TMQ – AP4

(AP4S8 Rev 1)

OPERATION AND INSTALLATION MANUAL

www.tmq.com.au
Contents
Contents........................................................................................ 2
Introduction...................................................................................5
Warning.......................................................................................5
Overview.....................................................................................5
Autopilot Operation - Standard.....................................................7
Set (Standby)...............................................................................8
Auto ............................................................................................8
Power Steering............................................................................9
GPS – Waypoint Steering......................................................... 10
Watch Timer Mode...................................................................11
Commercial Boat Watch Timer................................................12
Autopilot Operation- Remote Control.........................................13
Hand Remote Power Steer.......................................................15
Active Remote Auto Steer ....................................................... 16
Active Remote Power Steer .....................................................16
Active Remote GPS – Waypoint Steering................................17
Steering Lever & Electric Helm Steering................................. 18
Jog Switch Steering...................................................................18
Sensitivity & Rudder Adjustments.............................................. 20
Counter Rudder Settings ............................................................22
.....................................................................................................22
Alarms..........................................................................................23
Installation of Autopilot.............................................................. 24
List of Components...................................................................25
Installation of Main Control Unit............................................. 27
Installation of Compasses .......................................................... 28
Installing a Compass-Top Sensor............................................. 28
Installing a Magnetic Sensor Unit (Fluxgate Compass)...........29
Fluxgate Compass Mounting Options ..................................... 30
Installation of Rudder Feedback................................................ 33

TMQ AP4 Autopilot (AP4S8) Page 2 of 68 Ver1.3 8/03/2011

 Precautions................................................................................33
Mounting..................................................................................34
Selection Switch- Standard or Heavy Duty Feedback..............35
Heavy Duty Rudder Feedback Installation Diagram................36
Standard Rudder Feedback Installation Diagram..................... 37
Installation of Remote Units...................................................... 38
NMEA Connection......................................................................40
NMEA Socket - Pin Configuration...........................................40
GPS Data Input.........................................................................40
GPS Data Input Connection......................................................41
TMQ C-Plot Data Input Connection.........................................41
TMQ Remote Display Connection.......................................... 41
Heading Data Connections.........................................................42
Heading Data Output................................................................ 42
Heading Data Output Selection................................................ 42
Heading Data Input...................................................................43
External Alarm Installation........................................................45
Wiring Connections – AP4 Rear Panel......................................46
Examples - Drive Connection Diagrams ...................................47
General Information - Drive Units............................................ 48
Commissioning Checks............................................................... 50
Post Installation Checks............................................................50
Pre Sailing Dockside Tests....................................................... 50
Sea Trials.................................................................................. 52
Rudder Limits Switch Setting......................................................53
Compass Calibration................................................................... 55
TMQ Compass - COMMAG....................................................55
Elproma Compass – ECS1........................................................56
Optional Extras............................................................................58
Circuit.......................................................................................... 61

TMQ AP4 Autopilot (AP4S8) Page 3 of 68 Ver1.3 8/03/2011

 Warranty...................................................................................... 65
Troubleshooting...........................................................................67

TMQ AP4 Autopilot (AP4S8) Page 4 of 68 Ver1.3 8/03/2011

Introduction

Warning

AUTOMATIC PILOTS ARE DESIGNED TO BE A

NAVIGATIONAL AID AND SHOULD NEVER BE LEFT
SOLELY IN CHARGE OF THE VESSEL. AN ADEQUATE
WATCH SHOULD BE MAINTAINED AT ALL TIMES.

IT IS RECOMMENDED THAT THE AUTOPILOT NOT BE

USED WHILE NAVIGATING IN RESTRICTED WATERWAYS
AS WATER CURRENTS, WIND CHANGES OR RADIO
TRANSMITTER INTERFERENCE MAY AFFECT VESSEL
COURSE SUFFICIENTLY TO ENDANGER YOUR OWN OR
OTHER VESSELS.

Overview

The AP4 autopilot is a rugged & reliable pilot for use on all sorts of
vessels, motor or sail, commercial or pleasure. The front panel features
large control knobs for ease of use in all sea conditions. It has various
special modes of operation to cater for all different requirements.

An AP4 system comprises the following essential components:

• Control Unit
• Compass or Compass-Top-Sensor
• Rudder Feedback Unit
• Rudder drive system

Optional Components:
• Hand or active remote
• Second remote control display
• Steering lever or electric helm
• Rudder angle indicator
• External alarm

TMQ AP4 Autopilot (AP4S8) Page 5 of 68 Ver1.3 8/03/2011

 This autopilot can control the movement of the rudder through a
mechanical drive motor, reversing hydraulic pump, solenoid valves on
a constant running pump or relays. The motor outputs have been
carefully designed to work with a wide range of motors - for more
information, consult your dealer or TMQ Electronics.

• The autopilot unit should be installed out of direct sunlight and

protected from water and spray.
• The compass must be installed in a place free of magnetic
interference, and connected to the autopilot.
• The rudder feedback must be attached to the rudder in such a
way that it can accurately measure the position of the ships
rudder and is also connected to the autopilot.

Provision has been made for two standard remotes, either hand
remote or steering lever. Alternatively one active remote can be used.
The special remote mode of operation may have to be adjusted for the
various control devices. Extra devices may be connected via the
internal connection strip, for example, GPS compass heading input.

For more information on installation of your AP4 autopilot, see

the Autopilot Installation section of this manual.

For more information on using your AP4 autopilot, see the

Autopilot Operation section of this manual.

All control units operate on 12 or 24 volts DC. Electrical cables are

supplied for interconnection of equipment. Hardware is supplied to
mount and couple the mechanical drive unit into the steering system.
Hydraulic installation kits can be supplied (optional at extra cost) if the
pipe size and brand of hydraulic system is specified.

TMQ AP4 Autopilot (AP4S8) Page 6 of 68 Ver1.3 8/03/2011

Autopilot Operation - Standard
The following is a brief overview of the capabilities of the AP4
autopilot. Each is described in more detail later in following pages.

• Set/Standby Mode
The digital display shows the current magnetic heading.
The autopilot does not apply any steering corrections.

• Auto Mode
The autopilot maintains your boat on the selected magnetic
course. Course can be set or changed by rotating the Course
knob or from a remote steering station.

• Power Steer
The rudder may be controlled by the course knob on the main
panel or from a remote steering station.

• GPS Mode
When receiving information from a GPS unit, the autopilot can
steer a vessel along a preset track to a precise latitude and
longitude.

• Watch Timer
A timer can be set from 1 to 120 minutes. When the time
expires, an alarm sounds. Uses include timing of trawling runs
or a reminder to check for anchor drag at set periods.

• Commercial Watch Timer

For vessels under survey. The timer can be set to give a
warning alarm at a fixed preset time and provide an output
control signal for a loud external alarm 1 minute after the
internal alarm sounds.
(Note: External alarm piezo siren must be fitted)

TMQ AP4 Autopilot (AP4S8) Page 7 of 68 Ver1.3 8/03/2011

Set (Standby)

• MODE switch in SET position

• The AUTO light is off
• The motor clutch is disengaged
• No steering control output is generated
• The digital display shows the vessels current magnetic course.
• Watch Alarm may be set (if required)
• Hand remote or steering lever (if installed) is ignored at first
turn on.
• Other special remote modes are accessible (refer later)

Possible alarm
• Watch timer alarm (if set)

Auto

Engaging Auto steering mode

• Rotate MODE switch to AUTO

• AUTO light is on
• Pilot is “locked on” to the course showing on display
• Steering control is generated
• Rudder can be driven to the limit set position
• Waypoint steering can be activated (if GPS available)
• Watch alarm can be activated.

Disengaging the Autopilot

• Rotate the MODE switch to the SET position

• AUTO light is off
• Steering control is deactivated.
• Display shows boat heading
• Boat under manual steering control (helm)

TMQ AP4 Autopilot (AP4S8) Page 8 of 68 Ver1.3 8/03/2011

Course Adjustment in AUTO
• Rotating the large course control knob (each "click" is 1º
course change)
• Display shows course to steer after adjustment
• Each full rotation of course change knob gives 24º

Possible alarms
• Off course (more than 45º)
• Watch timer (if set)

Power Steering

Engaging Power Steering Mode

• Rotate the MODE switch to the PWR position.

• AUTO light is on
• Display shows boat heading
• Boat is steered by rotating the COURSE knob
• Change course by rotating knob

Note: The maximum amount of rudder which can be applied is

controlled by Rudder Limit setting (see installation section).

For information on Power Steering with a remote unit (eg: steering

levers) see the section on remote units.

Possible alarm
• Watch timer (if set)

TMQ AP4 Autopilot (AP4S8) Page 9 of 68 Ver1.3 8/03/2011

GPS – Waypoint Steering

Autopilot must be interfaced to a GPS generating NMEA 0183 data

output. A route has to be selected on the GPS (refer GPS manual).

Engaging GPS Mode

• Switch MODE switch to AUTO

• Press GPS button (labelled with a satellite dish)
• GPS light will light
• Display changes to course to steer (BTW on GPS)
• Boat may change course to take up new course (maximum rate
of turn is 10º per second)

Disengaging GPS Mode

• Press the GPS button

• GPS light is out
• Pilot locks on to current heading of

If no GPS data or AP4 does not receive the data

• Autopilot maintains lock on the current course

• No GPS data alarm will sound
• GPS light will flash

Changing the mode switch to any position other than AUTO will also
disengage the GPS mode.

Setting up your GPS unit

Consult your GPS manual for this procedure first. Because there are a
great variety of GPS units that work with this autopilot, the following
is a guide only.
a) GPS must output NMEA 0183 data

TMQ AP4 Autopilot (AP4S8) Page 10 of 68 Ver1.3 8/03/2011

 b) Data must include at least one of the following sentences:
(i) APA
(ii) APB
(iii) BOD and XTE.
• Set up route in GPS
• Set arrival zone
• Select “auto sequence” if more than one waypoint en route
• For XTE output only from GPS steer boat to course before
engaging GPS on pilot..

Remember: Prior to engaging GPS you must program a route

into the GPS for the autopilot to follow

Watch Timer Mode

To set pleasure boat watch timer

• Press TIMER button (labelled with a clock)
• Display reads time in minutes
• Rotate COURSE knob to set time required (max 120 minutes)

Note: After 3 seconds the display reverts to boat heading

To reset timer when alarm sounds

• When set time expires an alarm will sound
• Press TIMER button
• Time is reset to original time

Note: If an external alarm is fitted, this will sound 1 minute after the
internal alarm if the timer has not been reset or muted.

To disable (mute) watch timer

• Press TIMER button
• Rotate COURSE knob until display reads 000
• Press TIMER button again

TMQ AP4 Autopilot (AP4S8) Page 11 of 68 Ver1.3 8/03/2011

Commercial Boat Watch Timer

Used where survey regulations for commercial vessels require a watch

timer (which includes an external alarm) fitted with an autopilot.

NOTE: Once the commercial watch alarm has been enabled, it

cannot be disabled by the user.

To enable the commercial watch timer alarm

• Switch AP4 to SET mode.
• Hold down the GPS button and press TIMER button
• Display shows [900]
• Rotate COURSE knob until display reads [906]
• Press the TIMER button again
• Display shows [A-0]
• Rotate COURSE knob until display reads [A-1]
• Press the TIMER button
• Display shows [A00]
• Dial up Commercial Regulation Time, eg: for QLD dial [A05]
• Press TIMER button again
• Display then reverts to normal heading.
• Alarm will sound after set time has expired
• Press TIMER to reset

When the commercial timer is enabled and the autopilot is in control of

the boat (i.e.: in AUTO, GPS or REMOTE AUTO mode), the AP4
internal alarm sounds after completion of the selected interval and the
louder external alarm one minute later, unless the timer is previously
reset.

In SET, PWR and remote POWER modes, the timer can be set to any
required time as for a pleasure boat.

TMQ AP4 Autopilot (AP4S8) Page 12 of 68 Ver1.3 8/03/2011

Autopilot Operation- Remote Control

The following is a brief overview of the capabilities of the AP4

autopilot with remote control units. Each is described in more detail
later in the manual.

Hand remote
The AP4 can be controlled with a hand remote unit. Auto and power
steer modes can be selected. Special remote response mode r-1 must
be set in AP4.

Active remote
The AP4 can be controlled with an active remote unit. Auto, Power
Steer, GPS steering can be selected. Response and Rudder settings of
AP4 can be adjusted. Special internal remote mode r-2 must be set

Steering lever/Electric helm

The boat may be steered using a steering lever with the AP4. Special
internal remote modes r-3, r-4, r-5 or r-6 must be set in AP4
depending on remote control connection.

Jog lever
The boat may be steered using a jog switch input with push button
select switch. Special remote response mode r-7 or r-8 must be set
depending on remote control requirements.

TMQ AP4 Autopilot (AP4S8) Page 13 of 68 Ver1.3 8/03/2011

Hand Remote Auto Steer

To engage auto steer mode with Hand Remote Unit

• Switch AP4 MODE to SET, AUTO or PWR

• Set remote knob to centre position
• Switch remote switch to AUTO
• Pilot locks on to boat heading as for normal autopilot
• Change course by +/- 90 º by rotating knob

Note: If remote switch is already in the AUTO position, move switch

to OFF and then back to AUTO .

To disengage auto steer mode with Remote Unit

• Switch remote switch to OFF

• Pilot is now in SET mode
• Boat is now steered manually

Note:
When the autopilot has been "turned off" using a remote unit (eg: hand
remote, etc), the MODE switch may be in the AUTO or PWR position
BUT steering is under manual control (AUTO LED indicator would be
off). To re-engage the autopilot, use the remote unit switch or move the
MODE switch to SET then back to AUTO.

Remote auto steering will also be disengaged by changing the position

of the AP4 MODE switch

TMQ AP4 Autopilot (AP4S8) Page 14 of 68 Ver1.3 8/03/2011

Hand Remote Power Steer

To engage power steer mode with Hand Remote

• Switch AP4 MODE to SET, AUTO or PWR

• Set hand remote knob to centre position
• Switch remote switch to POWER STEER
• Boat is in power steer control
• Steer boat by rotating knob

Note: If remote switch is already in the POWER STEER position,

move switch to OFF and then back to POWER STEER

To disengage power steer mode with Remote Unit

• Return remote unit course knob to centre

• Switch remote switch to OFF
• Pilot is now in SET mode
• Boat is now steered using helm

The autopilot will return to SET mode.

TMQ AP4 Autopilot (AP4S8) Page 15 of 68 Ver1.3 8/03/2011

Active Remote Auto Steer
(AP4 must be set to r-2 special remote mode)

To engage auto steer mode with Active Remote Unit

• Switch AP4 MODE to SET, AUTO or PWR

• Set remote knob to centre position
• Press AUTO on active remote
• AUTO LED on AP4 will light
• Pilot locks on to boat heading as for normal autopilot
• Change course by +/- 90 º by rotating knob

To disengage auto steer mode with Active Remote Unit

• Press STANDBY on active remote

• Pilot is now in SET mode. AUTO LED is off
• Boat is now steered manually (by helm)

Active Remote Power Steer

To engage power steer mode with Active Remote Unit

• Switch AP4 MODE to SET, AUTO or PWR

• Set remote knob to centre position
• Press POWER STEER on active remote
• AUTO LED on AP4 will light
• AP4 display shows boat heading
• Boat can be steered by rotating active remote knob

To disengage auto steer mode with Active Remote Unit

• Press STANDBY on active remote

• Pilot is now in SET mode. AUTO LED is off
• Boat is now steered manually (by helm)

TMQ AP4 Autopilot (AP4S8) Page 16 of 68 Ver1.3 8/03/2011

Active Remote GPS – Waypoint Steering

To Engage GPS Mode

• Switch AP4 MODE switch to SET or AUTO

• Press GPS button on active remote
• GPS light on AP4 will light
• AP4 display changes to course to steer (BTW on GPS)
• Boat may change course to take up new course (maximum rate
of turn is 10º per second)

To Disengage GPS Mode

• Press AUTO button on active remote

• GPS light on AP4 light is out
• Pilot locks on to current heading of boat and is in AUTO mode

Note: Active remote GPS control can also be deactivated by pressing

STANDBY or POWER.

For STANDBY the AP4 reverts to SET mode and the boat is steered
manually (by helm).

For POWER STEER the boat can be steered manually by rotating the
active remote knob.

TMQ AP4 Autopilot (AP4S8) Page 17 of 68 Ver1.3 8/03/2011

Steering Lever & Electric Helm Steering

Note: AP4 must be set for the correct special remote mode (see
page 60)

Steering Levers and Electric Helms provide full follow up steering.

A steering lever or electric helm operates in a similar way to a hand
remote control. However, the method of operation will depend on
the special remote mode set.

To Engage Steering Lever or Electric Helm

• Press select switch (or toggle select switch)
• Steer boat using lever or wheel

Note: Some internal remote mode settings allow for power steering
at turn on.

To disengage Steering Lever or Electric Helm

• Press select switch (or select new MODE on AP4)
• Steer boat manually

Jog Switch Steering

A jog lever is a device comprising a lever under spring tension for

centre reference and two switches for bi directional control.

With AP4 set for JOG input, a number of operations have been
included in the software to extend the use of the AP4 control for
some navigational situations (refer to selection of special remote
mode 908, r-7 or r-8 on page 60)

When special remote mode r-7 is set and the system is fitted with a
jog lever and separate push button select switch, the boat can be
steered using the jog lever either in AUTO JOG mode or POWER
STEER JOG mode.

TMQ AP4 Autopilot (AP4S8) Page 18 of 68 Ver1.3 8/03/2011

Jog Switch Steering with AP4 in SET
• Switch AP4 MODE switch to SET
• Press jog lever select button
• Boat is now in AUTO JOG under autopilot control
• Change course by using jog lever – each jog switch
movement gives 1º course change and a “beep” will sound
• For more rapid course change hold jog switch on – course
will change in 2º increments
• For POWER JOG press the selection switch
• Boat is now “manually” steered using the jog switch
• To return to AUTO jog press the selection switch again
• To toggle between AUTO JOG and POWER JOG press the
selection switch.
• To exit JOG control switch the AP4 to OFF/AUTO/PWR

Jog Switch Steering with AP4 in AUTO

• Switch AP4 to AUTO – at initial switch on the system will
operate in normal autopilot control; the jog lever will have no
effect at this stage
• For POWER STEER JOG press jog lever select button
• Control rudder movement and direction by jog lever
• Manually steer the boat using the jog lever
• COURSE knob has no effect in this mode
• For AUTO JOG press jog lever select button
• Boat is now under autopilot control
• Change course by using jog lever – each jog switch
movement gives 1º course change and a “beep” will sound
• For more rapid course change hold jog switch on – course
will change in 2º increments
• Each successive press of the selection switch will toggle AP4
between POWER JOG steering and AUTO JOG steering
• To return to normal autopilot operation, switch the AP4 to
SET then back to AUTO.

TMQ AP4 Autopilot (AP4S8) Page 19 of 68 Ver1.3 8/03/2011

Sensitivity & Rudder Adjustments

The AP4 autopilot has adjustments for setting heading sensitivity and
rudder response to customise the boat for optimum steering
performance.

The control in the centre of the AP4 front panel adjusts both sensitivity
and rudder ratio. The centre position is usually suitable for most
vessels, but should the vessel's steering be sensitive or slow,
adjustment maybe required.

In general, a vessel with fast turning rate will require a small rudder
response setting. A large, slow vessel may require a higher value for
the rudder response. This may also be adjusted according to speed -
low speeds may require more rudder angle for steering than high
speeds.

• Sensitivity
This control adjusts the heading sensitivity (sometimes known
as dead band) which varies the angular amount of heading
change or “wander” allowed before the autopilot reacts to
correct the change

• Rudder Ratio
This control adjusts the rudder ratio which varies the amount of
rudder applied for a course error.

To adjust sensitivity

• Pull centre knob out

• Display will read a number eg: 05
• Adjust the knob anticlockwise until pilot just begins to hunt
(this is indicated by the port and starboard lights flickering)
• Turn knob clockwise until lights are not flickering.
• Push knob in

TMQ AP4 Autopilot (AP4S8) Page 20 of 68 Ver1.3 8/03/2011

To adjust rudder ratio

• Ensure centre knob is pushed in

• Rotate centre knob
• Display will read a number eg: 06
• Adjust knob until boat steers a straight course. Note the
reading.

Note: The sensitivity and rudder are normally adjusted together with
sensitivity (knob out) being adjusted first, then rudder ratio.

The sensitivity should be adjusted so that the AP4 is not continually

driving back and forth (hunting) as this can prematurely wear your
steering system

If the centre knob is not pushed back in after the sensitivity is set, when
3 seconds has elapsed, the AP4 display will read rudder angle.

When the rudder ratio setting is too low, turns will take an excessive
amount of time, and the vessel may "wander".

When the rudder ratio setting is too high, turns will be rapid and the
vessel will oversteer.

Experiment to find the best settings for your particular vessel.

Only make small changes at a time.

TMQ AP4 Autopilot (AP4S8) Page 21 of 68 Ver1.3 8/03/2011

Counter Rudder Settings

The AP4 has a special internal mode for counter rudder setting.
Special mode 913 allows the counter rudder settings to be turned on
or off and the decay time to be set. The amount of counter rudder
required can then be adjusted in the SET mode. This adjustment
must only be made if the vessel requires counter rudder to steer.

To set counter rudder

• Switch AP4 to SET mode

• Press GPS and TIMER buttons together
• Display reads 900
• Adjust COURSE knob until display reads 913
• Press TIMER. Display reads C00
• Adjust COURSE knob until display reads C10 (divisor value)
• Press TIMER to set value.

If set to C00, the counter rudder will be disabled. When adjusting,

the lower the number, the slower counter rudder decay time will be.

To adjust counter rudder

• Switch AP4 to SET mode

• Press GPS button
• Adjust COURSE knob to C08 (amount of counter rudder)

The larger the number the greater the amount of counter rudder
applied. The above settings are suggested values only and will differ
from boat to boat.

Note: The counter rudder is a compass heading change derived

value. It cannot be simulated at the wharf. Testing should only be
carried out in easy to navigate clear waters.

TMQ AP4 Autopilot (AP4S8) Page 22 of 68 Ver1.3 8/03/2011

Alarms

A number of conditions will cause alarms to sound. Each alarm has a

different "beep pattern" (except watch timer and commercial watch
alarm). The external alarm output may also be turned on by some of
these alarms; this does not have a "beep pattern" but instead it sounds
continually.

Watch Timer Alarm

This alarm indicates that the time set by the user has expired.
Alarm pattern is 1 second on, 1 second off until reset.

Commercial Watch Alarm (Option)

This alarm indicates that the autopilot is in control of the vessel but
timer key has not been pressed within the last five minutes (if set for 5
minutes). Alarm pattern is 1 second on then 1 second off until reset.
The external alarm output is turned on 1 minute after the internal alarm
begins to sound.

Angle Off Course Alarm

The alarm pattern is 0.2 seconds on, 0.2 seconds off when vessel is
more than 45 degrees from course-to-steer.

No GPS Data Alarm (Waypoint Steering)

The alarm sounds 0.5 seconds on, 0.5 seconds off if the autopilot is
not receiving valid information from the GPS.

No Heading Reference (NMEA Heading or GPS Input)

The alarm sounds 0.5 seconds on, 0.5 seconds off if the autopilot is
not receiving heading data or GPS data for heading reference.

TMQ AP4 Autopilot (AP4S8) Page 23 of 68 Ver1.3 8/03/2011

Installation of Autopilot
EMC Considerations & Precautions:-

All TMQ equipment and accessories are designed to the best industry
standard for use in the marine environment. Their design and
manufacture conforms to the appropriate Electromagnetic
Compatibility (EMC) standards, but good installation is required to
ensure that performance is not compromised.

Although every effort has been taken to ensure the autopilot will
perform under all conditions, it is important to understand that some
factors could affect the operation of the product.

Installation instructions are provided in this manual. Some preliminary

suggestions follow:

Installation:-

To reduce the risk of operating problems, all TMQ equipment and

cables connected to it should be at least 1 metre (3 feet) from any
equipment transmitting or cables carrying radio signals, eg: VHF
radios, cables and antennas. In the case of SSB radios, the distance
should be increased to 2 metres (7 feet).

TMQ cables should be used at all times. Cutting and rejoining these
cables could compromise EMC performance and should be avoided
unless doing so is suggested in the installation instructions.

Position of electronic compass is important to ensure no magnetic

interference. It may be necessary to trial several positions before
deciding on an optimum position. Check other side of bulkhead, dash
and/or deckhead for any material which may interfere with the
compass (steel or iron in particular). Keep electronic compass away
from the boat’s magnetic compass.

TMQ AP4 Autopilot (AP4S8) Page 24 of 68 Ver1.3 8/03/2011

Check:-

Always check the installation before going to sea to make sure that it is
not affected by radio transmissions, engine starting, low battery voltage
or other problems.

In some installations it may not be possible to prevent the equipment

from being affected by external influences. Usually this will not
damage the equipment but may cause momentary incorrect operation.

Interconnection:-

If your autopilot is to be connected to other navigational equipment

using a cable not supplied by TMQ, a suppression ferrite should be
fitted to the cable close to the TMQ unit.

List of Components

The AP4 Autopilot Control system when packed comprises the

following:
• AP4 Main Control Unit – 2 metre power cable
• Compass, Compass Top Sensor or Electronic Compass
(depending on order) – 5 metre cable attached
• Rudder Feedback Unit (RFUS)* – 14 metre cable attached
• Rudder feedback linkage assembly
• Owners manual, mounting cradle & knobs, spare DIN plug for
NMEA connection, mounting screws
* May be RFUH with 14M cable not attached

BEFORE INSTALLATION, ENSURE YOU HAVE

PURCHASED THE CORRECT PARTS FOR YOUR VESSEL.

TMQ AP4 Autopilot (AP4S8) Page 25 of 68 Ver1.3 8/03/2011

TMQ Autopilots are intended for use in three (3) basic configurations:

1. AP4 can be used to control most brands of drive units or

solenoid control valves (hydraulic). System components:
• Control unit
• Compass
• Rudder feedback unit

2. AP4 and mechanical drive system - used to drive most hand-

operated mechanical steering systems eg: rod & chain, push-
pull or pull-pull systems. Some helm pumps can also be used
with a mechanical drive to provide an installation, which
requires no additional hydraulic pump. System components:

• Control unit
• Compass
• Rudder feedback unit
• Mechanical drive

3. AP4 and reversing hydraulic pump - used with hydraulic

steering systems. Different pump units are used to cater for a
wide range of systems. Correct installation is required and pump
size and voltage should be considered BEFORE installing the
hydraulic pump. System components:
• Control unit
• Compass
• Rudder feedback unit
• Reversing hydraulic pump

TMQ AP4 Autopilot (AP4S8) Page 26 of 68 Ver1.3 8/03/2011

Installation of Main Control Unit

Position & mounting

• Select a dry position
• Provide access for wiring to rear of the pilot (minimum
compass, feedback, power and drive)
• Install mounting cradle - on dash or suspended from deck head
or cut out panel if mounting the pilot in dash
• Route the power cable to 12 or 24 VDC power source
• Check AP4 Mode switch is OFF
• Connect power cable to the AP4

Note: To control the autopilot from a remote position, fit a remote unit.

Wiring
• Keep autopilot connection cables away from radio aerials and
cables
• Select a drive unit interconnection cable of appropriate size to
prevent voltage drop

TMQ AP4 Autopilot (AP4S8) Page 27 of 68 Ver1.3 8/03/2011

Installation of Compasses

There are three types of compass suitable for this autopilot - a

compass-top sensor (TMQ CTS), a magnetic sensor unit ( TMQ
fluxgate compass - COMMAG), or an electronic compass such as
Elproma NMEA Compass (ECS1).

Wiring

The magnetic sensor unit or compass-top-sensor, which is supplied

with your AP4 autopilot is fitted with a plug, which fits into the
COMPASS socket on the rear of the autopilot. If the cable must be
extended, we recommend that TMQ 5-core shielded extension cable be
used. This is available from your supplier or TMQ Electronics.

The Elproma compass cable is connected to the internal terminal strip

marked T6 AUX - see Electronic Compass installation page 35.

Installing a Compass-Top Sensor

A compass top sensor should be used as the heading reference unit for
steel boats. Before attaching the CTS to the top of a flat top compass,
ensure there are no defects in the compass, eg: sticking card, as this
will affect the operation of the autopilot.

Position
• Firstly determine the correct position of the CTS on the
compass glass top (CTS is central and cable facing aft)
• Route the cable to the AP4 control unit position
• Plug cable into AP4 compass socket
• Before fixing the CTS to the compass surface, switch on the
AP4, align the CTS carefully so that the AP4 display reads the
same as the boat magnetic compass
• When position is correct attach the CTS with double sided tape

TMQ AP4 Autopilot (AP4S8) Page 28 of 68 Ver1.3 8/03/2011

Installing a Magnetic Sensor Unit (Fluxgate Compass)

Where there is magnetic interference on a vessel, the magnetic sensor

unit may have to be tried in several positions to obtain the best
operating results before final installation. Good autopilot course
holding is dependent upon the compass being free from magnetic
interference

Exercise care when handling the compass as internal gimbals may be

damaged from abuse. Remove internal packing prior to installing.

Position

• Determine a suitable position free of magnetic influence

• Ensure there are no radios or radio aerials or cables nearby
• Check other side of bulkheads or behind dashes for any likely
interference
• Install compass bracket vertically (on bulkhead, dash or deck
head)
• Carefully remove internal transit packing from compass
• Insert compass body into bracket
• Rotate compass in bracket until cable faces towards the stern
• Route the cable to the AP4 Control unit position
• Plug compass cable into AP4 autopilot
• Check AP4 display reads the same as the boat compass when
pilot is switched on.

Note: The compass can be mounted outside the hull of the boat if
required (eg: on a mast of a yacht). However, places to be avoided
are low in the hull near an engine or machinery because of magnetic
interference or too high up a mast because of excessive movement.

TMQ AP4 Autopilot (AP4S8) Page 29 of 68 Ver1.3 8/03/2011

Fluxgate Compass Mounting Options

Calibration

The compass is calibrated before leaving the factory and will be

accurate if there is no external magnetic interference. After initial sea
trials, you may wish to recalibrate the compass, although in most
cases the factory calibration will be as good as or better than
calibration achieved on the vessel. See the Compass Calibration
Section.

TMQ AP4 Autopilot (AP4S8) Page 30 of 68 Ver1.3 8/03/2011

Magnetic Sensor Unit & Compass Top Sensor Interchange

The magnetic sensor unit (fluxgate compass) can be interchanged with

a compass top sensor. This is desirable when the autopilot is to be
fitted to a steel hulled vessel or vessel containing large amounts of
steel.

If the magnetic sensor unit and compass top sensor are interchanged,
the compass detector DIP switches must be altered. The top cover of
the AP4 has to be removed. The DIP switch is identified as component
DIP1 on the PCB component overlay diagram at the rear of this
manual. Both sections of the
Switch OFF - for magnetic sensor unit (fluxgate)
Switch ON - for compass top sensor

TMQ AP4 Autopilot (AP4S8) Page 31 of 68 Ver1.3 8/03/2011

Installing an Electronic Compass – Elproma ECS1

Note: Refer to Elproma installation instructions. Mount away from

any external magnetic interference, eg: radio or speakers. The
compass must be mounted in a vertical position with the arrow (on the
top of the case) pointing towards the bow of the boat.

Position

• Determine a suitable position free of magnetic influence

• Ensure there are no radios or radio aerials or cables nearby
• Check other side of bulkheads or behind dashes for any likely
interference
• Install compass bracket vertically
• Rotate compass in the bracket if necessary until the arrow faces
the bow of the boat
• Route the cable to the AP4 control position
• Connect the compass cable to the internal connection strip of
the AP4 marked T6 AUX. Refer page 43. (Wiring colour code
is also printed on the pcb at the left hand front of the AP4)

TMQ AP4 Autopilot (AP4S8) Page 32 of 68 Ver1.3 8/03/2011

Installation of Rudder Feedback

Precautions

The rudder feedback unit is water resistant. However, if it is to be

mounted in a wet position, some effort is necessary to ensure the unit
does not become immersed in water. If necessary the standard rudder
feedback unit may be mounted upside down, in which case the
feedback cable must be cut in a suitably dry position, and the blue and
red wires swapped.

DO NOT MOUNT THE HEAVY DUTY RUDDER

FEEDBACK UNIT UPSIDE DOWN

NOTE: THE AUTOPILOT WILL NOT FUNCTION

CORRECTLY IF A RUDDER FEEDBACK IS
NOT FITTED, OR IF THE FEEDBACK IS
FAULTY OR INCORRECTLY ADJUSTED.

NOTE: THE RUDDER FEEDBACK UNIT IS FACTORY

ALIGNED. THE ARM SHOULD NOT BE
REMOVED OR LOOSENED UNNECESSARILY.
IF ARM IS LOOSENED OR REMOVED,
VOLTAGE ALIGNMENT SHOULD BE
CHECKED BEFORE USING THE AUTOPILOT.
THIS MUST BE DONE BY A COMPETENT
TECHNICIAN.

TMQ AP4 Autopilot (AP4S8) Page 33 of 68 Ver1.3 8/03/2011

Mounting

Refer to the installation diagrams on pages 36 or 37 for the relevant

rudder feedback unit.

The rudder feedback unit is water resistant. However, if it is to be

mounted in a wet position some protection will be necessary to
ensure the unit does not become immersed in water.

Position

• Select a position adjacent to the tiller arm

• Install the mounting bracket to accommodate the rudder
feedback unit with its arm parallel to and pointing in the same
direction as the tiller
• Attach the rudder feedback to the bracket. (For RFUS arm is
uppermost. For RFUH shaft is lowermost)
• Drill a hole in the tiller arm for the linkage arm connection
block (1/4” diameter)
• Attach the linkage swivel block to the tiller
• Attach the linkage ball joint to the rudder feedback arm
• Fit the linkage arm through the swive block and attach the
other end to the ball joint
• Remove the top of the feedback (RFUH only)
• Connect 3 core cable to the RFU terminal strip (RFUH only)
• Route the rudder feedback cable to the AP4 position
• Connect the RFU cable to the RUDDER socket of the AP4

Installation Checks

• Turn the helm slowly from hard over to hard over and observe
the movement of the rudder feedback arm
• Ensure the feedback arm or linkage does not foul in any
position
• Ensure there is no strain on the feedback arm or linkage

TMQ AP4 Autopilot (AP4S8) Page 34 of 68 Ver1.3 8/03/2011

 • Check the rectangular correlation between the feedback arm,
the tiller and the linkage with rudder amidships
• Check direction of feedback arm movement (port and
starboard) corresponds with the markings on the feedback body
• Check the feedback arm direction matches the tiller movement
direction for port and starboard

Note: Correct any problems before using the autopilot

Selection Switch- Standard or Heavy Duty Feedback

The AP4 is normally dispatched from the factory as ordered. However,

when installation of the feedback is completed on the boat the RFUS /
RFUH selection switch in the AP4 control unit should be checked for
correct selection.

If RFUS is used, set DIP 2 Switch 1 to OFF.

If RFUH is used, set DIP 2 Switch 1 to ON.

Note: DIP 2 Switch 2 is used for heading input with some AP4
software configurations. Normally set to OFF. Refer page 42.

TMQ AP4 Autopilot (AP4S8) Page 35 of 68 Ver1.3 8/03/2011

Heavy Duty Rudder Feedback Installation Diagram

TMQ AP4 Autopilot (AP4S8) Page 36 of 68 Ver1.3 8/03/2011

Standard Rudder Feedback Installation Diagram

TMQ AP4 Autopilot (AP4S8) Page 37 of 68 Ver1.3 8/03/2011

Installation of Remote Units

Hand and Active Remotes use a small clip bracket for mounting.

Steering Levers are normally mounted in-dash. For a TMQ steering

lever this will require a 90mm hole to be cut for mounting plus a
position for a push button selection switch (if used). Other steering
levers as required.

The units are very robust and either of these may be mounted where it
is subject to occasional splashes of water. If mounted in direct sunlight,
the decal may fade.

Hand Remote
• Select a position for the Hand Remote bracket
• Install the bracket and attach the remote
• Route the cable to the AP4 control position
• Plug the remote cable into REMOTE socket of AP4
• When the AP4 is switched on, test the remote operation

Active Remote
• Select a position for the Hand Remote bracket
• Install the bracket and attaché the remote
• Route the cable to the AP4 control position
• Plug the remote cable into REMOTE socket of AP4
• When the AP4 is switched on, test the remote operation

Steering Lever (TMQ)

• Select a position for the Steering Lever
• Cut a 90mm clearance hole for mounting the Lever
• Secure the steering lever with two screws
• Fit selection switch adjacent to lever (if used)
• Route the cable to the AP4 control position
• Plug the cable into the REMOTE socket at the rear of the AP4

TMQ AP4 Autopilot (AP4S8) Page 38 of 68 Ver1.3 8/03/2011

Remotes Calibration
The remotes can be calibrated if required; this allows the full range of
the steering input to be used. Each remote fitted has to be calibrated.

Remote Calibration.

(Carry out this procedure only after rudder limits have been set)

Calibration Procedure

• Switch AP4 MODE switch to SET

• Press and hold pressed the GPS button
• Press TIMER button - display will read 900
• Release both GPS and TIMER buttons
• Rotate COURSE knob until display reads 911
• Press TIMER button - display now reads rCL
• Rotate each remote control knob in turn through full travel
from port to starboard
• Press TIMER button to save settings and exit the procedure

Note: If the boat does not steer straight ahead when the remote control
course knob is centred, the rudder feedback may need realignment.
Caution: If the boat is carrying temporary “weather helm” as a result of
sail trim or net drag, realignment may not be necessary. Check
BEFORE realigning..

TMQ AP4 Autopilot (AP4S8) Page 39 of 68 Ver1.3 8/03/2011

NMEA Connection

The NMEA socket at the rear of the AP4 (internally labelled T4

DATA) allows for the following connections:

1. GPS data input – for waypoint or GPS steering

2. TMQ proprietary data input and output – data for TMQ remote
display for example AP55 or AP60

3. + 10 VDC and 0 VDC – power to remote display

NMEA Socket - Pin Configuration

Pin 1 – GPS data positive input RX+

Pin 2 – GPS data negative input RX-
Pin 3 – TMQ data positive output TXD1
Pin 4 – Power negative 0 VDC
Pin 5 – TMQ data positive input RX2
Pin 6 – Power positive 10 VDC

GPS Data Input

The AP4 pilot will accept two forms of GPS data in NMEA 0183
format as follows:
• GPS Plotter data – APA, APB or XTE+BOD for waypoint
steering – pilot display shows BTW

• GPS data as heading reference – used when magnetic heading

reference from a compass is not available – pilot display shows
COG *

* Note: DIP2 switch 2 must be switched on to receive data for

COG. Boat must be making more than 2 knots true
speed over ground. Refer diagram on page 34.

TMQ AP4 Autopilot (AP4S8) Page 40 of 68 Ver1.3 8/03/2011

GPS Data Input Connection

Refer to GPS manual for correct identification of wires for data output
connection. An example of GPS connection:

• GPS TX+ connect to AP4 RX+ (pin 1 of the NMEA Socket)

• GPS TX- connect to AP4 RX- (pin 2 of the NMEA Socket)

TMQ C-Plot Data Input Connection

The AP4 will accept data from a computer operation C-Plot program
for waypoint steering. The connections are as follows:

• Pin 3 C-Plot Data Plug connects to pin 1 of the NMEA Socket

• Pin 5 C-Plot Data Plug connects to pin 2 of the NMEA Socket

Displays shows bearing to waypoint - BTW

TMQ Remote Display Connection

When a TMQ remote display (AP55 or AP60) is used with the AP4,
they have prewired plugs to connect to the NMEA socket. Provision is
made for GPS or C-Plot data input via two wires attached to the plug
as follows:

• GPS TX+ connects to the white wire (pin1 of NMEA socket)

• GPS TX- connects to the green wire (pin 2 of NMEA socket)

TMQ AP4 Autopilot (AP4S8) Page 41 of 68 Ver1.3 8/03/2011

Heading Data Connections

Heading Data Output

Heading data output is available on the internal T6 connector strip pins

1 and 2.

1 NEG Negative and data return

2 TX2 Heading data + out
3 A-
4 A+
5 RXD-
6 RXD+

Output heading sentence type can be selected if required. Available

options are: HDM, HDT or HDG individually or all three can be
output together.

Heading Data Output Selection

Selection procedure.
• Switch AP4 MODE switch to SET
• Press and hold pressed GPS button
• Press TIMER button - display reads 900
• Release GPS and TIMER buttons
• Rotate COURSE knob until display reads 912
• Press TIMER button – display reads S-1
• Rotate COURSE knob for the required selection
S-1 = HDM, HDT and HDG
S-2 = HDM only
S-3 = HDT only
S-4 = HDG only
S-5 = no output
S-6 = no output
• Press TIMER button to save the setting and exit the procedure

TMQ AP4 Autopilot (AP4S8) Page 42 of 68 Ver1.3 8/03/2011

Heading Data Input

The AP4 pilot can accept NMEA 0183 heading data input from any
source, for example, GPS compass or other electronic compass.
TMQ is able to supply an electronic compass, Elproma ECS1, which
will connect to the internal terminal strip T6.

ECS1 Wiring Colour Code

1 NEG Brown
2 TX2 Purple
3 A- No Connection
4 A+ Red
5 RXD- Black
6 RXD+ Blue
Link from NEG to RXD- Brown to Black

Heading data input from other external source (GPS Compass)

Heading data input is connected to T6 pins 5 and 6

1 NEG
2 TX2
3 A-
4 A+
7 RXD- Receive data negative
8 RXD+ Receive data positive

Heading Data Priority

The AP4 is able to operate with both TMQ electronic compass

(COMMAG) and NMEA heading data input connected. The pilot
will accept the NMEA heading data as first priority.

If the NMEA data is not present the AP4 will display the heading
received from the standard compass (COMMAG - if fitted).
TMQ AP4 Autopilot (AP4S8) Page 43 of 68 Ver1.3 8/03/2011
If the NMEA data fails during operation, the unit will revert to the
standard compass and the alarm will sound. The alarm can only be
cancelled by turning the AP4 off and on again.

TMQ AP4 Autopilot (AP4S8) Page 44 of 68 Ver1.3 8/03/2011

External Alarm Installation

For non survey vessels an external alarm is optional.

For vessels needing the commercial watch alarm feature fitted for
survey requirements, an external alarm is required in addition to the
AP4 internal buzzer.

This alarm will sound if the timer alarm has been sounding for one
minute without being reset and autopilot is NOT in SET mode.

A 12 volt piezo buzzer with current draw not exceeding 250 milliamps
should be used (TMQ Part No. SIREN). If a siren or alarm unit is used
which draws in excess of 250 milliamps, this should be connected via a
relay.

The external alarm circuit is used to energise the siren direct. For larger
units the circuit energises a relay coil with the siren being energised via
the relay contacts.

To Install External Alarm Siren

• Mount SIREN in appropriate position for optimum effect

(leads may have to be lengthened)
• Remove top cover of AP4
• Connect SIREN + lead (red) to A+ terminal
• Connect SIREN – lead (black) to A-
• Route siren wires through cut out at rear of AP4
• Replace top cover of AP4

To enable the commercial watch alarm refer page 15.

NOTE: Once the commercial alarm is enabled, it cannot be

reverted.

TMQ AP4 Autopilot (AP4S8) Page 45 of 68 Ver1.3 8/03/2011

Wiring Connections – AP4 Rear Panel
Motor Terminals
Clutch + Power out to Clutch Normally High
Clutch – Switched to negative to operate Clutch
Motor A Normally High, Switched to negative to drive
Motor A Normally High, Switched to negative to drive

NMEA In / Out
1 GPS In
2 GPS Return
3 Data + Out to TMQ Display or PC
4 Negative and Data - common
5 Data + in from TMQ display or PC
6 + 10 V out

Remote
1 + 5 Volts
2 Wiper 1
3 Negative
4 Control Line Remote 1 (High Power Steer, Low Auto)
5 Wiper 2
6 Control Line Remote 2 (High Power Steer, Low Auto)

Rudder Feedback
1 Not used
2 Negative Blue
3 Not used
4 RFU Signal Green
5 + 5 Volts to RFU Red / Brown

Compass
1 White
2 Blue (Square Wave Drive Signal)
3 Red
4 Yellow
5 Green

TMQ AP4 Autopilot (AP4S8) Page 46 of 68 Ver1.3 8/03/2011

Examples - Drive Connection Diagrams

TMQ AP4 Autopilot (AP4S8) Page 47 of 68 Ver1.3 8/03/2011

General Information - Drive Units

The AP4 autopilot is capable of controlling reversing hydraulic pumps,

mechanical drives, linear hydraulic drive systems, linear mechanical
systems, solenoid valves on constant running pumps and relays

When installing any drive system, refer to the manufacturers’

specifications and instructions. Follow all instructions.

Installation Considerations

Mechanical Drives
• Ensure correct voltage of drive unit
• Mount horizontally in a dry position
• Ensure robust and stable mounting platform is available
• Provide for cable connection to AP4 control unit
• Provide access for drive sprocket and chain to be fitted
• Provide for cable lay if linear mechanical drive
• Check correct sprocket ratio for the boat

Hydraulic Pumps
• Check correct pump voltage for boat
• Ensure correct flow rate of pump matched for steering
• Mount horizontally in a dry position
• Pump should be mounted lower then the helm pump
• Provide adequate space for hydraulic line connections
• Ensure access to existing boat steering lines
• A balance line must be connected from autopilot pump
reservoir to helm pump reservoir
• Replace any vented bung on pump with non vented
• Check if extra lock valve is needed for steering system
• When mounted, fill with oil and purge air from system

TMQ AP4 Autopilot (AP4S8) Page 48 of 68 Ver1.3 8/03/2011

Solenoid Valves

Links are provided to allow jog lever operation in conjunction with

AP4 S8 Autopilot.

The links should be cut when connecting the AP4 for solenoid
operation.

When cut (open circuit) the autopilot control only pulls the drive
outputs low. Positive voltage is supplied to the solenoid common
connection. Links are marked J1 and J2 on the PCB.

As preventative measure to ensure voltage spikes do not interfere

with the autopilot or other equipment, spike suppression diodes
should be fitted on solenoid valves. See example drawing page 46.

Wiring

Refer to manufacturer’s connection diagrams.

Keep connecting cables as short as possible and of sufficient size to

avoid voltage drop along the cable length.

Ensure all connections are tight. Recheck periodically.

ALL CONSTANT RUNNING PUMPS SHOULD BE

CONNECTED TO THE SUPPLY VIA AN ISOLATING
SWITCH AND SUITABLE PROTECTION CIRCUIT – FUSE
OR CIRCUIT BREAKER

TMQ AP4 Autopilot (AP4S8) Page 49 of 68 Ver1.3 8/03/2011

Commissioning Checks

Post Installation Checks

1. Check correct voltage is connected (12 or 24VDC) *.

2. ENSURE POLARITY OF THE VOLTAGE SUPPLY IS
CORRECT.
3. Check compass and rudder feedback are plugged in
4. Check remote units plugged in and GPS input connected (if
fitted)
5. Check drive unit cable is connected
6. Check loose cables are clipped or tied up.
7. Turn steering wheel fully clockwise and visually check that
moving and mechanical parts do not foul
8. Visually check that RFU arm has moved in the correct
direction as indicated on the RFU label or top.
9. Repeat step 7 & 8 for anti-clockwise wheel movement.

* Voltage is determined by drive voltage requirements. Ensure pump

is the correct voltage rating.

Pre Sailing Dockside Tests

1. Turn helm to mid ships position.

2. Turn on main power supply. Set MODE switch to SET
3. Check rudder limits – adjust only if necessary. See Rudder
Limits page 51.
4. Determine vessel heading by a sighting on known heading or
compass.
5. Align autopilot magnetic sensor until display reads known
heading.
6. Select AUTO mode on control unit.
7. Check AUTO light comes on.
CAUTION: IF AUTOPILOT DRIVES HARD OVER,
IMMEDIATELY TURN CONTROL UNIT OFF.

TMQ AP4 Autopilot (AP4S8) Page 50 of 68 Ver1.3 8/03/2011

Reverse motor drive wires at terminal strip on rear of autopilot
and repeat from Step 1.

8. Turn course knob 10 º to starboard.

9. Green steering light should come on.
10. Confirm that rudder moves to starboard.
11. Turn course knob back to centre, then 10 º to port.
12. Red steering light should come on.
13. Confirm that rudder moves to port.

NOTE: AT NO STAGE SHOULD THE AUTOPILOT DRIVE

THE RUDDER INTO THE MECHANICAL STOPS. IF THIS IS
ALLOWED TO HAPPEN, DAMAGE TO THE AUTOPILOT
MAY RESULT

14. Set MODE switch back to SET position.

Check Rudder Drive Speed

The speed a rudder is moved by the autopilot drive unit will affect the
steering responsiveness of the AP4. A rudder lock to lock time of
approximately 15 seconds* is required for good course holding.
*Note: Optimum rudder speed will vary between vessels. A larger ship
or slower boat may require a slower speed. Rudder lock to lock angle
is from 30º port to 30º starboard.

1. Switch AP4 in PWR

2. Use a suitable timing device to check rudder speed
5. Rotate control knob until rudder is fully to port
6. Quickly rotate the control knob in starboard direction for a
minimum of 3 turns. Time the rudder until it reaches
starboard limit. Note the time.

The autopilot is now ready for full operational testing and sea trial.

TMQ AP4 Autopilot (AP4S8) Page 51 of 68 Ver1.3 8/03/2011

Sea Trials

Basic Trial
• Sail the boat to an area of calm and open water
• Switch AP4 to SET
• Check compass headings against boat compass
• Carry out compass calibration if necessary – see page 53.
Note: It is rare for the AP4 heading and boat compass to
agree exactly on every heading due to magnetic variations on
the boat.
• When boat is underway switch AP4 to AUTO
• Observe steering – adjust sensitivity and rudder response if
required – see page 22 and 23
Note: Good course holding is also affected by drive unit lock to
lock times. If difficulty is experienced with course holding,
check rudder drive speed. Between 10 and 25 seconds lock to
lock should allow the autopilot to work successfully on most
vessels.

Additional Trials

When basic trials have been satisfactorily completed, further trials can
then be carried out on individual ancillary equipment where fitted, eg:
hand remote, steering levers, GPS inputs, waypoint steering, etc.

Check the operational sections of this manual for relevant functionality

testing.

Always use open waterways for testing until you are familiar with
the operation.

TMQ AP4 Autopilot (AP4S8) Page 52 of 68 Ver1.3 8/03/2011

Rudder Limits Switch Setting

NOTE: THE RUDDER LIMITS ARE FACTORY SET TO

30 DEGREES.
IF THE RUDDER FEEDBACK HAS BEEN
INSTALLED CORRECTLY, THE P-L AND S-L
SYMBOLS SHOULD DISPLAY WHEN THE
RUDDER IS MOVED TO THE PORT OR
STARBOARD LIMIT

The rudder limits prevent the steering motor driving the rudder beyond
its physical (mechanical) stops. The limits are set so that the limit
display indicates before the rudder reaches the stops.

There are two display symbols P_L (port limit), S_L (starboard limit)
indicating the state of the rudder limit circuits:

The port limit P_L display will come on when the rudder position is
further to port than the limit set by the rudder limit port setting. This
will cause any port drive command to be ignored and turn off the port
drive light on the front panel.

The starboard limit S_L functions in the same way for rudder angles to
starboard.

The display symbols do not appear when AP4 is in the SET mode.

To Set Rudder Limits

• Switch AP4 to SET mode

• Hold down GPS button
• Press TIMER button - display shows 900
• Rotate COURSE knob until display reads 905
• Press TIMER button - display now shows rudder position as a
scale of 0 to 255. 128 is centre rudder.

TMQ AP4 Autopilot (AP4S8) Page 53 of 68 Ver1.3 8/03/2011

 • Rotate boat helm to required Port Limit Position (rudder
should not have reached the stops)
• Check display reads between 000 and 110 (eg: 035)
• Press GPS button – this sets the PORT LIMIT
• Rotate helm to required Starboard Limit Position
• Check display reads between 150 and 220 (eg: 220)
• Press TIMER button - this sets the STARBOARD LIMIT

To check Rudder Limits

• Rotate MODE switch on AP4 to PWR
• Rotate COURSE knob anticlockwise (to port) until pilot stops
driving rudder
• Visually check rudder has moved to required port limit position
• Rotate COURSE knob clockwise (to starboard) until pilot stops
driving rudder
• Visually check rudder has moved to required starboard limit
position

TMQ AP4 Autopilot (AP4S8) Page 54 of 68 Ver1.3 8/03/2011

Compass Calibration

The compass supplied with your AP4 autopilot has been calibrated
during manufacture. This calibration will be satisfactory for almost all
installations. If you have a steel vessel, or some other factor which
causes the compass to perform poorly, the calibration procedure will
adjust compass characteristics to compensate. The calibration should
only be done if the compass is known to be inaccurate.

If the AP4 compass displays a constant offset (eg the autopilot

compass reads 3 degrees high on all bearings), simply rotate the AP4
compass case to align bearings with the ships compass. In this case it is
not necessary to re-calibrate the compass as described on page 56.

If the AP4 compass has inconsistent variation on different headings,

the following calibration procedure can be carried out. This procedure
should only be done in calm waters with adequate sea room.

TMQ Compass - COMMAG

• Rotate MODE switch on AP4 to SET

• Press and hold pressed the GPS button
• Press TIMER button – display should read 900
• Release GPS and TIMER buttons
• Rotate COURSE knob until display reads 901
• Press TIMER button
• Display should flash between CAL and current boat heading
• Turn the boat slowly through two complete circles in the
same direction
• On completion of turns press and hold pressed GPS button
• Press TIMER button
• Release both buttons
• Rotate COURSE knob until display reads 902
• Press TIMER button
• Display should revert to read normal boat heading
TMQ AP4 Autopilot (AP4S8) Page 55 of 68 Ver1.3 8/03/2011
Note: If display shows rES the calibration was invalid and the AP4
defaults to the factory setting. Repeat steps above to carry out
calibration again.

This completes the compass calibration. Check alignment of the AP4

compass by steering vessel due North (000 on ships compass) and, if
necessary, rotate outer case of AP4 compass in its bracket until
heading display reads 000.

It is important to realise that on any vessel the ships compass can have
heading errors as a result of the vessels magnetic signature. These
errors can be minimised by having the ships compass swung and
compensated by a licensed compass adjuster. Such adjustment should
be repeated annually. In any case it is highly unlikely that the ships
compass and autopilot compass will be congruent for every heading.

If you are unsure of the success of the calibration, you may return to
the factory calibration.

To Reset Compass to Factory Calibration

• Switch MODE switch on AP4 to SET
• Press and hold pressed GPS button
• Press TIMER button – display should read 900
• Release both buttons
• Rotate COURSE knob until display reads 903
• Press TIMER button
• Display will show rES briefly before returning to normal
heading.

Elproma Compass – ECS1

The Elproma compass is preset at the factory for automatic

calibration. Do not calibrate an Elproma Compass.

TMQ AP4 Autopilot (AP4S8) Page 56 of 68 Ver1.3 8/03/2011

AP4 Special Modes

AP4 Special modes are internal settings which allow different

operations to be performed by the AP4. Also, special modes allow
certain parameters to be set which control the AP4 operation.

To Enter Special Modes

• Switch AP4 to SET
• Press and hold pressed the GPS button
• Press TIMER button – display reads 900
• Release both buttons
• Rotate COURSE knob until required mode is shown on the
display
• Press TIMER to exit the special modes

Special Modes Display Selection

901 Start compass calibration – page 54

902 Store compass calibration – page 54
903 Return to factory default calibration – page 55
904 Factory test for calibration – factory technician only
905 Set limit switches – page 52
906 Set commercial watch alarm – page 12
908 Optional remote modes
[r-1] = Basic remote
[r-2] = Active remote
[r-3] = Basic remote + power steer input on pin 5
[r-4] = Basic remote + power steer input on pin 5 in SET position
[r-5] = Remote 1 input only Rem 1 pin 2
[r-6] = Remote input Rem 2 pin 5. Power Steer default at turn on
[r-7] = JOG input with Select push button
[r-8] = JOG input with Select push button + power steer in SET
911 Remote calibration – page 39
912 Heading data output selection – page 42
913 Counter rudder - page 22

TMQ AP4 Autopilot (AP4S8) Page 57 of 68 Ver1.3 8/03/2011

Optional Extras

There are a range of optional extras that can be connected to the

TMQ AP4 system as the need or circumstances require. Further
information can be obtained from the TMQ website at
www.tmq.com.au

Rudder Angle Indicator

The rudder angle indicator is a flush

mounted instrument providing a clear
indication of rudder position, which is
critical when docking or manoeuvring in
close quarters.

Electric Wheel

The TMQ Electric steering wheel provides

precise, light steering on any vessel with a
power steering system installed. It simplifies
vessel fit out by eliminating long hydraulic
lines to the helm position

TMQ AP4 Autopilot (AP4S8) Page 58 of 68 Ver1.3 8/03/2011

Hand Remote Active Remote

Hand remotes and Active remotes

provide the freedom to maintain
full control of the autopilot and
steering while moving around the
vessel.

Steering Levers

These levers allow single handed control of any size vessel with
power steering. Movement to port or starboard causes the rudder to
follow proportionally.

Reversible pumps
Hydraulic pumps are available in
12 or 24 VDC with 1 or
2 litre capacities to suit
all applications.

Continuous pumps

Constant running pumps

available in 2 or 3 litre for 12 &
24VDC systems with accurate
flow adjustment to set lock-to-
lock time.

TMQ AP4 Autopilot (AP4S8) Page 59 of 68 Ver1.3 8/03/2011

Linear drives

Single rod linear drives can be

fitted to a wide variety of
vessels. May be attached
directly to the tiller or rudder
quadrant.

Mechanical drives

12 Volt DC mechanical drive unit to suit

vessels with existing mechanical steering.
Supplied with standard chain and socket.
For 24VDC a 24/12 volt converter is used.

Computer Software

TMQ AP1000 Autopilot operating

Software.

Computer control program enabling

autopilot control from a standard PC with
serial COM ports. (Cable required)

TMQ AP4 Autopilot (AP4S8) Page 60 of 68 Ver1.3 8/03/2011

Circuit
PCB Layout

TMQ AP4 Autopilot (AP4S8) Page 62 of 68 Ver1.3 8/03/2011

TMQ AP4 Autopilot (AP4S8) Page 63 of 68 Ver1.3 8/03/2011
DECLARATION OF CONFORMITY

( MANUFACTURERS DECLARATION )

MANUFACTURER:- TMQ ELECTRONICS

PO BOX 3348
TINGALPA DC 4172
AUSTRALIA
TEL: +61 7 3890 7788
FAX: +61 7 3890 7799

Declares under our sole responsibility that the products:

AP4 Autopilot, Compass Sensor, Rudder Feedback unit and remote

accessories, all units interconnected with necessary cables and external
connections as a system

to which this declaration relates, is in conformity with Standard(s):

EN60945/1997
CEI IEC945/1996

For TMQ International Pty. Ltd.

Murarrie Queensland Australia.

___________________________ 24 April 2007

Roger Webber, Manager

TMQ AP4 Autopilot (AP4S8) Page 64 of 68 Ver1.3 8/03/2011

Warranty

TMQ Electronics products are thoroughly inspected and tested before

shipment from the factory and are warranted to be free of defects in
workmanship and materials for a period of one year from the date of
shipment from the factory. By returning the enclosed questionnaire and
registering the product. The warranty will be extended to a total of 3 years
from the date of leaving the factory.

This warranty is extended to and is solely for the benefit of the original
consumer purchaser.

All units in need of repair will be repaired without charge to the purchaser
during the above mentioned period in accordance with the following terms
and conditions:

1. The defective unit is returned "freight prepaid" to TMQ Electronics

1/18 Alexandra Place, Murarrie, QLD. 4172.

2. Proof of purchase is supplied and original Serial Numbers on

equipment have not been changed.

3. Information is provided regarding the nature of the failure or

problem occurring.

4. A return address is supplied to enable the equipment to be returned

by road freight. Any other means of transport will be charged to the
customers account and must be paid in advance.

This warranty does not cover defects or damages caused by unauthorised

service or damage through accident, misuse or abuse. The owner is also
responsible for providing reasonable maintenance and weather protection
of the equipment.

TMQ AP4 Autopilot (AP4S8) Page 65 of 68 Ver1.3 8/03/2011

TMQ Electronics shall not be liable for damage or loss incurred
resulting from the use and operation of this product. TMQ
Electronics reserves the right to make changes or improvements to
later models without incurring the obligation to install similar
changes to equipment already supplied. Some states do not allow
the exclusion or limitation of incidental or consequential damages;
therefore the above limitations or exclusions may not apply to you.
This warranty gives you specific legal rights and you may also have
other rights, which vary from state to state.

TMQ AP4 Autopilot (AP4S8) Page 66 of 68 Ver1.3 8/03/2011

Troubleshooting

Before carrying out any trouble shooting procedures, ensure your test
equipment is working correctly !!

AP4 does not switch on:

Possible fault
• No power available at AP4
• Defective power cable connection
• Blown fuse (internally fitted in AP4)
• Faulty Mode switch on AP4
• Component failure in AP4 power regulator circuit

AP4 switches on but no drive output

Possible fault
• No compass input
• Defective drive cable connections
• Failure of drive switching circuit in AP4 (FET’s)
• Defective MODE switch in AP4

AP4 working but rudder does not move

Possible fault
• Defective drive connection cable
• Worn drive motor brushes
• Drive motor failure
• Pump failure (hydraulic drive)
• Air in hydraulic lines
• Ram connection on tiller
• Broken drive chain or cable (mechanical drive)

TMQ AP4 Autopilot (AP4S8) Page 67 of 68 Ver1.3 8/03/2011

AP4 drives rudder hard over when switched to AUTO

Possible fault
• Rudder feedback cable disconnected from AP4
• Defective rudder feedback cable
• Disconnected rudder feedback linkage
• Broken rudder feedback linkage or arm
• Rudder feedback unit failure

AP4 drives rudder in one direction only

Possible fault
• Rudder limit switch not set correctly
• Partial drive circuit failure (FET)

Boat does not follow in GPS waypoint steering (alarm sounding)

Possible fault
• Route not selected in GPS
• GPS interface cable not connected to AP4
• Incorrect data output from GPS
• No valid data fix by GPS
• Faulty interface cable
• Reversed wires on interface cable
• GPS mode not selected on AP4
• Failure of isolator IC1 in AP4

Active Remote does not function correctly with AP4

Possible fault
• Active remote not connected to AP4
• Special mode r-2 not selected
• Active remote failure

TMQ AP4 Autopilot (AP4S8) Page 68 of 68 Ver1.3 8/03/2011