Simrad AP16 User manual

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Manual
Simrad AP16 Autopilot
for Volvo Penta IPS system
English Sw.1.2

Instruction manual
20222121A 1
Instruction Manual
This manual is intended as a reference guide for operating and
correctly installing the AP16 autopilot in a Volvo Penta IPS
system.
Great care has been paid to simplify operation and set-up of the
Simrad AP16. Set-up is significantly simplified when the autopilot
is interfaced to the Volvo system. However, an autopilot is a
complex electronic system which is affected by sea conditions,
speed of the vessel, hull shape and size, and the autopilot must be
operated with this in mind.
Please take time to read this manual to get a thorough
understanding of the operation and system components and their
relationship to a complete AP16 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.

Simrad AP16 Autopilot
220222121A
About this document
Rev Date Written by Checked by Approved by
06.05.05
Rev. A
First edition
© 2005 Simrad AS. All rights reserved.
No part of this work covered by the copyright hereon may be reproduced or
otherwise copied without prior permission from Simrad AS.
The information contained in this document is subject to change without prior
notice. Simrad AS shall not be liable for errors contained herein, or for incidental
or consequential damages in connection with the furnishing, performance, or use
of this document.

Instruction manual
20222121A 3
Contents
1System description.......................................................................................7
1.1 General..................................................................................................7
1.2 How to use this manual.........................................................................7
1.3 System components...............................................................................8
1.4 AP16 Control Unit................................................................................8
1.5 Autopilot Computer ..............................................................................9
1.6 Heading Sensors....................................................................................9
1.7 Optional equipment...............................................................................9
R3000X Remote Control ......................................................................9
JS10 Joystick.........................................................................................9
Multiple stations....................................................................................9
1.8 Software record...................................................................................10
2Operation....................................................................................................11
2.1 Overview.............................................................................................11
2.2 ON/OFF - Standby mode....................................................................12
Flashing course knob icon ..................................................................14
Alarms.................................................................................................14
2.3 Non-Follow-Up steering (NFU) .........................................................14
2.4 R3000X Remote Control (NFU).........................................................15
2.5 JS10 Joystick (NFU)...........................................................................15
2.6 Automatic Steering .............................................................................15
Heading capture ..................................................................................16
2.7 Automatic control of steering parameters...........................................17
2.8 Manual Selection of HI/LO Parameters..............................................17
2.9 U-turn..................................................................................................18
2.10 Dodge in AUTO..................................................................................19
2.11 NoDrift................................................................................................20
Dodge in NoDrift mode ......................................................................20
2.12 Navigating with the AP16...................................................................21
Setting the waypoint arrival circle......................................................23

Simrad AP16 Autopilot
420222121A
2.13 Dodge in NAV....................................................................................24
2.14 Selecting a different Navigation source..............................................25
2.15 Multiple station system.......................................................................25
2.16 Lock function......................................................................................25
2.17 User Set-up Menu ...............................................................................26
Alternating Course Knob Icon............................................................26
STANDBY Mode ...............................................................................26
AUTO Mode.......................................................................................30
NAV Mode..........................................................................................31
2.18 INFO menu .........................................................................................32
Course knob icon ................................................................................34
INFO menu flowchart.........................................................................34
INFO menu and Main screen active unit............................................35
INFO menu and Main Screen, inactive unit .......................................35
3Installation..................................................................................................37
3.1 General................................................................................................37
3.2 Installation checklist ...........................................................................37
3.3 Unpacking and handling.....................................................................38
3.4 Determine system configuration.........................................................38
3.5 AP16 System Layout ..........................................................................39
3.6 Autopilot computer installation ..........................................................39
Cable connections...............................................................................39
Grounding and RFI .............................................................................40
Cable strain relief................................................................................40
3.7 Control unit installation ......................................................................41
Panel mounting ...................................................................................41
Optional bracket mounting .................................................................42
3.8 ROBNET2 network cables .................................................................43
AP27 connection.................................................................................45
3.9 RC36 Rate Compass installation ........................................................45
3.10 R3000X Remote Control installation .................................................47
3.11 JS10 Joystick.......................................................................................47

Instruction manual
20222121A 5
3.12 S35 NFU Lever installation ................................................................47
3.13 Interfacing...........................................................................................48
3.14 SimNet.................................................................................................48
SimNet network cables .......................................................................49
SimNet power and termination...........................................................49
3.15 Radar Clock/Data Heading Output.....................................................54
3.16 IS15 Instrument installation................................................................54
3.17 External Alarm....................................................................................54
4Configuration and setup ...........................................................................55
4.1 First time turn on.................................................................................55
4.2 Description of Installation Settings.....................................................56
4.3 Installation Menu ................................................................................57
Language selection..............................................................................59
4.4 Interface Settings.................................................................................59
4.5 Display units .......................................................................................59
4.6 Sea Trial..............................................................................................60
Compass calibration............................................................................61
Compass Offset...................................................................................63
Wind Offset.........................................................................................64
Wind damping.....................................................................................64
Depth Offset........................................................................................64
Automatic tuning.................................................................................65
Transition Speed .................................................................................66
Init NAV .............................................................................................67
NAV change limit...............................................................................67
4.7 Parameters...........................................................................................68
Manual parameter adjust.....................................................................68
Recall Autotuned?...............................................................................70
4.8 Service Menu ......................................................................................70
System Data Menu..............................................................................71
SimNet Data Screen............................................................................71
SimNet setup.......................................................................................73

Simrad AP16 Autopilot
620222121A
Master Reset........................................................................................74
Final sea trial.......................................................................................74
Providing user training........................................................................75
5Maintenance...............................................................................................77
5.1 Control unit.........................................................................................77
5.2 Autopilot Computer ............................................................................77
5.3 Compass..............................................................................................77
5.4 Exchange of software programme......................................................78
Autopilot Computer ............................................................................78
Autopilot Control Unit........................................................................78
6Trouble shooting........................................................................................79
6.1 Alarms.................................................................................................79
7Spare Parts List..........................................................................................83
8Technical Specifications............................................................................86
8.1 AP16 Autopilot System ......................................................................86
8.2 AP16 Control Unit..............................................................................87
8.3 AC05 Autopilot Computer..................................................................88
8.4 RC36 Rate compass............................................................................90
8.5 R3000X Remote Control ....................................................................91
8.6 JS10 Joystick.......................................................................................91
8.7 SimNet.................................................................................................92
8.8 IP protection........................................................................................93
8.9 SimNet messages ................................................................................94
9Glossary ......................................................................................................96
10 Index............................................................................................................99

System Description
20222121A 7
1SYSTEM DESCRIPTION
1.1 General
Congratulations on the purchase of your new Simrad AP16
autopilot system designed for the Volvo Penta IPS system and
thank you for selecting what we feel is the most advanced
autopilot system available on the market today.
Simrad manufactures a complete range of autopilots for all types
of vessels, from recreational boats to merchant marine vessels.
The company's involvement in autopilots began in 1953 with
equipment for the North Sea fishing fleet under the brand name
Robertson. Professional mariners around the world acknowledge
that the Robertson and Simrad brand names are synonymous
with the absolute best in autopilot technology.
Automatic steering of boats equipped with a Volvo Penta IPS
system represents a new step forward in autopilot technology from
Simrad. Interfacing and steering algorithms have been developed
in close cooperation with Volvo to obtain the best possible
autopilot performance. The way the autopilot integrates with the
IPS control system is described in the IPS user manual from
Volvo.
The autopilot system can be expanded and enhanced with a
selection of options and accessories.
The brain in the AP16 autopilot system is the single "intelligent"
autopilot computer that communicates on the proprietary
Robnet2 network to establish a reliable digital communication
and power distribution network between the units in the
autopilot system.
The AP16 autopilot is also equipped with the SimNet data and
control network. SimNet provides high speed data transfer and
control of Simrad products integrated in a total steering and
navigation system.
1.2 How to use this manual
This manual is intended as a reference guide for operating,
installing and maintaining the Simrad AP16 autopilot. Great care
has been paid to simplify operation and set-up of the AP16.

Simrad AP16 Autopilot
820222121A
Please take time to read this manual to get a thorough
understanding of the operation and system components and their
relationship to a complete AP16 autopilot system.
Other documentation material that is provided with your system
includes a warranty card. This must be filled out by the
authorized dealer that performed the installation and mailed in to
activate the warranty.
1.3 System components
A basic AP16 system consists of the following units (refer to
Figure 1-1):
−AP16 Control Unit with accessories
−AC05 Autopilot Computer
−RC36 Rate compass
The basic system can be expanded with fixed and hand held
multiple full function control units, hand held remote and
steering lever.
Figure 1-1 AP16 Basic system
Note ! The Volvo Autopilot Interface is the gateway between the
autopilot and the IPS system. The gateway kit must be ordered
from Volvo under P/N 3819744.
1.4 AP16 Control Unit
A compact autopilot control for panel, bulkhead or bracket
mounting. It has a multifunction LCD display for readout of

System Description
20222121A 9
autopilot data, mode keys and course adjust keys. It has two
Robnet2 connectors for system interconnection and expansion
and two SimNet connectors for control and data sharing with
other Simrad products. A NMEA2000 Adapter Cable is available
for interface through a SimNet port (page 84).
1.5 Autopilot Computer
The autopilot computer is the heart in the AP16 autopilot system.
It contains the steering computer, interface to other system
components, and interface to Volvo Penta IPS system.
1.6 Heading Sensors
The AP16 autopilot must be used with the Simrad RC36 Rate
compass.
The RC36 is a fluxgate compass with integrated rate sensor. It
provides a dramatic improvement to the dynamic performance of
both the autopilot and a stabilized radar display.
1.7 Optional equipment
A series of options are available for the basic AP16 system.
R3000X Remote Control
A small handheld remote control with two push buttons for
power steering or course selection (port and starboard), and one
push button with built-in lighted indicator for limited mode
change.
JS10 Joystick
The JS10 Joystick is a Non-Follow-Up steering lever designed
for indoor and outdoor console mount. It has a spring-loaded
return-to-mid-position feature and is equipped with 10 m (33’) of
cable and installation hardware.
Multiple stations
Multiple control units can be added to the system.

Simrad AP16 Autopilot
10 20222121A
1.8 Software record
When the system is switched on, a status display shows the
software versions for the control unit and the autopilot computer.
See page 12.
Software version Description
SW 1.2.00 First Volvo IPS compatible software for
AP16

Operation
20222121A 11
2OPERATION
WARNING ! An autopilot is a very useful navigational aid, but DOES
NOT under any circumstance replace a human navigator.
Do not use automatic steering when:
•In heavy traffic areas or in narrow waters
•In poor visibility or extreme sea conditions
•When in areas where use of autopilot is
prohibited by law
When using an autopilot:
•Do not leave the helm unattended
•Do not place any magnetic material or
equipment near heading sensor used in the
autopilot system
•Verify at regular intervals course and position of
vessel
•Always switch to Standby mode and reduce
speed in due time to avoid hazardous situations
2.1 Overview
Multifunction LCD
STANDBY mode / POWER on/off
INSTRUMENT screens/ setup menus
AUTO mode
NAV or NoDrift mode
PWR
STBY AUTO
WIND
NAV
SETUP
INFO DODGE
TURN 1
10
10
1
PORT keys 1/10°
TURN/ DODGE
STARBOARD keys 1/10°

Simrad AP16 Autopilot
12 20222121A
The control unit shown above can operate as a stand alone unit
in an autopilot system or combined in a multistation system. In a
multistation system the command can easily be transferred from
one unit to another. AP16 units not in control will display the
icon.
The AP16 system is capable of the following primary steering
modes: STBY (power steering), AUTO and NAV, each mode
having a dedicated push button.
Each of the mode push buttons is clearly identified with the
primary function in large text, and a secondary function listed in
smaller text. Each button provides you with a multiple function
mode display.
Note ! WIND mode is not applicable, hence not available in a Volvo
Penta IPS configuration.
A group of user adjustable settings are provided in the AP16
User Setup Menu (page 26).
Alarms are presented in plain text to alert you of system and
external data failure conditions. Alarms include both audible and
visual presentations. The alarm listing is on page 79.
2.2 ON/OFF - Standby mode
Note ! At first time turn on see paragraph 4.1.
A single press on the STBY button switches the system ON and
the following status displays are shown:
Autopilot computer model
P00 M00 S000
AC05
Simrad
Self check
Power board revision
Main board revision
Autopilot model
HW rev. 00
SW 1.2.00
AP16
Simrad
Hardware revision
SW 1.1.00
Software version Software release
Software release
Software version
Sn xxxxxx
SimNet no.
SW and HW revisions shown are examples only.

Operation
20222121A 13
After approximately 5
seconds, the following
message is displayed.
The system is now operative and the unit that was turned on will
show the Standby mode display. Other units in a multistation
system will display "Inactive" and/or depending on model.
Control is transferred to any single unit by pressing its’ STBY
button.
A long press (2-3 sec.) on the STBY button switches the system
OFF and during this time, the alarm will sound.
Note ! In an emergency, it is possible, on a multistation system, to turn
OFF the autopilot system at any control unit by pressing the
STBY button for 2-3 seconds.
STBY mode is the mode that is used when steering the boat at
the helm.
Display information:
−Standby mode
−Current heading 345°M
−Compass source: Rate
compass
−Rudder angle 00°.
Note !
Whenever you take manual
control of the steering by
means of the helm
irrespective of the autopilot
mode, the autopilot will go
to Standby. The “S” in the
display is replaced by a
dash to indicate that
steering is from the helm.

Simrad AP16 Autopilot
14 20222121A
Flashing course knob icon
When the PORT and STBD buttons are is used for settings
etc., an icon will flash on the screen to tell that no course
changes can be made unless you press the AUTO button.
Alarms
In the event there is an audible alarm with explaining text on the
control unit, refer to section 6 Trouble shooting.
2.3 Non-Follow-Up steering (NFU)
In Standby mode, the NFU display is presented when the PORT
or STBD button is pressed. The rudder will move as long as the
button is pressed and the rudder angle is shown on the display.
1
1
Activates
PORT rudder
command
Activates
STBD
rudder
command

Operation
20222121A 15
2.4 R3000X Remote Control (NFU)
Push button for
Port and Stbd
commands
In STANDBY mode, the rudder will
move as long as the Port or Stbd button
is pressed.
In AUTO mode the set course will
change 1° each time the button is
pressed.
Note!
If you keep the button pressed, it will
automatically change the setting in
increments of 3° per second.
Mode changes are as per table below.
Initial mode 1st press 2nd press
STBY-AUTO
Simrad R3000X
SIMRAD
STBY/automatic
Automatic
modes are active
when the lamp
is lit.
STBY
AUTO
NAV/NoDrift 1)
AUTO
STBY
STBY
STBY
AUTO
AUTO 2)
Notes ! 1. When NAV or NoDrift mode is selected in User Setup
2. NAV or NoDrift modes can only be entered from the Control
unit.
2.5 JS10 Joystick (NFU)
The principle is similar to that of R3000X Remote Control (see
above). The rudder will move as long as the lever is offset to
Port or Starboard. JS10 has no mode change feature.
Note ! When a NFU steering lever or a remote control is operated, the
control units become "Inactive".
2.6 Automatic Steering
When AUTO mode is selected, the AP16 automatically picks the
current boat heading as the set course and maintains the
simultaneous rudder angle. This gives a bumpless transfer at the
mode change.

Simrad AP16 Autopilot
16 20222121A
Automatic steering mode
Set course: 340 degrees
Compass reading: 340°M
Steering parameter: LO-A
Rudder angle: 00°
The AP16 will keep the boat on the set course until a new mode
is selected or a new course is set with the PORT or STBD
buttons.
110 10 1
Port course
adjust, 1°/push Port course change,
10°/push
Stbd. course
change
10°/push
Course
adjust
1°/push
Once the course is changed to a new set course, the boat will
automatically turn to the new heading and continue to steer
straight.
Heading capture
When in AUTO or NoDrift mode (page 20) this feature allows
you to automatically cancel the turn you are in by an instant
press on the AUTO or NAV (NoDrift) button. The autopilot will
counteract the turn and the boat will continue straight ahead on
the heading read from the compass the very moment you pressed
the AUTO or NAV (NoDrift) button.
Automatic steering mode
New “captured” heading: 305°
Compass reading: 301° M
(magnetic) or T (true)
Steering parameters: LO-A
Rudder angle: 01° to stbd.
STBY
Regain manual steering by pressing the STBY button

Operation
20222121A 17
2.7 Automatic control of steering parameters
The AP16 provides two different sets of steering parameters for
controlling the response of the boat at different speeds while in
automatic modes.
The autopilot selects the LO (response) steering parameters
when engaging an automatic mode from STBY provided there is
no speed input. This is a safety feature. When entering an
automatic mode at low speed, the steering parameters may be
changed to HI automatically by input data from a speed log or a
GPS navigator (SOG), or manually.
The speed at which the autopilot automatically changes from LO
to HI parameters (or opposite) is determined by the "Transition
Speed" set in the Installation Setup Menu (Sea trial). See
diagram below.
Legend
HI-A High response parameters set automatically
LO-A Low response parameters set automatically
HI-M High response parameters set manually
LO-M Low response parameter set manually
26
24
22
20
18
16
14
12
10
8
6
4
2
0
LOresponseparameters
HIresponseparameters
Transition Speed set to 9 Knots
Transition to LO parameters
with increasing speed: 10 Knots
Transition to HI parameters
with decreasing speed: 8 Knots
Speed
2.8 Manual Selection of HI/LO Parameters
Manual selection of HI/LO parameters is necessary if there is no
speed input to the autopilot or if you want to override the
automatic control.

Simrad AP16 Autopilot
18 20222121A
To toggle between LO and HI parameters, press the "AUTO"
button two times quickly.
AAUTO
Quick
double
press
Notes ! 1. If you are in NAV or NoDrift modes you need not enter
AUTO mode to manually change the parameter set. Just
make a quick double press on the AUTO button.
2. The manually selected setting (HI or LO) will override the
automatic selection and remain in effect until you re-enter
any automatic mode from STBY.
2.9 U-turn
This feature is very useful in a man overboard situation and
whenever you want to steer back on a reciprocal heading. It only
applies to power boats.
U-Turn changes the current set course to be 180 degrees in the
opposite direction. The user must decide whether the U-Turn
should be made to Port or Starboard when bringing the boat on
the new course. U-Turn is activated by a quick press on the
TURN/DODGE button. The AP16 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 AP16 will return to the AUTO mode
and stay on course.
DODGE
TURN
Press
TURN/DODGE
to enter TURN
mode
1
Select
STBD
U-turn
Boat
makes
STBD
U-turn

Operation
20222121A 19
2.10 Dodge in AUTO
Dodging is useful in situations where you need to quickly take
control of the helm to steer around an obstruction, and then
resume the previous set heading. Dodging is activated by a quick
double press on the TURN/DODGE button.
When in DODGE mode the displayed set course is the last one
set prior to activating the dodge function. When DODGE is
displayed, the AP16 is no longer in control of the steering, and
you must either manually steer the boat in STBY mode or take
control using Non Follow Up steering. The AP16 will remain in
the DODGE mode until you exit DODGE by a second press on
the TURN/DODGE button or select a mode.
DO
TURTURN
DODGE
Quick double press on
TURN/DODGE
to activate Dodge mode
Perform dodging in one of the following ways:
1. Manually steer the boat
by the wheel:
2. Non Follow Up steering
by pressing:
1
or
1
or using NFU
steering lever
To return from Dodge mode, press one of the following:
DODGE
TURN
Selects AUTO
mode and
returns to the
last set course
or
AUTO
Selects AUTO
mode with the
current heading as
the set course
Note ! Using NFU mode while dodging will make “NFU” flash instead
of “DODGE”.