data has

priority to SOG from GPS navigator.

automatic HI/LO parameter selection

RFC For use when selecting

between Simrad fluxgate compasses

RFC35 fluxgate compass is

connected to junction unit. RFC35R

rate compass is connected to Robnet MAGN Magnetic compass with

course detector (CD100A)

CDI35 +CD100A is connected to

junction unit.

CD100A only must be connected to

CI300X. FLUXG For use with non-Simrad

Optional CI300X item.

fluxgate compasses that output SIN/COS

GYRO For use with Simrad

RGC50, RGC10 gyro (1:1 synchro output)

NMEA

(Applies for AP21&AP22 V1R3/J300X V1R8 onwards)

Output INSTR

Output RADAR

For use with NMEA compasses

For high speed NMEA output of compass heading

Clock/data heading output to radars

Optional CI300X item. True data

displayed for heading, COG and

bearing to waypoint

Gyro, THD or other

HDM or HDT output increased from

1 to 5 times/sec. on TX1 port

Selectable between Anritsu and

Furuno. (On both J300X and

NI300X)

Note ! If using J300X, TX2 outputs HDT or HDG at 10 Hz.

20220596G 95

Simrad AP21 and AP22 Autopilots

Interface setup - input signal

Setup item

(abbrev.

name)

GPS1 Not connected – – – –

GPS2 Not connected – – – – *

LC1 Not connected – – – – *

LC2 Not connected – – – –*

NAV1 Not connected – – – –*

Equipment

connected

J3XX, Main PCB NMEA I/P RX1+,RX1– J300X-1 * (on J3000X) J300X, Power PCB NMEA I/P RX2+,RX2– J300X-2 * (on J300X and

NI300X, NMEA port #1 NI300-1 NI300X, NMEA port #2 NI300-2 NI300X, NMEA port #3 NI300-3 NI300X, NMEA port #4 NI300-4

J300X, Main PCB NMEA I/P RX1+,RX1– J300X-1 J300X, Power PCB NMEA I/P RX2+,RX2– J300X-2 NI300X, NMEA port #1 NI300-1 NI300X, NMEA port #2 NI300-2 NI300X, NMEA port #3 NI300-3 NI300X, NMEA port #4 NI300-4

J3XX, Main PCB NMEA I/P RX1+,RX1– J300X-1 J300X, Power PCB NMEA I/P RX2+,RX2– J300X-2 NI300X, NMEA port #1 NI300-1 NI300X, NMEA port #2 NI300-2 NI300X, NMEA port #3 NI300-3 NI300X, NMEA port #4 NI300-4

Hardware port terminal

(use one available from list)

Hardware port

(* = default setting)

J300X-40)

to be assigned

J3XX = All junction unit models J300X also includes J300X-40

96 20220596G

Installation

Setup item

(abbrev.

Equipment

connected

name)

NAV2 Not connected – – – –*

J300X, Main PCB NMEA I/P RX1+,RX1– J300X-1 J300X, Power PCB NMEA I/P RX2+,RX2– J300X-2 NI300X, NMEA port #1 NI300-1 NI300X, NMEA port #2 NI300-2 NI300X, NMEA port #3 NI300-3

NI300X, NMEA port #4 NI300-4 INSTR Not connected – – – – WIND J3XX, Main PCB NMEA I/P RX1+,RX1– J300X-1*

J300X, Power PCB NMEA I/P RX2+,RX2– J300X-2

NI300X, NMEA port #1 NI300-1

NI300X, NMEA port #2 NI300-2

NI300X, NMEA port #3 NI300-3

NI300X, NMEA port #4 NI300-4

CI300X, sin/cos/Gnd CI300X RFC Not connected – – – –

RFC35 Junction unit: HS+, HS– J300X RFC35R Connection to ROBNET ROBNET * (V1R3/V1R8 Onwards)

MAGN Not connected – – – –*

CDI35+CD100A Junction unit: HS+, HS– J300X CD100A CI300X Magn. Comp. terminal CI300X

FLUXG Not connected – – – –*

CI300X Analogue terminal CI300X GYRO Not connected – – – –*

RGC50, RGC10 CI300X Gyro terminal CI300X

NMEA NMEA compass J300X, Power PCB, NMEA I/P RX2+, RX2– J300X-2

Hardware port terminal

(use one available from list)

(* = default setting)

Hardware port

to be assigned

J3XX = All junction unit models

Interface setup - Output signal

Setup item Output signal Output terminal Select output

(* = default setting)

Output INSTR High speed

Output RADAR

NMEA output of compass heading

Clock/data heading output to radars

Junction unit Main PCB, NMEA, TX1+, TX1–

J300X Power PCB, TB9 Anritsu *

J300X-1 * 5x/second

– 1x/second

Furuno

Note 1 The standard NMEA output rate is 1x/second. When Output

INSTR is set to J300X-1 (default), the output port, TX1, will have an output rate of 5x/sec. for HDG or HDT (heading) messages. The RSA (rudder angle) message is always 5x/sec.

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Simrad AP21 and AP22 Autopilots

Note 2 NMEA OUTPUT 2 on J300X has a constant output rate of

10x/sec. for HDG or HDT. Both port 1 and 2 are still sending HDM at 1 Hz. HDM is an obsolete sentence but some older equipment may still use it.

The Interface Menu presents these names so that they can be assigned to a hardware input or output port. Each abbreviated name is then presented in appropriate locations of the USER SETUP MENU to provide the user with choices of data sources, or identified to the autopilot where to look for various types of data.

When you assign a hardware port to an abbreviated name, you are simply telling the autopilot system that when the user chooses an abbreviated name as a data source it should look to the hardware port assigned to the abbreviated name for data.

• Step to the Interface part of the Installation Menu. The following display will be presented:

INSTALLATION

Interface

To access the Interface Setup items, turn the course knob clockwise.

The display will show:

Input

GPS1 -------

GPS2 ------LC 1 -------

Abbreviated name

Assigned HW port

Assign a hardware port to the name by turning the course knob until the hardware port is displayed along with the name.

Proceed to the names on the list that shall be assigned by pressing STBD [>] button. Select appropriate hardware ports by turning the course knob, or exit from menu by stepping through the list of names by pushing STBD [>] button.

98 20220596G

Simrad AP20, AP21 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1.1 General

Introduction

1.2 How to use this manual

1.3 System components

1.4 AP22 Control Unit

1.5 AP21 Control Unit

1.6 Junction units

1.7 Rudder Feedback unit

RF300 Rudder Feedback unit

LF3000 Linear Feedback

LFI3000 Mk2 Linear Feedback Interface

1.8 Heading Sensors

RFC35 Electronic Fluxgate Compass

RFC35R Rate compass

CDI35 Course Detector Interface and CD100A Course Detector

NMEA compass

Other fluxgate compass models

Simrad RGC10 and RGC50 gyrocompasses

1.9 Optional equipment

R3000X Remote Control

S35 NFU Lever

FU35 Follow-Up Steering Lever

NI300X NMEA Interface Unit

CI300X Compass Interface

Mounting Bracket

2 OPERATION OF THE AUTOPILOT

2.1 Overview

2.2 ON/OFF - Standby mode

2.3 AP21 and AP22 with MSD50 Stern Drive unit

Zero point setting

Operation

2.4 Follow-Up steering (FU)

2.5 Non-Follow-Up steering (NFU)

2.6 R3000X Remote Control

2.7 S35 Steering lever

2.8 Automatic Steering

2.9 Automatic Speed selection

2.10 Manual speed selection

2.11 Navigating with the AP21 or AP22

2.12 Selecting a different Navigator

2.13 Dodging

2.14 Dodge in NAV

2.15 TURN-mode

2.16 Tacking in Auto mode

2.17 Wind vane steering

2.18 Tacking in Wind mode

2.19 Multiple station system

2.20 Lock function

2.21 User Set-up Menu

Technical specifications

3.1 AP21 and AP22 Autopilot System

3.2 AP22 Control Unit

3.3 AP21 Control Unit

3.4 Junction units

3.5 RFC35 Fluxgate compass

3.6 RFC35R Rate compass

3.7 CDI35 Course Detector Interface

3.8 RF300 Rudder Feedback

3.9 CI300X Compass Interface

3.10 NI300X NMEA Interface

3.11 R3000X Remote

3.12 S35 NFU Steering Lever

3.13 LF3000 Linear Feedback

3.14 LFI3000 Mk2 Linear Feedback Interface

3.15 NMEA sentences

3.16 IP protection

4.1 General

Installation

4.2 Installation checklist

4.3 Unpacking and handling

4.4 Determine the system configuration

4.5 Autopilot System Layout

4.6 RF300 Rudder feedback installation

4.7 Junction unit installation

4.8 Cable connections

4.9 Grounding and RFI