General Information

Contents
1

GENERAL INFORMATION .............................................................................11

1.1 Introduction ..................................................................................................11
1.2 How to Use This Manual..............................................................................12
1.3 System Components .....................................................................................13
1.4 AP50 Control Unit........................................................................................14
1.5 Junction Units ...............................................................................................14
1.6 Rudder Feedback Units ................................................................................14
RF300 Rudder Feedback Unit ......................................................................14
RF45X Rudder Feedback Unit .....................................................................15
RF14XU Rudder Feedback Unit ..................................................................15
1.7 Heading Sensors ...........................................................................................15
RC25 Rate Compass .....................................................................................15
CD100A Course Detector and CDI35 Course Detector Interface................15
General NMEA Compasses..........................................................................15
HS50 GPS Heading Sensor ..........................................................................15
Other Compass Models ................................................................................16
GI51 Gyro Interface.................................................................................16
1.8 Optional Equipment......................................................................................16
AP51 Remote Control ..................................................................................16
R3000X Remote Control ..............................................................................16
JS10 Joystick ................................................................................................16
S35 NFU Steering Lever ..............................................................................17
FU50 Follow-Up Steering Lever ..................................................................17
TI50 Thruster Interface.................................................................................17
AD50 Analog Drive......................................................................................17
RI35 Mk2 Rudder Angle Indicator...............................................................18
RI9 Rudder Angle Indicator .........................................................................18
NI300X NMEA Interface Unit .....................................................................18

OPERATION OF THE AUTOPILOT ..............................................................19

2.1 Overview ......................................................................................................19
2.2 ON/OFF - Standby Mode (STBY) ...............................................................22
2.3 AP50 with MSD50 Stern Drive unit.............................................................24
Zero point setting..........................................................................................24
Operation ......................................................................................................24
2.4 Follow-Up (FU) Steering..............................................................................25
2.5 Non-Follow-Up (NFU) Steering ..................................................................25
JS10 (NFU) Joystick.....................................................................................25
F1/2 (NFU) Push Button Remote Control....................................................25

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2.6

2.7
2.8

2.9

2.10

2.11
2.12

2.13
2.14

2.15

R3000X Remote Control (NFU) ..................................................................26

S35 NFU Steering Lever ..............................................................................26
Automatic Steering .......................................................................................27
AUTO Mode.................................................................................................27
AUTO-WORK Mode ...................................................................................28
Thruster Steering ..........................................................................................29
Navigating with the AP50 ............................................................................30
Route Navigation ..........................................................................................31
Setting the waypoint arrival circle................................................................32
Electronic Chart System (ECS) ....................................................................33
Selecting a Different Navigator ....................................................................34
NAV-WORK Mode......................................................................................34
Dodging ........................................................................................................35
Dodging in AUTO Mode..............................................................................35
Dodging in NAV Mode ................................................................................36
TURN Mode .................................................................................................37
U-turn............................................................................................................37
C-turn............................................................................................................37
Multiple Station System ...............................................................................38
Lock Function...............................................................................................38
Standard Operation .......................................................................................38
Master Operation ..........................................................................................39
External system selection .............................................................................39
User Set-up Menu .........................................................................................40
Alternating Course Knob Icon......................................................................40
STANDBY Mode .........................................................................................40
AUTO Mode.................................................................................................41
AUTO-WORK Mode ...................................................................................43
NAV Mode ...................................................................................................44
NAV-WORK Mode......................................................................................45
Instrument Screens and Menu ......................................................................46
Screen Selection ...........................................................................................48
Instrument Set-up. ........................................................................................48

TECHNICAL SPECIFICATIONS ....................................................................49

3.1 AP50 Autopilot System ................................................................................49
3.2 AP50 Control Unit........................................................................................50
3.3 AP51 Remote Control ..................................................................................51
3.4 Junction Units ...............................................................................................52
3.5 RC25 Rate Compass .....................................................................................53
3.6 CDI35 Course Detector Interface .................................................................54

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3.7
3.8
3.9
3.10
3.11
3.12

3.13
3.14
3.15
3.16
3.17
3.18
3.19
3.20
3.21
3.22
3.23
3.24
4

CD100A Course Detector.............................................................................55

CD109 Course Detector................................................................................55
RF300 Rudder Feedback Unit ......................................................................56
RF45X Rudder Feedback Unit .....................................................................57
RF14XU Rudder Feedback Unit ..................................................................58
GI51 Gyro Interface......................................................................................59
Input..............................................................................................................59
Output ...........................................................................................................60
Other serial output/input ...............................................................................60
NI300X NMEA Interface .............................................................................61
TI50 Thruster Interface.................................................................................62
AD50 Analog Drive......................................................................................62
R3000X Remote Control ..............................................................................63
JS10 Joystick ................................................................................................64
S35 NFU Steering Lever ..............................................................................65
FU50 Steering Lever ....................................................................................66
RI35 Mk2 Rudder Angle Indicator...............................................................67
RI9 Rudder Angle Indicator .........................................................................68
Panorama MK2 Rudder Angle Indicator......................................................68
Environmental Protection .............................................................................70
NMEA Sentences .........................................................................................70

INSTALLATION .................................................................................................73
4.1 General..........................................................................................................73
4.2 Unpacking and Handling ..............................................................................73
4.3 Installation Index ..........................................................................................73
4.4 Determining System Configuration..............................................................74
4.5 AP50 System Layout ....................................................................................75
4.6 RF300 Rudder Feedback Unit ......................................................................76
4.7 RF45X Rudder Feedback Unit .....................................................................78
Electrical Connection ...................................................................................79
Mechanical Alignment .................................................................................81
4.8 RF14XU Rudder Feedback Unit ..................................................................82
Mechanical mounting ...................................................................................82
Electrical installation ....................................................................................82
Final check....................................................................................................86
4.9 J50 Junction Unit ..........................................................................................87
Cable Connections ........................................................................................87
Grounding and Radio Frequency Interface (RFI).........................................88
Junction Unit Terminals ...............................................................................88
System Select................................................................................................89

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4.10

4.11

4.12
4.13
4.14
4.15
4.16
4.17
4.18
4.19
4.20

AUTO/STANDBY Toggling .......................................................................89

External Alarm (Non Wheelmark System)...................................................90
External Alarm (Wheelmark System) ..........................................................90
Drive Unit Installation ..................................................................................91
Connecting a Reversible Pump.....................................................................93
Connecting a Hydraulic Linear Drive...........................................................94
Connecting Solenoid Valves ........................................................................94
Solenoids (externally powered, common positive)..................................94
Solenoids (externally powered, common negative).................................95
Solenoids (not externally powered) .........................................................95
Control Unit..................................................................................................96
Panel-mounting.............................................................................................96
Optional Bracket mounting ..........................................................................96
Robnet Network Cables................................................................................97
AP51 Remote Control Connection .............................................................100
AP51 in a Wheelmark System ...............................................................100
JP21 Jack Point Installation ........................................................................100
RC25 Rate Compass ...................................................................................101
RFC35 Fluxgate Compass ..........................................................................103
FU50 Steering Lever ..................................................................................104
TI50 Thruster Interface...............................................................................104
AD50 Analog Drive....................................................................................104
R3000X Remote Control ............................................................................105
JS10 Joystick ..............................................................................................105
S35 NFU Steering Lever ............................................................................105
F1/2 Remote Control ..................................................................................106
Interfacing to Optional Equipment (THD, Navigation Receiver, etc.).......106
Single NMEA input/output.........................................................................107
Double NMEA input/output .......................................................................107
Input from NMEA Compass ...................................................................108
Radar Clock/Data .......................................................................................108
Analog Heading Repeater...........................................................................109
Digital Heading Repeater ...........................................................................109
GI51 Gyro Interface....................................................................................109
NI300X NMEA Interface Unit ...................................................................110
CD100A Course Detector...........................................................................111
CDI35 Interface ..........................................................................................112
CD109 Course Detector.........................................................................112

SOFTWARE SET-UP PROCEDURE .............................................................113

5.1 Description of Installation Set-up...............................................................113

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5.2

5.3
5.4
6

Installation Menu ........................................................................................114

Language selection .....................................................................................115
Dockside .....................................................................................................115
Master Operation ...................................................................................117
Boat Type...............................................................................................117
Boat Length............................................................................................117
Drive Unit Voltage.................................................................................117
Rudder Feedback Calibration ................................................................118
Rudder Calibration.................................................................................119
Rudder Test............................................................................................120
Set Rudder Zero .....................................................................................121
Rudder Limit..........................................................................................121
Rudder Deadband...................................................................................121
Thruster ..................................................................................................122
Interface Set-up...........................................................................................122
Sea Trial......................................................................................................128
Compass Calibration..............................................................................129
Compass Offset......................................................................................130
Set Thrust Direction, On/Off Thruster...................................................131
Thruster Calibration, Analog Thruster...................................................131
Thruster zero ..........................................................................................131
Direction and Maximum Thrust STBD, Analog Thruster .....................132
Direction and Maximum Thrust PORT, Analog Thruster .....................132
Minimum Thrust, Analog Thruster........................................................133
Speed source ..........................................................................................133
Set Cruising Speed.................................................................................134
Set Rudder Zero .....................................................................................134
Set Rate of Turn .....................................................................................134
Adjust rudder angle/Set rate of turn.......................................................135
Manual Tuning.......................................................................................136
Automatic tuning ...................................................................................137
Speed Response .....................................................................................139
Final Test ....................................................................................................139
Providing User Training .............................................................................140

ADVANCED SETTINGS..................................................................................141
6.1 Service Menu ..............................................................................................141
System Data ................................................................................................141
NMEA Data ................................................................................................142
NMEA Port Test (J50 hardware)................................................................143
Master Reset ...............................................................................................143

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6.2

Settings Menu .............................................................................................144

Steering .......................................................................................................144
W Init rudder..........................................................................................144
W Autotrim ............................................................................................144
Autotrim.................................................................................................144
Course Adjust.........................................................................................145
Compass difference................................................................................145
Off Heading lim .....................................................................................145
Drive engage ..........................................................................................146
Drive type...............................................................................................147
Drive out ................................................................................................147
Prop. gain ...............................................................................................147
Seastate ..................................................................................................147
Rudder....................................................................................................148
Counter rudder .......................................................................................148
W Seastate ..................................................................................................148
W Rudder....................................................................................................148
W Count rudder ..........................................................................................148
W Rudder limit ......................................................................................148
Cruising speed........................................................................................148
Speed response.......................................................................................148
Transition Speed ....................................................................................149
Nav Gain ................................................................................................149
Minimum rudder ....................................................................................149
Turn mode..............................................................................................150
Rate of Turn ...........................................................................................150
W Rate of Turn ......................................................................................150
Radius ....................................................................................................150
W Radius................................................................................................150
Added stop time .....................................................................................150
Init NAV ................................................................................................151
Turn Gain ...............................................................................................151
W Turn Gain ..........................................................................................151
Rate Sensitivity ......................................................................................151
Thruster.......................................................................................................152
Thruster inhibit.......................................................................................152
Thruster sensitivity.................................................................................152
Thruster gain ..........................................................................................152
Minimum thrust .....................................................................................153
Thruster hyst ..........................................................................................154
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Thruster Drive........................................................................................154
Response delay.......................................................................................154
7

MAINTENANCE ...............................................................................................157
7.1 Control unit.................................................................................................157
7.2 Junction Unit...............................................................................................157
7.3 Rudder Feedback ........................................................................................157
7.4 Compass (RC25).........................................................................................157
7.5 Drive unit ....................................................................................................157
7.6 Exchange of software program...................................................................158

TROUBLESHOOTING ....................................................................................161
8.1 Warnings.....................................................................................................161

SPARE PARTS LIST ........................................................................................167

10

GLOSSARY........................................................................................................172

11

INDEX.................................................................................................................175

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