AP70/AP80 Operator Manual ENGLISH navico-commercial.
Preface Disclaimer As Navico is continuously improving this product, we retain the right to make changes to the product at any time which may not be reflected in this version of the manual. Please contact your nearest distributor if you require any further assistance. It is the owner’s sole responsibility to install and use the equipment in a manner that will not cause accidents, personal injury or property damage. The user of this product is solely responsible for observing safe boating practices.
Warranty The warranty card is supplied as a separate document. In case of any queries, refer to the our websites: www.navico-commercial.com and www.simrad-yachting.com. About this manual This manual is a reference guide for operating the Simrad AP70 and AP80 Autopilot Systems. The manual will be continuously updated to match new software releases. The latest available manual version can be downloaded from our web sites.
Contents 7 Introduction 7 8 10 The front panel and keys The screen Operational mode overview 11 Basic operation 11 11 11 12 12 12 12 13 13 13 14 14 14 14 15 Safe operation with the autopilot Using an external system selector to control autopilot operation External follow-up override External EVC override (SG05 PRO) Pendulum feature Turning the autopilot system on/off The menus Dialog boxes Display illumination Taking command Selecting autopilot modes Switching from automatic mode to hand steering Sel
| 40 The alarm system 40 40 41 41 42 42 43 44 Message types Alarm indication Acknowledging a message The alarm dialogs Setting the alarm and warning limits Fallback and failures during automatic steering Backup navigator alarm (AP80 only) List of possible alarms and corrective actions 48 Maintenance 48 48 48 49 49 49 Preventive maintenance Simple maintenance procedures Restoring factory default settings Software upgrades Backing up your system data File management 50 Menu overview 50 51 The Qui
The front panel and keys 1 2 3 5 STBY 8 ¼¼ * AUTO NAV MENU TURN WORK 4 6 7 14* 12* ALARM CMD ALARM 1 Introduction 9 10 11 12* 13* Available on AP80 control units only. No. Key/Description 1 CMD/THRUSTER. A short press takes/requests command. A long press (3 seconds) activates/deactivates available thrusters 2 MENU. A short press displays the active steering mode’s quick menu. A second click displays the Settings menu 3 POWER/LIGHT. A short press displays the Light dialog.
The screen 1 4 2 3 5 6 7 1 Heading repeater Analog and digital heading readout. Digital readout is shown with one decimal if true heading. In automatic modes the difference between current and set heading is red for port, green for starboard deviation. Current heading Rate indicator Heading repeater unit (True or Magnetic) Set heading Steering reference 2 Mode Info panel The panel contains mode specific content and varies with the operational mode.
3 Rudder bar Rudder position indicator with digital and analog readout. The digital readout shows 1 bar per 1° rudder angle up to 40°. Rudder angle above 40° will have a non-linear indication in the outer left/right part of the bar. Direction indicators are turning red (port) and green (starboard) when rudder movement is commanded. The direction arrows are only shown when rudder feedback is available.
5 Dialogs Used for user input or for presenting information to the user. A dialog may be presented in full-screen or as an overlay. Depending on type of information or entry, different keys are used to confirm, cancel and close the dialog. A dialog can always be closed by selecting the Close/Cancel dialog key, or by pressing the PORT key. 6 Quick menus Mode dependant menu, displayed by pressing the MENU key. The Quick menus contain the most common used settings for the active mode.
2 Basic operation Safe operation with the autopilot Warning: An autopilot is a useful navigational aid, but DOES NOT under any circumstances replace a human navigator.
External EVC override (SG05 PRO) You may at any time, irrespective of the autopilot mode, take manual control of the steering by means of the helm. The autopilot will then go to Standby mode and display Override to indicate the steering is from the helm. Autosteering can be regained by pressing the AUTO or the WORK key. Pendulum feature The pendulum feature is intended for pendulum ferries where it is required to turn the heading 180° when the vessel is going «backwards».
Dialog boxes You select entry fields and keys in a dialog box by using the rotary knob. You can only enter information when a field is selected and highlighted. You exit a dialog and cancel your entries by selecting the Cancel key in the dialog, or by pressing the PORT key. You confirm your entries and close the dialog by selecting the OK key in the dialog, or by pressing the STBD key. An alphanumeric keyboard will automatically be displayed when required for entering user information in dialogs. 1.
CMD MENU Active unit Passive unit On a passive/locked unit illumination can be adjusted, alarm sound can be locally silenced, and the CMD key can be used for requesting command. All other functions are unavailable. TURN STBY AUTO NAV WORK ALARM Selecting autopilot modes You switch between Standby mode, Auto modes and Nav steering by pressing the corresponding mode key. When in Standby mode you can select NFU (Non Follow Up) by pressing the PORT or STBD keys.
Working with thrusters If the vessel is equipped with thrusters, they can be connected to the autopilot system. The thrusters can be configured to different work profiles, and work profile in use will then decide if the vessel can be controlled by rudder, thrusters, or both rudder and thrusters.
3 Delegation of control in multiple station systems Steering stations An autopilot system with multiple stations can be set up with different steering stations (SimNet group settings - Station). This setting is done during installation of the system, and the separate autopilot Installation manual details how to define SimNet groups. The SimNet group Station settings determines lock/unlock and command transfer principle between active and passive control units.
2. Accept the command request on the active unit -- All passive units will be opened for command transfer, indicated as below -- The lock function will be de-activated, and the lock symbol removed from all units Passive units 3. Take command on selected remote unit Master systems The international standard for heading control systems (ISO 11674/16329) requires controlled command transfer when remote stations are provided.
Defining a Master system A master station is usually defined and units assigned to the master station during system setup. Refer to the separate autopilot installation manual for details. ¼¼ Note: When a SimNet group Station is set to Master, one control unit in this steering station has to be defined as the Master unit as shown below.
Taking command from a locked unit in a Master system 1. Press the CMD key on a locked station -- A dialog will be shown on the unit requesting command -- A command request dialog will be shown on the master unit Passive unit requesting command Active unit accepting command request 2. Accept the command request on the master unit -- The requesting remote will now be opened for command transfer. All other units will remain locked 3.
4 The operational modes Mode overview The autopilot has several steering modes. Number of modes and features within the mode depend on available input as shown below. MODE FEATURE DESCRIPTION REQUIRED INPUT STBY Standby mode used when manually steering at the helm.
Hand steering Standby mode Standby mode is used when you steer at the helm. The autopilot will always be in this mode when you turn the system on. • Switch the autopilot to Standby mode from any operation by a short press on the STBY key. The Standby mode info panel A. HDG: Current heading and Header repeater unit (True or Magnetic) A B B. COG: Course over ground C. SOG: Speed over ground -- If SOG is missing, the speed info will be taken from log (STW).
Source selection Gives access to automatic and manual source selection menus. Source setup is done on initial start up of the system. It is also required to run the source selection if any part of the network has been changed or replaced. See the separate AP70/AP80 Installation manual for more details. Automatic source selection The Auto Select option will look for all sources connected to the network.
Immediate heading change Set heading is adjusted by turning the rotary knob (press and rotate simultaneously if the Turn Preset function is activated), or by pressing the PORT or STBD keys. An immediate heading change will take place, also if the heading change is more than 180°. The new heading will be maintained until a new heading is set. Temporary course changes If you need to avoid an obstacle when in AUTO mode, you can press the STBY key and power steer or use the helm until the obstacle is passed.
Activating the turn preset function 1. Press the TURN key 2. Tick on the Turn preset option in the Turn Settings dialog Using turn preset 1. Select AUTO or NoDrift mode 2. Turn the rotary knob to display the Turn preset dialog 3. Set new heading/course, radius and turn type as required in the dialog AUTO mode NoDrift mode 4.
Heading capture When the vessel is turning in AUTO or NoDrift mode an instant press on the rotary knob activates the heading capture feature. This will automatically cancel a turn, and the vessel will continue on the heading read from the compass the very moment you pressed the knob. Turn pattern steering The autopilot includes automatic U-turn steering feature in AUTO and NoDrift modes, and S-turn steering feature in AUTO mode.
Initiating S-turns 1. Press the TURN key to display turn options 2. Select the S-turns icon 3. Select the port or starboard turn direction in the turn dialog Stopping S-turns You can at any time during a turn press the STBD key to return to Standby mode and manual steering. Navigating mode Warning: Navigational steering should only be used in open waters.
The waypoint arrival circle The arrival circle defines the point at which a turn is initiated when you are navigating a route. WP1 WP2 Arrival circles The arrival circle should be adjusted according to boat speed. The higher the speed, the wider the circle. The intention is to make the autopilot start the heading change in due time to make a smooth turn onto the next leg. The arrival circle is set in your chart system.
Course change to port Course change to starboard Turning in NAV mode When your vessel reaches the arrival circle for a waypoint, the autopilot will give an audible warning and display a dialog with the new course information. The turn radius used is defined in the turn parameters for the work profile in use. Refer “Turn settings” on page 34. If the required course change to next waypoint in a route is more than the set limit, you are prompted to verify that the upcoming course change is acceptable.
• • • • The following requirements and limitations apply: The autopilot system must comprise of at least one AP80, and at least one of the following autopilot computers: AC80A, AC80S or AC85 The ECDIS system must be connected to the AP80 system via an SI80 A valid unlock key must be obtained from Navico In a system with multiple autopilot computer boards where track feature shall be redundant, each autopilot computer board needs a separate unlock key The Track feature will remain unlocked after restarting
Enable the Track steering feature After the Track feature is unlocked, it must be enabled by setting the Track system option to Track as shown below: Track steering mode info panel A B C D E F G A. DTW: Distance to next waypoint B. XTD: Cross Track Distance C. Vessel position relative to leg line D. CTS: Course to steer (set heading calculated by the autopilot) E. TRK CRS: Track course to next waypoint F. STW: Speed through water. Speed of the vessel relative to the surrounding water. G.
Turning in TRACK mode The AP80 receives turn information from the ECDIS system. When the vessel reaches the arrival circle for a waypoint, the ECDIS system will give a wheel-over alarm. The autopilot will turn the vessel according to route information independant on if the alarm is confirmed on the ECDIS system.
The best way of checking the value of the Counter rudder setting is when making turns. The figures illustrate the effects of various Counter Rudder settings; A. Counter rudder too low; overshoot response B. Counter rudder too high; sluggish and creeping response C. Correct setting or counter rudder; ideal response A B C Perform various course changes and observe how the boat settles on the new heading. Start with small changes, 10-20 degrees, and proceed with bigger changes, 60-90 degrees.
5 Work profile setup A work profile is a set of steering parameters used by the AP70/AP80 system to improve the autopilot steering under different operational conditions. This gives high steering performance very quickly when the operational conditions change, compared to waiting for the autopilot adaption process. The AP70/AP80 has a set of predefined work profiles. You can edit all predefined profiles, and you can add new profiles. There can be up to 6 work profiles defined in the system.
5. Select preferred vessel icon -- Use one of the default vessel icons 6. Enable/disable the work profile -- Only enabled profiles will be shown in the profile listing, activated by pressing the WORK key 7. Edit profile settings if required -- The default parameters are copied from the profile you select when creating a new profile. These settings can be adjusted to match your preferred steering as described in the next paragraphs See also “Importing and exporting work profiles (AP80 only)” on page 38.
Auto trim When the vessel has a constant heading error due to external forces such as wind and current, the Auto trim function corrects for this by building up a constant rudder offset. The Auto trim value is reset every time the AUTO mode is entered or when a course change greater than approximately 20° is made. Auto trim is automatically disabled during a turn. • Range: 10 - 800 sec • Default: Depends on the vessel length Off heading limit Sets the limit for the off heading alarm.
Rudder Init rudder Defines how the system moves the rudder when switching from power steering to an automatic mode: -- Midships moves the rudder to zero position. -- Actual maintains the rudder offset, and use this as trim value (bumpless transfer) ¼¼ Note: Actual is only available with rudder feedback signal available. • Default: Midships Rudder limit Determines the maximum rudder movement in degrees from the “used” midship position that the autopilot can command the rudder in the automatic modes.
Enable the Toe angle feature by editing the work profile setting. Thruster Thruster sensitivity Determines how many degrees the vessel must deviate from the set course before a thruster command is given. As the vessel deviates from its heading, the thruster will push the vessel back. A higher value will reduce the thruster activity and extend the lifetime, especially for on/off thrusters.
¼¼ Note: Refer to “Work profile setup” on page 33 for details about work profile settings. Importing and exporting work profiles (AP80 only) It is possible to export and import a work profile to/from a USB stick. Export 1. Press the WORK key to display all work profiles 2. Turn the rotary knob to select the edit icon on the work profile you want to export 3. Select Save to disk -- The Files dialog will be displayed 4. Select the USB 5.
7. Return to the work dialog and confirm that the imported work profile is available ¼¼ Note: The first 6 characters in the file name will be used as profile name.
6 The alarm system The AP70/AP80 system will continuously check for dangerous situations and system faults while the system is running. Message types There are two type of messages: • Alarms -- Generated when conditions are detected that critically effect the capability or performance of the system. You must critically examine all alarm messages to determine their course and effect.
The Alarm dialog All new alarms and warnings activates the alarm dialog. The dialog will be closed when the message is acknowledged. If more than one message is activate, this will be indicated in the alarm dialog. Only the cause for the most recent message will be displayed. The remaining messages are available in the Alarms listing as described on page 41. Single active alarm Multiple active alarms Acknowledging a message There is no time-out on the alarm message or siren.
Setting the alarm and warning limits 1. 2. 3. 4. 5. The alarms and warning limits are adjusted from the settings display. Activate the alarm settings dialog as shown above Select the parameter to be changed Press the rotary knob to edit the value Change the value by using the rotary knob or the arrow keys Repress the rotary knob to confirm your setting Only a few alarms can be turned off. These are indicated with a check box, and are turned on/ off by pressing the rotary knob.
Magnetic variation missing If heading source is set to be adjusted for magnetic variation, variation is taken from available sensors in following order: Position source – Navigation source – Compass – any other variation available on CAN bus. If variation disappears, last valid variation will be used until automatic steering is cancelled and heading shown will then be corrected according to alternative variation in the order given above.
Select Backup Navigator Alarm for Handshake 1 or 2, depending on physical connection of external switch. List of possible alarms and corrective actions The next pages includes a list of all alarms generated by the autopilot system. The AP70/AP80 control units might also display alarms received from other units connected to the system. Refer separate documentation for the relevant equipment for further descriptions of these alarms.
Alarm/Warning Warning/Alarm condition Possible cause and recommended action Lost sensor data The speed signal from the GPS or the log is missing. 1. Check Device list for valid speed source 2. Try a new automatic source update 3. Check the GPS, log, and cable connections A Not possible to send or receive data although bus voltage is ok Poor CAN bus backbone, defective cable/connector or defective CAN bus receiver in autopilot control unit. 1. Check backbone terminations 2.
Alarm/Warning Warning/Alarm condition Possible cause and recommended action A Given if WP name = "End of route" Warning given on the active control unit when a “END ROUTE” waypoint name has been received from the Plotter/ECS. W Current > 3.5 A ENGAGE output overload A Current > 5 A EVC comm. error A Lost communication with EVC Check connection with EVC engine interface. system (Volvo IPS and similar). For IPS, engine must be running.
Alarm/Warning Override Position data missing Rudder data missing Rudder limit Type Warning/Alarm condition Possible cause and recommended action 1. EVC override via SG05 2. Override via SD80/AD80 Handshake (ref. KaMeWa) 3. Override via SD80/AD80 RUD UI port If unintended warning, make sure override handle is not being activated by loose objects.
7 Maintenance Preventive maintenance The AP70/AP80 control units do not contain any field serviceable components, therefore the operator is required to perform only a very limited amount of preventative maintenance. To prevent UV damage to the plastic bezel and rubber keys, it is recommended that the sun cover (option) be fitted when the unit is not in use for an extended period.
Software upgrades The latest software for the AP70/AP80 will be available for download from our web sites: www.navico-commercial.com and www.simrad-yachting.com. Detailed instructions for how to install the software will follow the upgrade files. Backing up your system data It is recommended to copy the user settings files after the system has been commissioned. This should also be done as part of your back-up routine. See the next section describing how to manage files in the autopilot control units.
8 Menu overview The Quick menus The Quick menus are mode dependant, displayed by pressing the MENU key. The menus containing the most common used settings for the active mode. Each Quick menu have access to the Settings menus. The Quick menus are described in the “The operational modes” on page 20. Quick menu in Manual modes From the Quick menu for STBY, NFU and FU you can change sources used for steering, you can display active alarms and set manual speed.
NoDrift and NAV mode LEVEL 1 Track resp (Adj.) Rudder (Adj.) Ctr.rudder (Adj.) Speed (Adj.) Settings (Settings dialog/menus) The settings dialog and submenus The system is configured and most system settings defined during installation and commissioning of the system. All system configuration and Installation setup is described in the separate AP70/AP80 Installation manual. The settings parameters are logically grouped, and each group is presented with an icon in the Settings dialog.
System User settings that have not any affect on autopilot performance. Advanced system settings Work profiles Used for creating and managing the vessel’s work profiles. Described in “Work profile setup” on page 33. Alarms Alarm listings and settings. Described in “The Alarm dialog” on page 41. Units Units of measure used on display, in dialogs and menus. Network List of devices connected to the CAN bus network. Used for setup, diagnostics and configuration. See “System configuration” on page 53.
9 System configuration General When the autopilot installation is completed, the system must be configured and the commissioning procedures performed. Failure in setting up the autopilot correctly may prohibit the autopilot from functioning properly. The settings dialog and submenus The system configuration settings are logically grouped in the Settings dialog, and each group is presented with an icon.
Network settings Setup and selection of sources are done from the Network menu. Selecting data sources A data source can be a sensor or a device connected to the network, providing data to other devices. Data can be of different type such as compass data, apparent wind data, calculated wind data, depth data, etc.
Device list From the device list you can: -- list all of the active SimNet and NMEA 2000 devices on the network, showing model description and serial number.
Option Description Bus State Indicates if network backbone is operating. Check power: Check termination Rx Overflows Rx Overruns Rx Errors Tx Errors Fast packet Errors: Rx Messages Tx Messages Bus Load Value greater than 0 could indicate the software is very busy and unable to keep up with incoming messages. CAN interface error counters. Count up when there are errors on the CAN bus, and down when things are ok. Should normally be 0. Goes bus off when 255 is reached.
Master systems The international standard for heading control systems (ISO 11674/ISO 16329) requires controlled command transfer when remote stations are provided. The delegation of control to the remote station and the return of control shall be incorporated in the autopilot system, and shall avoid unintended operation from a remote station. To fulfill this requirement the AP70/AP80 system includes a Master function.
Damping Controls how quickly the display updates values from sensors. Increasing the damping applies more averaging or smoothing of the data update rate on the display. Damping settings are applied to SimNet units belonging to particular damping SimNet Groups. ¼¼ Note: If the damping factor for heading is high, the captured heading might differ from the heading read on the display when using the heading capture function.
The following symbols are used to illustrate drive type: Tunnel thruster Azimuth Voith Schneider Rudder WaterJet The figure shows a completed commissioning for a vessel with one rudder driven by an SD80 board, one solenoid operated tunnel thruster and one analog tunnel thruster operated by two different AD80 boards. Configuring the drive system The drive system configuration is accessed from the drive system configuration dialog. 1.
3. Select the Configure option to proceed to device configuration dialog. The dialog differs slightly for the different drive types 4. Select relevant settings for the selected drive, and save your settings Configuring the handshake Pendulum feature The pendulum feature is intended for pendulum ferries where it is required to turn the heading 180° when the vessel is going «backwards». The feature can be included in AP70/80 systems equipped with SD80 or AD80 boards.
Handshake settings overview Handshake setting Function Description HS fixed Autopilot/steering gear interface with fixed level signals Output contact is closed when autopilot requests steering gear control. Input to be closed as long as steering gear is available for autopilot control HS pulse Autopilot/steering gear interface with pulse signals Output contact is closed for 1 sec when autopilot requests steering gear control.
Handshake setting Function Description FU-remote External FU/DP control by command transfer When input contact is closed, a command transfer dialogue is started (refer Command transfer description in the AP70/AP80 Operator Manual). When accepted, the output contact will close and use the installed current or voltage input to the RUD UI plug of SD80/AD80 board for follow up rudder control. Output will open if control is taken from another unit again.
1. Select test option in the device configuration dialog 2. Follow the guided steps through the testing process 3. Save the settings when completed ¼¼ Note: When a rudder feedback signal is set in the configure view, the feedback must always be calibrated before drive test or drive calibration is allowed. Vessel configuration ¼¼ Note: The unit of measurement in the dialog reflects your unit settings. Boat type The boat type setting is used by the system to select appropriate preset steering parameters.
e l rofi p ork w I H rk wo LO file pro Transition to HI work profile with increasing speed: 10 kn Transition speed set to 9 kn Transition to LO work profile with decreasing speed: 8 kn • Rang: OFF - 40 (kn) • Default: OFF Thruster inhibit speed This feature will block the thruster from running above a set vessel speed. It is a safety feature to prevent, especially electrical on/off thrusters, from overheating if out of water or for instance a planing boat or in rough weather.
Seatrials Compass calibration 1. 2. • • All magnetic compasses must be calibrated as part of the autopilot seatrial procedure. Before the compass calibration is started, make sure that there is enough open water around the vessel to make a full turn. The calibration should be done in calm sea conditions and with minimal wind to obtain good results. Follow the on-screen instruction, and use about 60-90 seconds to make a full circle.
¼¼ Note: Make sure that both the compass heading and the bearing to the object have the same unit (Magnetic or True). Drive configuration The drive setup can usually be done while at dock, and only minor adjustments may be required at seatrial. Refer “Dockside - Drive system” on page 58. Boat settings These settings are used as initial values for the vessel. Each of them can be changed in the different work profile settings.
3. Make some small and bigger heading changes to port and starboard and observe how the vessel settles on the new heading -- The vessel should have a minimum of overshoot (see example “Manual tuning” on page 67 If the autopilot is not keeping the heading satisfactorily or not making the turns satisfactorily, you may now either try the Autotune function or go directly to Manual tuning.
• An unstable vessel will require high settings • The greater the vessel’s inertia, the greater value will be required Increasing counter rudder settings may result in some higher rudder activity also when steering a straight course. The best way of checking the value of the Counter rudder setting is when making turns. The figures illustrate the effects of various Counter Rudder settings; A. Counter rudder too low; overshoot response B. Counter rudder too high; sluggish and creeping response C.
10 List of display abbreviations The following tables holds a list of abbreviations used in the autopilot display. For further information see “The operational modes” on page 20.
| List of display abbreviations | AP70/AP80 Operator Manual
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