Operator Manual: English
Operator Manual: English
Operator Manual: English
Operator Manual
ENGLISH
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 owners 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 respon-
sible for observing safe boating practices.
NAVICO HOLDING AS AND ITS SUBSIDIARIES, BRANCHES AND AFFILIATES DISCLAIM ALL LI-
ABILITY FOR ANY USE OF THIS PRODUCT IN A WAY THAT MAY CAUSE ACCIDENTS, DAMAGE
OR THAT MAY VIOLATE THE LAW.
Governing Language: This statement, any instruction manuals, user guides and other informa-
tion relating to the product (Documentation) may be translated to, or has been translated
from, another language (Translation). In the event of any conflict between any Translation of
the Documentation, the English language version of the Documentation will be the official
version of the Documentation.
This manual represents the product as at the time of printing. Navico Holding AS and its sub-
sidiaries, branches and affiliates reserve the right to make changes to specifications without
notice.
Copyright
Copyright 2013 Navico Holding AS.
Warranty
The warranty card is supplied as a separate document.
In case of any queries, refer to the the websites:
pro.simrad-yachting.com and www.simrad-yachting.com.
Manual conventions
Important text that requires special attention from the reader is emphasized as follows:
Note: Used to draw the readers attention to a comment or some important information.
9 Basic operation
9 Safe operation with the autopilot
9 Turning the autopilot system on/off
9 Menus and dialog boxes
10 Display illumination
10 Taking command
10 Selecting autopilot modes
10 Switching from automatic mode to hand steering
11 Selecting profile
11 Acknowledging a message
11 Using the thruster
25 System configuration
25 Turning the autopilot on for the first time
25 User settings
26 Network settings
30 Installation settings
34 Profiles
37 Compass calibration
38 Seatrials
44 Menu overview
44 The Quick menus
44 The settings menus
Compliance
The AP60 system complies with the following regulations:
CE (2004-108 EC EMC Directive) - AP60 system when used with an AC70 computer
C - Tick
AP60 documentation
The following documentation is available for the AP60 system:
-- Operator manual (this manual); operation and system configuration
-- Quick Guide; basic key functions and menu overview
-- Installation guides; wiring guidelines for control unit and autopilot computers
-- Mounting templates for AP60 control unit and autopilot computers.
All documentation are continuously updated to match new software releases. The latest
available manual version can be downloaded from our web sites.
AP60
CONTROL COMPASS
UNIT
2 3
T 1 6 T
4 7
5
12 V DC
12/24V DC
DRIVE UNIT
KEY DESCRIPTION
1 Micro-C CAN bus backbone
2 SimNet to Micro-C (male) Drop cable
3 Micro-C Drop cable (female to male)
4 Micro-C Power cable with 120 Ohm terminator, female
5 Micro-C Drop cable, male
6 Micro-C T-Joiners
7 Micro-C Terminator, 120 Ohm, male
GPS
AP60 SENSOR COMPASS
CONTROL
UNIT
2 5
4 T 1 6 T
12 V DC
1* 4*
NMEA 0183 NMEA 0183
IN/OUT IN/OUT
Option
AD80/
AC70 SI80
SD80
12/24 V DC
12/24 V DC
THRUSTER
CONTROL
DRIVE UNIT
KEY DESCRIPTION
1 Micro-C CAN bus backbone
2 SimNet to Micro-C (male) Drop cable
3 Micro-C Drop cable (female to male)
4 Micro-C Power cable with 120 Ohm terminator, female
5 Micro-C Drop cable, male
6 Micro-C T-Joiners
7 Micro-C Terminator, 120 Ohm, male
4
5 6
NAV TURN
WORK
7
1 2 3
NO- AUTO STBY
DRIFT
MENU
9 8
No. Description
1 Menu key. Press once to display the active steering modes quick menu. Press twice to
display the Settings menu
2 Arrow keys, used for manoeuvering in menus and for adjusting parameters
3 Light/ Power key. Press to display the Light dialog. Repeat short presses to toggle
preset light levels. Press and hold for 3 seconds to turn the unit ON/OFF
4 Course knob. In menus and dialogs; turn to select menu item and adjust value.
In FU mode; turn to set rudder angle.
In AUTO and NoDrift modes; turn to change set heading/set course
5 Port/Cancel key. In menus; press to return to previous menu level.
In Standby and FU modes; press to go to NFU mode.
In AUTO and NoDrift modes; press to change set heading/set course to port
6 Starboard/Confirm key. In menus; press to confirm menu selection/enter next menu
level.
In Standby and FU modes; press to go to NFU steering.
In AUTO and NoDrift modes; press to change set heading/set course to starboard
7 Profile/Thruster key. Press and hold for 3 seconds to activate available thruster.
In Standby mode; press to switch to AUTO mode with active WORK profile *
In AUTO, NoDrift and NAV modes; press to toggle between NORMAL and WORK
profile *
8 Turn key. Press to toggle between U-Turn and S-Turns options
9 Mode keys. Press to activate mode indicated on key
The screen
Heading repeater
Digital heading readout and indication of heading repeater unit (True or Magnetic). The
heading is shown with one decimal if true heading.
Rudder bar
Rudder position indicator with digital and analog readout.
Direction arrows are shown when rudder movement is commanded. The arrows are only
shown when rudder feedback is available.
Note: The rudder bar shows commanded rudder angle in systems with analog steering
without rudder feedback.
Status panel
Status icons
Mode indication
Active profile
Available status icons are shown below. Only active icons will be visible.
Icon Description
Thruster available for the autopilot steering
Active warning
Dialogs
Used for user input or for presenting information to the user.
Quick menus
Mode dependant menu, displayed by pressing the MENU key. The Quick menus contain the
most common used settings for the active mode. The menu varies with the autopilot mode.
Standby, FU and NFU mode AUTO and NO DRIFT mode NAV mode
Settings menus
Used for installation and system setup. The menus are activated from the Quick menu, or by
pressing the MENU key twice.
Note: On additional control heads, acknowledge the language selection and cancel all other
setup requests.
The system is turned OFF (Sleep mode) by pressing and holding the Light/Power key on an
active control unit. During the shut-down procedure the system will automatically go to
Standby mode before it is turned off. If the Light/Power key is released before shut-down is
completed, the power off is cancelled.
A dialog box will guide you to use the Port or Starboard key to proceed or to close the dialog.
Taking command
You can take command from any control unit and/or remote unit by pressing one of the
mode keys.
Active/Passive units
In a system including more than one control unit and/or remote units, only one unit can be in
control at a time. All other units will be passive.
A passive unit is indicated in the mode status field with passive icon.
NO-
mode key.
DRIFT AUTO STBY
When in Standby mode you select NFU (Non Follow Up) by pressing the Port or Starboard
key.
When in Standby or NFU mode you select FU by pressing the Port and Starboard key
simultaneously.
Note: When the boat type is set to Planing or Waterjet, the profile change automatically
based on the transition speed setting and the boat speed. Refer to Transition speed on
page 33.
When the boat type is set to Disp (Displacement), you select the profile manually:
In STANDBY mode: Press the WORK key to switch to AUTO mode and WORK profile.
WORK
x1
In AUTO, NAV and NoDrift modes: Press the WORK key to toggle between NORMAL
and WORK profile.
WORK
x1
Acknowledging a message
When an alarm situation occurs, the alarm icon will be active, and the alarm dialog will show
alarm cause.
Press the Starboard key to acknowledge an alarm or a warning. This will silence the sound and
remove the alarm dialog.
The icon will remain active, and the alarm/warning will be included in the alarm listing as long
as the alarm situation is present.
Manual steering
When an external system selector is set to manual steering, the autopilot will be disengaged.
The control unit will display information as in Standby mode. It is not possible to change to
FU, NFU or to any automatic mode. The menus can however be used, alarms acknowledged
and illumination adjusted.
When the autopilot is disengaged by an external selector, this will be indicated in the mode
display.
Autopilot operation
When the external selector is set to automatic steering, the autopilot will go directly to AUTO
heading mode with present heading as set reference. The autopilot can then be used in all
operational modes.
The mode descriptions in the following pages assumes that an external system selector has
opened for autopilot operation, or that no external selector is installed.
Settings
Menus used for installation and system setup. See System configuration on page 25
onwards.
Sources
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 Selecting data sources on page 26 for more details.
Alarm status
Displays a list of current alarms.
Speed adjustment
Used to manually set the vessel speed if a speed log or other speed source is not connected.
Auto modes
AP60 includes two automatic modes:
-- AUTO compass mode keeps the vessel on set heading
-- NoDrift mode combines heading and position information, and keeps the vessel on a
straight track
Wind/ Wind/
Current Current
AUTO mode
In AUTO mode the autopilot issues rudder commands required to steer the vessel
automatically on a set heading.
1. Steer the vessel onto the desired heading
2. Press the AUTO key to activate ATO mode
-- The autopilot selects the current vessel heading as the set heading.
NoDrift mode
This mode the vessel is steered along a calculated track line, from present position to infinity
in a direction set by the user. If the vessel is drifting away from the original course line due to
current and/or wind, the vessel will follow the line with a crab angle.
1. Steer the vessel onto the desired course
2. Press the NoDrift key to activate NoDrift mode
-- The autopilot will draw an invisible track line based on current heading from the vessels
position
The autopilot will now use the position information to calculate the cross track distance, and
automatically keep your track straight.
Settings
Menus used for installation and system setup. See System configuration on page 25
onwards.
C. The value is set too high. Steering becomes unstable and often the overshoot will
increase
D. The value is set too low. It will take a long time to compensate for a heading error, and the
autopilot will fail to keep a steady course
A B
Counter rudder
Counter rudder is the amount of counteracting (opposite) rudder applied to stop the turn at
the end of a major course change.
The settings depends on vessels characteristics, loaded/ballast conditions and rate of turn.
If the vessel has good dynamic stability, a relatively small value will be sufficient
An unstable vessel will require high value
The greater the vessels inertia, the greater value will be required
Increasing counter rudder value 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 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.
Adjust Counter rudder value to obtain best possible response as in illustration C.
Note: As many boats turns differently to port versus starboard (due to propeller rotation
direction), do the course changes in both directions. You may end up with a compromise
setting of Counter rudder that gives a little overshoot to one side and a bit creeping response
to the other.
Speed
Used to manually set the vessel speed if a speed log or other speed source is not connected.
Heading capture
When the vessel is turning in AUTO or NoDrift mode, an instant re-press on the mode key
activates the heading capture function. This will automatically cancel the turn, and the vessel
will continue on the heading read from the compass the very moment you pressed the mode
key.
NOTE: If a turn is started from another mode, the pilot will be switched to AUTO mode when
the turn is initiated.
U-turn
The U-turn changes the current set heading to be 180 in the opposite direction.
The turn rate is identical to default rate of turn (ROT) setting. This cannot be changed during
the turn.
1. Press the TURN key to display the U-turn dialog
2. Press the Port or Starboard key to start the turn
-- The set heading (A) is changed to 180 in the opposite direction, and the turn dialog is
closed.
S-turns
S-turns pattern makes the boat yaw around the set heading.
1. Press the TURN key twice to display the S-turn configuration dialog
2. Set the preferred turn radius and course change increments
3. Press the TURN key again to confirm your setting and proceed to the S-Turn initiation dialog
4. Press the Port or Starboard key to start the S-turn pattern steering
The S-turns configuration dialog will remain open as long as the S-turn is active. During the
turn you can alter the set course (A), turn radius (B) and course change (C) from within this
dialog.
A
B
C
In NAV mode the AP60 can use steering information from an external chart plotter to direct
the vessel to one specific waypoint location, or through a series of waypoints.
Note: It is not possible to select NAV mode if heading information is missing, or if steering
information is not received from the external chart plotter.
When in NAV mode, the autopilot uses the heading sensor as its heading source for course
keeping. The steering and speed information received from the external chart plotter alters
the set course to direct the vessel to the destination waypoint.
To obtain satisfactory navigation steering, the autopilot system must have valid input from
the chart plotter. Autosteering must be tested and determined satisfactory prior to entering
the navigation mode.
Start navigating
1. Start navigating to a waypoint or start a route on your chart plotter
2. Press the NAV key on the autopilot
3. Accept the waypoint as the location to steer towards to activate the navigational mode
-- If the waypoint is not accepted within 8 seconds, the dialog will be removed and the
autopilot will remain in active mode
Settings
Menus used for installation and system setup. See System configuration on page 25
onwards.
Nav response
Defines how fast the autopilot shall respond after having registered a cross track distance.
Speed
Used to manually set the vessel speed if a speed log or other speed source is not connected.
The speed information is required for the autopilot to automatically calculate the gain values.
WP1
WP2
Arrival circles
25
20
15
10
Arrival circle,
5
radius in 1/100 nm
1 2 3 4 5 6 7 8 9 10 11 12 13
Example: With the speed of 20 knots you should use a waypoint circle with radius 0.09 nm.
Note: The distance between any waypoints in a route must not be smaller than the radius of
the waypoint arrival circle when using automatic waypoint shift.
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.
Warnings
-- Informing you of conditions that could result in unwanted system response or eventual
failure
Alarm indication
When an alarm situation occurs, siren will sound and the alarm icon will be active. The alarm
dialog will show alarm cause, followed by the name of the device that generated the alarm.
Icon
Message type Status Alarm dialog Siren
Symbol Appearance
Until
New Flashing Yes
Alarm acknowledged
Acknowledged Steady Closed Muted
New Yes 2 seconds
Warning Steady
Acknowledged Closed No
Acknowledging a message
There is no time-out on the alarm message or siren. These remain active until you
acknowledge it or until the reason for the alarm is removed.
You acknowledge an alarm by pressing the Right arrow key, or by switching to Standby
mode. This sets the alarm state to acknowledged, meaning that you are aware of the alarm
condition. The siren will stop and the alarm dialog will be removed. The alarm icon will
however remain active, and the alarm will be included in the alarm listing until the reason for
the alarm has been removed.
Note: If more than one alarm is active, you will have to acknowledge each alarm separately.
User settings
Most of these settings will be during the automatic start-up procedure when the pilot is
turned on for the first time and after a factory reset. If these settings are not completed, you
can configure the autopilot system manually as described in the following sections.
Language settings
Several languages are available for the menus and dialogs. Selected language applies for all
SimNet units in an AP60 system.
Note: The brightness level are adjusted independently for day and night illumination.
Note: The display unit for heading data is not solely determined by the user. If true heading is
wanted but the selected compass is a magnetic compass, then the magnetic variation must
be available from a position- or navigation source. The same applies if the user wants to read
magnetic heading but receives true heading from the compass.
If magnetic variation is required but not available, the compass decides which unit to display.
Note: If 0.1 is selected, the set heading/course will be displayed with one decimal in the
mode info panel.
Network settings
Selecting data sources
A data source can be a sensor or a device connected to the network, providing data to other
devices.
Source selection is required on initial start up of the system, if any part of the CAN bus
network has been changed or replaced, or if an alternative source is made available for a
given data type and this source has not been selected automatically.
At the first time turn on of a group of SimNet interconnected products, data sources are
automatically selected from an internal SimNet priority list. If a data source is connected to
SimNet after the first time turn on, this will be identified and automatically selected if no other
data source already is selected for the given data type.
You can let the system automatically select your sources, or set up each source manually as
described below.
Device list
From the device list you can list all of the active SimNet and NMEA 2000 devices on the
network, showing software version, network address and serial number.
Diagnostics
The diagnostic page shows details for the NMEA 2000/CAN bus network.
SimNet groups
The SimNet Group function is used to control parameter settings, either globally or in groups
of units. The function is used on larger vessels where several SimNet units are connected via
the network. By assigning several units to the same group, a parameter update on one unit
will have the same effect on the rest of the group members.
The illustration below shows a two station installation. Units on the bridge have their
backlight and damping settings in different SimNet Groups from the units in the cockpit.
If the back light is adjusted on a display in the cockpit, it will change on all displays in the
cockpit, but it will not change the light settings on the bridge.
REMOTE STATION
QS80 AP60 CONTROL HEAD
Damping
This feature is used for achieving a more stable reading on the display if there are fluctuations
in the data received from the sensors.
The effect is accomplished by averaging the received data. A high value will cause delayed
update of the data on the display.
The damping applies to all SimNet units in the same SimNet groups. Refer SimNet groups on
page 28.
Note: This is an internal damping on the display only. It will not change the data on the
network. It should be used when the sensor has no internal damping function.
Note: If damping for Heading is high when using the autopilot, the captured heading might
differ from the heading read on the display (heading capture function).
Note: The seatrial settings are dependent on successful completion of the dockside settings.
The following sections show the commissioning for a vessel with one rudder driven by an
AC70 computer, and one solenoid operated tunnel thruster operated by an SD80 computer.
2. Select relevant settings for Drive Voltage, Drive Engage and Rudder Feedback
3. Select the Rudder Fb Calib (Rudder feedback calibration) option
4. Follow the guided steps through the rudder feedback calibration process until the rudder
feedback calibration is completed
5. Select the Rudder Calib (calibration) option
6. Follow the guided steps until the rudder calibration is completed
2. Select relevant settings for Control Method, Drive Voltage and Drive Engage
Note: Drive Voltage and Drive Engage is not available for AD80 computers.
AC70
Rudder settings
Minimum rudder
Some boats may have a tendency of not responding to small rudder commands around the
course keeping position because of a small rudder, a rudder deadband, whirls/disturbance of
the water-stream passing the rudder or it is a single nozzle water jet boat.
By manually adjusting the minimum rudder function, the course keeping performance might
be improved on some boats. This will however increase the rudder activity.
Note: Only set a value for minimum rudder if it proves to give a better course keeping
performance in calm sea. It should be set after the autotune has been performed and a fine
tuning of the rudder parameter.
Note: Motor output setting is not available for solenoid controlled rudder.
The thrust signal output is the percentage of total signal range needed to achieve correct
thrust.
Handshake settings
The handshake settings refer to the HS1 and the HS2 terminals on the AD/SD board.
The handshake for pulse log input and auto mode output is always available in the AP60
system on HS2.
If a pulse log of 200 p/NM to the input, it will show up as a speed source on the CAN network.
The output will be a closed contact whenever the autopilot is in AUTO, NoDrift or NAV
mode. The signal can be used for reducing oil flow to rudder, watch alarm activate etc.
Vessel configuration
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.
It will also affect available autopilot features.
Boat length
The boat length affects the steering parameters.
Range: 5 - 100 (m)
Cruising speed
The cruising speed is used if no speed info is available, and if manual speed is set to Auto.
It is also used by the autopilot system to calculate steering parameters.
Range: 2 - 50 (kn)
Default: 15 (kn)
Transition speed
Note: This parameter is only used if the boat type is set to Planing or Waterjet.
When the boat type is set to Planing or Waterjet, the AP60 uses the NORMAL and WORK
profiles for controlling the response of the boat at different speeds.
The transition speed setting determines the speed where the autopilot automatically changes
the profile from NORMAL to WORK, or vice versa.
If no speed input is available the autopilot defaults to WORK profile when engaging an
automatic mode from standby mode. This is a safety feature to prevent oversteering.
le
profi
MAL
O R
N
Profiles
A profile is a set of steering parameters used by the autopilot system to improve the
automatic steering under different operational conditions. This gives high steering
performance very quickly when the operational conditions change, compared to waiting for
autopilot adaptation process.
The AP60 system includes two profiles: NORMAL and WORK.
The name of the profile in use is displayed in the mode status panel.
The initial parameters in a profile are automatically assigned when you select your vessel type.
During commissioning and seatrial the parameters for the active profile will be tuned for
optimized steering performance. The parameters will be saved as part of the profile settings.
You should fine tune the parameters with the vessel working in the relevant operational
conditions.
Displacement boats
When the boat type is set to DISP (Displacement), you select active profile manually.
In STANDBY mode: Press the WORK key to switch to AUTO mode and WORK profile.
In AUTO, NAV and NoDrift modes: Press the WORK key to toggle between NORMAL and
WORK profile.
It is recommended to use the NORMAL profile as a general profile for a displacement boat.
Note: It is not recommended to change any of the auto steering parameters in the NORMAL
profile after the vessel is commissioned.
Auto steering
Turn rate
Defines the vessels rotation in degrees per minute.
Initial value: Determined during sea trial
Wave filter
Automatically reduces the rudder activity and sensitivity of the autopilot in rough weather.
Range: ON/OFF
Default: OFF
Rudder gain
Defines the ratio between the heading error and the commanded rudder angle.
Range: 0.05 - 4.00
Default: Depends on the vessels set length
Initial value: Determined during sea trial
Counter rudder
This parameter counteracts the effect of the vessel turn rate and inertia.
Range: 0.05 - 16.00
Default: Depends on the vessels set length
Initial value: Determined during sea trial
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 - 300 sec
Default: Depends on the vessels set length
NAV steering
Nav response
Defines how fast the autopilot shall respond after having registered a cross track distance.
Range: 1 - 9
Default: 4
Approach angle
Defines the angle used when the vessel is approaching a leg.
Range: 5 - 60
Default: 30
Course change limit
Defines the limits for course change to next waypoint in a route. If the course change is more
than this set limit, you are prompted to verify that the upcoming course change is acceptable.
Range: OFF / 10 - 90
Default: 30
XTD limit
Defines the vessels accepted offset distance from the track. If the vessel goes beyond this
limit an alarm will be activated.
Range: 1 m - 1 NM
Default: 50 m
Drive select
Enables the truster for the selected profile.
Rudder
Init rudder
Defines how the system moves the rudder when switching from hand steering to an
automatic mode:
-- Mid (Midships) moves the rudder to zero position.
-- Act (Actual) maintains the rudder offset, and use this as trim value (bumpless transfer)
Default: Midships
Rudder limit
Determines the maximum rudder movement in degrees from the used midships position
that the autopilot can command the rudder in the automatic modes.
Used midships position is the rudder angle required to maintain a straight course.
The Rudder limit setting is only active during autosteering on straight courses, NOT during
course changes. This Rudder limit does not affect Non-Follow-up or Follow Up steering. In
Non-Follow-up or Follow Up steering, only the max. rudder limit applies.
Note: The max. rudder limit was set automatically to physical stop minus 3 when the rudder
feedback calibration was performed.
Range: 5 - Max rudder limit
Default: 10
Note: Thruster inhibit speed is set during installation and is the max vessel speed for which
the thruster is allowed to run.
When set to OFF, thruster has to be manually enabled.
Range: ON/OFF
Default: OFF
Compass calibration
All magnetic compasses must be calibrated as part of the autopilot seatrial procedure.
You can only start calibration of SimNet compasses from the AP60 menu. You may adjust the
offset for any NMEA 0183 or SimNet compass from the AP60 menu.
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.
1. Start the calibration by selecting the compass calibration option in the menu
4. Change the offset parameter so that the bearing to the object and the compass readout
becomes equal
Note: Make sure that both the compass heading and the bearing to the object have the same
unit (Magnetic or True).
Seatrials
Note: The seatrial must always be performed in open waters at a safe distance from other
traffic!
Notes:
If steering compass is magnetic type, perform any autopilot tuning steering East or West, as
this will yield the best-balanced parameters
The speed during tuning should be as close as possible to cruising speed. Ensure that this is
set correctly and as described in Vessel configuration on page 33
NORMAL profile used during seatrial
All tuning should always be performed in open waters at a safe distance from other traffic
When the automatic learning process is done, now proceed as follows to verify satisfactorily
steering:
1. Stabilize the vessel on a heading, and then select AUTO mode
2. Observe course keeping and rudder commands
-- The autopilot should keep the vessel on the set heading within an average of +/-1 degree,
providing calm sea and wind
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 in Manual tuning on
page 40
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.
Note: If the vessel is more than approximately 30 m/100 ft or have a very high cruising speed
it may be unpractical to perform Autotune. It is then suggested to proceed with manual
tuning.
Both Autotune and Manual tuning should be performed in calm or moderate sea conditions.
After the autotuning is completed the autopilot will return to Standby mode, and the rudder
must be controlled manually.
Note: Autotuning can be stopped at any time by pressing the Port or the STBY key.
Manual tuning
1. Stabilize the vessel on a heading, and then select AUTO mode
2. Set the speed as close to cruising speed as possible
3. Activate the Quick menu by pressing the MENU key
4. Select Rudder (Gain) and adjust according to the description below
5. If required, adjust slightly counter rudder (Ctr rdr)
Rudder Gain
This parameter determines the ratio between commanded rudder and the heading error. The
higher rudder gain value the more rudder is applied.
A. The value is set too high. Steering becomes unstable and often the overshoot will in-
crease
B. The value is set too low. It will take a long time to compensate for a heading error, and the
autopilot will fail to keep a steady course
A B
Counter rudder
Counter rudder is the amount of counteracting (opposite) rudder applied to stop the turn at
the end of a major course change.
The settings depends on vessels characteristics, loaded/ballast conditions and rate of turn.
If the vessel has good dynamic stability, a relatively small value will be sufficient
An unstable vessel will require high value
The greater the vessels inertia, the greater value will be required
Increasing counter rudder value may result in some higher rudder activity also when steering
a straight course.
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.
Adjust Counter rudder value to obtain best possible response as in illustration C.
Note: As many boats turns differently to port versus starboard (due to propeller rotation
direction), do the course changes in both directions. You may end up with a compromise
setting of Counter rudder that gives a little overshoot to one side and a bit creeping response
to the other.
Autopilot reset
Resets the autopilot to factory default settings.
SimNet reset
Resets all connected SimNet units to factory default settings.
Note: Unless you need to clear all stored values during the installation set-up procedure, you
should not perform a restore of factory settings.
Diagnostics
The diagnostic page shows details for the NMEA 2000/CAN bus network.
Option Description
Indicates if the network backbone is operating
Bus State (OK = On, not OK = Off ).
Check power and termination
Rx Overflows Value greater than 0 could indicate the software is very busy and
Rx Overruns unable to keep up with incoming messages
Detected errors since power up. Check the network if this is
Fast packet Errors:
continually increasing
Rx Errors CAN interface error counters. Count up when there are errors on
the CAN bus, and down when things are OK. Should normally be
Tx Errors 0. Goes bus off when 255 is reached. Check same things as for Bus
state if greater than 0 observed
Software upgrades
The latest software for the AP60 will be available for download from our web sites:
pro.simrad-yachting.com and www.simrad-yachting.com.
Detailed instructions for how to install the software will follow the upgrade files.
Standby, FU and NFU mode AUTO and NO DRIFT mode NAV mode