AP50 Autopilot Manual

TMQ Electronics
AP50 Autopilot
OPERATION AND INSTALLATION
MANUAL
Doc: TMQ-QS-AP50R3-MAN531 Rev: 0 Date 08/10/99 Page 1 of 42

Contents
Contents ________________________________________________________ 2
Warning!________________________________________________________ 4
Introduction _____________________________________________________ 5
Autopilot Operation _______________________________________________ 7
Overview of Operation ________________________________________________ 7
Definition of Terms __________________________________________________ 10
Manual Mode _______________________________________________________ 11
Auto Mode _________________________________________________________ 12
GPS Mode __________________________________________________________ 13
Ratio Control (Rudder Ratio)__________________________________________ 15
Response Control (Sensitivity) _________________________________________ 16
Keypad Backlighting _________________________________________________ 17
Rudder Angle Indicator ______________________________________________ 18
Compass Calibration _________________________________________________ 19
Remote Auto Mode (Remote Unit Operation) ____________________________ 21
Remote Power Steer (Remote Unit Operation) ____________________________ 22
Active (Push-Button) Remote __________________________________________ 23
Alarms_____________________________________________________________ 26
Autopilot Installation _____________________________________________ 27
Installation of Main Computer Unit (MCU) ______________________________ 27
Position _________________________________________________________________ 27
Wiring __________________________________________________________________ 27
Accessibility _____________________________________________________________ 27
DIP Switch Setting ________________________________________________________ 27
Installation of Control Head Unit ______________________________________ 29
Position _________________________________________________________________ 29
Wiring __________________________________________________________________ 29
Magnetic Effect __________________________________________________________ 29
Installation of Compass _______________________________________________ 30
Position _________________________________________________________________ 30
Wiring __________________________________________________________________ 30
Magnetic Effect __________________________________________________________ 30
Mounting _______________________________________________________________ 32
Calibration ______________________________________________________________ 32
Installation of Rudder Feedback _______________________________________ 33

Position _________________________________________________________________ 33
Installation of Remote Units ___________________________________________ 34
Hydraulic Drive Installation ___________________________________________ 35
Position _________________________________________________________________ 35
Precautions ______________________________________________________________ 35
Wiring __________________________________________________________________ 35
Mechanical Motor Installation _________________________________________ 37
Motor Gearing Ratio _______________________________________________________ 37
Position _________________________________________________________________ 37
Wiring __________________________________________________________________ 37
Warning ________________________________________________________________ 37
GPS Connection _____________________________________________________ 38
Data In and Out __________________________________________________________ 38
Data In Connection Examples: _______________________________________________ 38
Programming the GPS unit __________________________________________________ 38
Commissioning Checks _______________________________________________ 39
Connection Checks ________________________________________________________ 39
Dockside Tests ___________________________________________________________ 39
Adjustments and Indicator Lights ______________________________________ 40
Main Computer Unit (MCU) Indicator Lights ___________________________________ 40
Rudder Limits ____________________________________________________________ 40
Remote selection__________________________________________________________ 41
Warranty _______________________________________________________ 42

Warning!
Automatic pilots are designed to be a navigational

aid. As an automatic steering aid, an autopilot can
alleviate the boredom of hand steering.
This allows the operator of the vessel time to

attend to other duties, keep a more accurate check of
navigation duties or just relax and enjoy the trip.
HOWEVER, THE AUTOPILOT SHOULD NOT BE LEFT SOLELY IN

CHARGE OF THE VESSEL AND AN ADEQUATE WATCH SHOULD BE
MAINTAINED AT ALL TIMES.
IT IS NOT RECOMMENDED THAT THE AUTOPILOT BE USED

WHILE NAVIGATING IN RESTRICTED WATERWAYS AS WATER
CURRENTS, WIND CHANGES OR RADIO TRANSMITTER INTERFERENCE
CAN ENDANGER YOUR OWN OR OTHER VESSELS.

Introduction
The TMQ Electronics AP50 autopilot comprises a number of

units:
Essential Electronics:
* Main Computer Unit (MCU)

* Compass
* Rudder Feedback
* Control Head
Options:
* Control Head (any number of these)

* AP-R Remote Control
* Active (Push-Button) Remote Unit
* Remote Panel / Hand Remote / Steering Lever
Drive Units:
* Mechanical
* Hydraulic
The main computer unit (MCU) is a black box, which is

generally installed inside a dry locker or other
protected position.
The compass must be installed in a place free of

magnetic interference, and connected to the MCU.
The rudder feedback must be attached to the rudder in

such a way that it can accurately measure the position
of the ship's rudder. This must also be connected to the
MCU.
Any number of control heads may be attached to the MCU.

Each of these units has complete control over the AP50
autopilot. Commands entered from any of the control
heads are immediately reflected at all the other control
heads.
All control heads and the MCU are connected to a single

4-wire cable which supplies both power and data to all
units.
These control heads may be installed in such places as

the main steering station, the flybridge, the foredeck,

the aft deck, etc.
The AP-R and Active Remote units are designed to provide

the ability to duplicate most of the functions of the
control head in installations where fitment of a control
head is impractical. It may also be used in conjunction
with the normal control head.
Provision has been made for remote panel, hand remote,

steering lever or steering wheel station. These are very
robust units which will not be adversely affected by
water. The abilities they provide are somewhat different
from the control heads. See the Operation section of
this manual for details.
Note: To use an Active Remote as an "alone" unit or

in conjunction with a Control Head, the correct
selection must be carried out in the MCU must be set
correctly to allow operation. Refer to MCU installation
section.
For more information on installation of your AP50

autopilot, see the Autopilot Installation section of
this manual.
For more information on using your AP50 autopilot,

see the Autopilot Operation section of this manual.

Autopilot Operation
Overview of Operation
Pressing keys on any of the control heads or operating a

mode selection on a remote unit will select one of the
possible Steering Modes in the Main Computer Unit (MCU).
It is the MCU which generates signals to the steering
motor (whether mechanical, hydraulic, or other type).
The following is a brief list of the capabilities of the

AP50 autopilot. Each is described in more detail in a
separate chapter.
* Manual Mode
All autopilot heads display the current magnetic
heading.
The vessel is under manual steering control, the
autopilot will not apply any steering control.
* Auto Mode
The autopilot will maintain your vessel on any
desired magnetic course. This course can be set from the
control panel.
* GPS Mode
When receiving information from a GPS unit, the
autopilot can steer a vessel to a precise latitude and
longitude, or through a sequence of latitudes and
longitudes.
* Remote Auto Mode
With an active remote, hand remote, panel remote,
steering lever or steering wheel station installed, this
will allow steering by compass with the desired course
adjustable from the remote station.
* Remote Power Steer Mode
With an AP-R remote, active remote, hand remote,
panel remote, steering lever or steering wheel station
installed, this will allow control of rudder position
from the remote station.
* Rudder and Response Settings
These customise the AP50 autopilot for your
vessel's steering. They may also be used to adjust for
varying sea conditions. These settings can be varied

through either an active remote or an AP50 Control head.

The following features require an AP50 Control Head :-
* Compass Calibration
The AP50 compass can be calibrated on the vessel

using a simple procedure.
* Optional Rudder Angle Bars
The AP50 display units can show rudder angle bars

on the screen in manual, auto and GPS modes, or this can
be disabled.
* Rudder Angle Numeric Display
The rudder angle can also be displayed in degrees.

This is useful for installation, and may also be useful
when hand-steering or in remote power steer mode.
* Selectable keypad backlighting
When using the autopilot at night, 3 levels of

backlighting are available.

Definition of Terms
Current Course
The magnetic heading of the vessel at the current

time.
Course-to-steer
The magnetic heading which the autopilot is

attempting to achieve.
Main Computer Unit (MCU)
The "black box" which actually controls the

steering to which all ancillary units (head, compass,
rfu, etc.,) are connected.
Control Head
The small unit with digital display and keypad

which is used to send commands to the MCU. This is also
referred to as a steering "station".
Remote Unit
This is a collective term for an "active remote",

"panel remote", "hand remote", "steering lever" or
"steering wheel" station. Each of these function in
similar ways, but differ in appearance.

Manual Mode
In this mode
* The display screen shows "Manual"

* The motor clutch is disengaged
* No steering control is generated
* The digital display shows the vessel's current
magnetic course.
Possible alarms
* No MCU alarm

Auto Mode
Engaging Auto mode
When in manual mode and the auto key is pressed, a

beep will sound and the text display will change to
"Auto".
The auto pilot will lock on to the current heading.

The course-to-steer is shown on the display.
Disengaging Auto mode
When in auto mode or GPS mode and the auto key is

pressed, a beep will sound and the vessel will return to
manual steering.
Changing the position of the remote unit switch can

select remote auto, remote power steer, or manual modes.
Course Adjustment
Pressing the port or stbd key will cause a one

degree course change in that direction. The display will
change to indicate the new course-to-steer.
Holding a course change key down will cause a ten

degree course change in that direction. Continue holding
the key for larger course changes. The display will
change to indicate the new course-to-steer.
IMPORTANT!!
Before entering auto mode, ensure that the rudder

is in the centre position (ie: the vessel is steering
approximately straight ahead). If you do not do this,
the course steered will be inaccurate.
TMQ Autopilots selects the position of the rudder

when auto is selected as the position of the rudder to
allow the vessel to steer straight ahead. This can be
advantage in most vessel when a slight amount of helm
from the physical centre position is required for the
vessel to go straight.

GPS Mode
For use when interfaced to a GPS generating NMEA 0183

data output in the correct sentence format. While in
auto mode this allows the autopilot to be directed by
the GPS, enabling automatic heading changes and
eliminating the effects of wind and tide.
The digital display indicates the course to steer, which

will be the bearing between the origin and destination
waypoints plus a factor to correct for the current cross
track error (XTE).
Engaging GPS Mode
When in auto mode, press both mode and auto keys

together. A beep will sound and the display will change
to show "GPS".
The vessel will begin turning from its current

course to that requested by the GPS unit, at a maximum
rate of 10 degrees per second.
If no GPS data is received by the AP50, the

autopilot will lock onto the course of the vessel at the
time that GPS Mode was engaged, and the No GPS Data
alarm shall sound.
Disengaging GPS Mode
* Pressing the auto key will set the AP50 to

manual mode.
* Pressing both mode and auto keys will select
auto mode.
* Changing the position of the remote unit
switch can select remote auto, remote power steer or
manual mode.
Setting up your GPS unit
Because there are a great variety of GPS units that

will work with this autopilot, the following is a guide
only. For more information, consult your GPS manual.
The GPS unit must be set up to output "NMEA 0183"

data on a pair of wires which are connected to the AP50
MCU (see page 34 for connection detail). The data
generated must include at least one of the following:
* The APA sentence.

* The APB sentence.
* The BOD and XTE sentences.
If only the XTE data sentence is available, the

pilot can steer in a restricted manner only. See later
in this section.
The GPS unit must then be commanded to go to a

waypoint, or to follow a line joining two or more
waypoints (called a route).
This unit will then send information to the
autopilot from which can be calculated the course to
steer. If several waypoints are linked together into a
single route, the GPS unit is set and capable of "auto-
sequence" between them and an "arrival zone" of more
than 0.05 NM (Nautical Miles) is set so that the GPS can
detect when the vessel has reached a waypoint, then the
AP50 will be able to steer from each waypoint to the
next without intervention.
If only the XTE information is available from your

GPS unit then your vessel must be on track, and heading
in the correct direction before engaging the GPS unit;
the "auto-sequence" feature is not available in this
instance.
Remember:
Prior to engaging GPS mode, a route must be

programmed into the GPS for the Autopilot to follow.
No GPS Data Alarm
If the autopilot is not receiving valid information

while in GPS Mode, the No GPS Data alarm will sound, and
the message "No Data" will blink on the display. This
could be caused by:
* Incorrect wiring of the GPS to the MCU.
* Incorrect data output (wrong sentence) from the
GPS unit.
* No route set up or selected in the GPS unit.
* No location fix at the GPS unit.
See also Alarms in the Operation section of this

manual.
The bearings generated by the GPS unit must correspond

to the bearings the AP50 is receiving from its magnetic
compass. The greater the difference between these
bearings, the less accurate will be the GPS Mode
steering.

* Ensure that the GPS unit has the correct magnetic
correction
factor.
* Ensure that the AP50 compass is correctly aligned
and
installed, and not subject to magnetic influence.
Ratio Control (Rudder Ratio)

( For AP50 Control Head )
This setting is used to determine the amount of rudder

the vessel requires for steering (actually, the amount
of rudder angle applied for a given angle off course).
To adjust this, press the mode button once while in

manual, auto, GPS, remote auto or remote power steer
mode. The display shall show "Ratio" and the present
rudder ratio setting will be displayed (between 1 and
10).
The rudder setting may be altered by subsequent pressing

of the port or stbd keys.
* A value of one signifies the minimum amount of

applied rudder When the rudder setting is too low,
vessel track will be slow "S" ie: understeer through too
little rudder applied.
* A value of ten signifies the maximum amount of

applied rudder.
When the rudder setting is too high, vessel track
will be rapid "S" ie: oversteer through too much rudder
applied.

Response Control (Sensitivity)
( For AP50 Control Head )
This setting is used for adjusting the autopilot's

response to varying sea conditions, and varying vessel
capabilities. The response value sets the desired
accuracy of the vessel steering. A low value of response
will cause the vessel to steer very accurately but may
cause excessive use of the steering motor.
To adjust this, press the mode key twice while in
manual, auto, GPS, remote auto or remote power steer
mode. The display shall change to show "Response" and
the numeric display shall show the current response
setting (between 1 and 10).
The response setting may be altered by subsequent

pressing of the port or stbd keys.
* A low response value signifies a smaller

acceptable heading deviation (for calm weather)
* A high response value signifies a larger

acceptable heading deviation (for rougher weather - to
reduce the work on the drive unit).
NOTE: Too low a setting may cause the steering motor

to work continuously. The response setting should
be increased until this ceases.

Keypad Backlighting
(For AP50 Control Head)
Press the mode key three times while in manual, auto,

GPS, remote auto or remote power steer mode. The display
will show "Lamp" and the numeric section will show the
current lamp level.
This lamp level can be adjusted between 0 (off) and 3

(full) by using the port and stbd keys. When finished,
press auto. The new lamp level will be sent to all other
autopilot displays connected to the control head.

Rudder Angle Indicator
The rudder angle can be displayed as graphic bars on

each side of the text display in manual, auto, GPS,
remote auto or remote power steer mode.
* When the rudder is at centre, there will be a

single line on each side of the display.
* As port rudder angle is applied, the left bar
will grow longer.
* As stbd rudder angle is applied, the right bar
will grow longer.
This display can be turned off if you prefer. The rudder

angle can also be displayed in degrees for accurate
power-steering or for checking the rudder feedback.
While in manual, auto, etc., press the mode button

repeatedly until the words "Rudder Y" or "Rudder N"
appear. The numeric section of the display shows the
rudder angle in degrees.
* Press the port button to enable rudder bar

display in steering modes (display will show "Rudder
Y").
* Press the stbd button to disable rudder bar

display in steering modes (display will show "Rudder
N").

Compass Calibration
The compass supplied with your AP50 autopilot has been

calibrated after manufacture, and 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 AP50 compass displays a constant offset (eg: the

autopilot compass reads 3 degrees high on all bearings),
simply rotate the AP50 compass case to align bearings
with the ships compass .. it is not necessary to re-
calibrate the compass as described below.
If the AP50 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.
1.In MANUAL mode, press the MODE button repeatedly

until "CALIBRAT", "0" is displayed.
2.Press STBD button, "0" changes to "1". Press

MODE button. The display will now show "C-BEGIN".
3.Start turning the vessel slowly in one direction.

Press the "MODE" button so that display shows
"CALIBRAT" "0". Turn vessel slowly through two
complete circles from this point. Each complete
turn should take at least 60 seconds.
4.On completion of circles press STBD button twice
so that "CALIBRAT" "2" is displayed. Press MODE
button, the display will show "C-STORE". Press AUTO
button, display returns to "MANUAL". Calibration is
now complete.
Check alignment of the AP50 compass by steering the

vessel due North (000 on ships compass) and, if
necessary, rotate outer case of AP50 compass in its
bracket until display reads 000.
Note:The effectiveness of the compass calibration

is dependent upon all steps being completed. Should
you wish to abort the calibration procedure at any
time during the process, do not carry out step 4
but press MODE to return to MANUAL.

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. 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 setting by doing
the following:
In MANUAL mode, press the mode button repeatedly

until "CALIBRAT" is displayed.
Press STBD button until "3" is displayed. Press

MODE again. The display will now show "C-RESET".
Press AUTO to return to MANUAL.

Remote Auto Mode (Remote Unit Operation)
(not AP-R Remote)
Hand remotes, panel remotes and steering lever stations

all come with a dial or lever, and a 3-way switch. The
switch is labelled PWR, OFF and AUTO.
While the autopilot is in this mode, all displays will

show "R-Auto" and the numeric display section will show
the course-to-steer.
Engaging Remote Auto Mode
Move the remote unit switch to auto.

The remote dial or lever now controls the course-
to-steer.
If the switch has been left at auto and the

autopilot turned off, or the auto key pressed on a
control head, you will need to move the switch to
centre, then back to auto.
Disengaging Remote Auto Mode
Setting remote switch to off will select manual

mode.
or
Pressing the auto key on any control head will

select manual mode.
Course Adjustment
Turning the remote dial will alter the course-to-

steer. This change will be reflected on all digital
displays.
From the central position of the remote dial, the

course may be changed to port or stbd by 90 degrees. The
vessel will steer the new adjusted heading.

Remote Power Steer (Remote Unit Operation)
(not AP-R)
Hand remotes, panel remotes and steering lever stations

all come with a dial or lever, and a 3-way switch. The
switch is labelled pwr, off and auto.
While the autopilot is in this mode, all control head

displays will show "R-PWR" and the numeric display
section will show the current course.
Engaging Power Steer Mode

Move the remote switch to the power position.
The remote dial or lever now acts as the helm,
giving control over the angle of the rudder.
If the switch has been left at power and the

autopilot turned off, or the auto key pressed on a
control head, you will need to move the switch to
centre, then back to power.
Disengaging Power Steer Mode

Return the remote dial or lever to centre before
switching to off.
The autopilot will return to manual mode.
or
Pressing the auto button on any display will return

the autopilot to manual mode.

Active (Push-Button) Remote
Remote Selection.
To enable operation with the Active Remote unit, Remote

selection must be carried out as described in MCU
installation for DIP switch settings.
Remote Functions
The Active Remote Unit has a keypad with 6 selections,

together with a power indicator and a control knob.
The power indicator lights when the remote unit is

connected and power is switched on.
Prior to operating the Active Remote unit, set the
control knob to centre. This removes the possibility of
a sudden course change if Power Steering is selected.
* "Off" selection : Cancels any selected mode and

returns the Autopilot to the manual steering mode.
* "Auto" selection : Engages the autopilot and

locks on to the current heading. Heading changes can be
made by rotating the control knob in the required
direction. From centre position to full travel Port or
Starboard will give a course change of approximately 90
degrees.
* "Power Steer" selection : The control knob acts

as a steering wheel and allows the user to steer the
vessel to the direction required. Centralise the knob to
stop the vessel turning and select "Auto" to lock on to
that heading. If large course changes are required it is
recommended that this function is used.
* "GPS" selection : With a route selected in the

GPS unit, press this function to allow the autopilot to
follow the route. Selection of "Off", "Auto" or "Power
Steer" will cancel the GPS mode.

* "Response" selection : Allows for adjustment of
the autopilot sensitivity using the control knob.
This setting is used for adjusting the autopilot

response to varying sea conditions, and varying vessel
capabilities. The response value sets the desired
accuracy of the vessel steering. A low value of response
will cause the vessel to steer very accurately but may
cause excessive use of the steering motor.
*A low response value signifies a smaller

acceptable heading deviation (for calm weather)
*A high response value signifies a larger

acceptable heading deviation (for rougher
weather - to reduce the work on the drive
unit).
NOTE: Too low a setting may cause the steering motor

to work continuously. The response setting should
be increased until this ceases. Before adjusting
response, read the rudder section on the next page
as the two adjustments have an effect on optimum
steering.
Hold the Response key down and vary the sensitivity

with the control knob until the required setting is
achieved. Clockwise rotation increases acceptable
heading deviation, counter-clockwise decreases. Release
the Response key. The selected setting will now be
locked in.
Input from the control knob will be ignored for the

next 5 seconds. This will allow time for the control
knob to be positioned as desired without causing loss of
selected heading. After 5 seconds the control knob
returns to its previous function.

* "Rudder" selection : Allows for changing of the
Rudder Ratio setting with the control knob.
This setting is used to determine the amount of

rudder the vessel requires for steering (actually, the
amount of rudder angle applied for a given angle off-
course).
In general, an agile vessel with a relatively large

rudder or very small keel will require a small rudder
setting. A large, slow vessel may require a high value
for the rudder ratio.
*A low setting will allow a small amount of applied

rudder. If the setting is too low, vessel will
track in slow "S" or understeer.
*A high setting allows a large amount of applied

rudder. If the setting is too high, the vessel will
track in rapid "S" or oversteer.
*The setting should be adjusted carefully to give

the optimum steering for the vessel
Note: Before adjusting the rudder ratio, the

response (sensitivity) should be set fairly low.
After adjusting for optimum steering with rudder
ratio, then re-set the response to avoid excessive
working of the steering motor.
Hold the Rudder key down and vary the rudder ratio
with the control knob until the required setting is
achieved. Clockwise rotation increases rudder ratio,
counter-clockwise decreases. Release the Rudder key. The
selected setting will now be locked in.
Input from the control knob will be ignored for the

next 5 seconds. This will allow time for the control
knob to be positioned as desired without causing loss of
selected heading. After 5 seconds the control knob
returns to its previous function.

Alarms
(With AP50 Control Head connected)
A number of conditions will cause alarms to sound, and

an alarm message to blink on all displays.
No MCU Alarm
This indicates that the control head is not

receiving data from the AP50 MCU. Check all plugs and
connection cables are secure.
No Control Panel Alarm
Continuous alarm sounds if data link between

control head and main computer unit fails. The display
shows "No Panel" if the control head is receiving the
MCU, but the MCU is not receiving any control heads. The
display shows "No MCU" if the control head is not
receiving any data from the MCU.
No GPS Data Alarm
The alarm sounds if the autopilot is not receiving

valid information from the GPS. The message "no data"
blinks on and off at the same time.
Angle Off Course Alarm
The alarm sounds when vessel is more than 45

degrees from course-to-steer. The message "OFF CRS"
blinks on and off at the same time.
The alarm will sound in the head unit and also in

the MCU. Provision is made in the MCU for a remote alarm
to be fitted which will sound 1 minute after the
internal alarm.

Autopilot Installation
Installation of Main Computer Unit (MCU)
Position
The MCU should be mounted in an accessible position,

protected from rain or salt water. Inside a locker or on
a bulkhead below decks are suitable. It should be
mounted close to the steering motor where convenient to
minimise voltage drop between the MCU and motor.
Wiring
Access for wiring must be provided. Cabling will have

to be run to the control heads, rudder feedback unit,
compass unit and steering motor. Wiring should be kept
as far as possible from radio aerials and aerial cables
to prevent interference to the radio, and to prevent
transmitted signals from the radio influencing the
pilot.
The MCU must have a direct connection to power supply

via an isolating switch. A power cable rated at 15 amps
should be connected between power input switch and
terminals on the MCU.
Connection - As per diagram labelled AP50 Block

Diagram.
Accessibility
The MCU location should be easily accessible so that it

is possible for a technician to make adjustments to the
unit. To access the internal of the unit two screws
either end allow the top lid to be removed.
DIP Switch Setting
The DIP switch is located on the PCB near the internal

piezo alarm.
1 Marked F-C F=Commag C=CTS
2 Marked F-C F=Commag C=CTS

3 Remote Selection
4 Marked S-H S=Standard RFU H=Large RFU

Installation of Control Head Unit
Position
The control head should be mounted in a position

accessible to the steering position, protected from
direct rain or salt water if possible.
Wiring
Access for wiring must be provided. Cabling will have

to be run to the main computer unit (MCU). Wiring
should be kept as far as possible from radio aerials and
aerial cables to prevent interference to the radio and
transmitted signals from the radio influencing the
pilot. Cable should also be run separately (if
practical) from other current carrying cables. There is
no restriction on cable length.
Magnetic Effect
As no steel is used in the control head, there is

negligible effect on a steering compass. Some radio
interference may be caused by the internal electronics.

Installation of Compass
The compass unit should be treated with care as the

internal gimbals can be broken if dropped. Remove any
internal packing before use.
Position
The compass position is the most important item in the

installation of the autopilot. Good course holding is
dependant on the compass being free from magnetic
interference.
As the compass has no moving card, it is not necessary

for the compass to be mounted low in the vessel. This is
usually a place of high magnetic interference and should
be avoided. However, a position of severe roll such as
the top of a mast should also be avoided.
In a steel vessel, the compass should be mounted 1 metre

above the cabin-top or superstructure.
The compass need not be mounted in a weatherproof

position. The compass can be mounted on top of a flat
surface, on a bulkhead or from the deck head. Check
other side of bulkhead for materials which may cause
magnetic interference.
Wiring
The cable leading from the compass must be connected to

the correct socket on the main computer unit (MCU).
There is no restriction on cable length.
Magnetic Effect
Interference from any iron or steel can cause

malfunction of the compass unit. To prevent this
occurring a minimum distance of 1 meter (3 feet) should
be kept from any steel or other ferromagnetic materials.
This includes speakers and radios with internal
speakers.
NOTE: The stated minimum distance is 1 metre. This

requirement will vary from vessel to vessel and may be
more or less than 1 metre. It is often necessary to try

thr compass in several areas to obtain the optimum
position.

Mounting
Fasten the compass with non-magnetic screws. The compass

must be mounted in an approximately vertical position.
See also the diagram labelled "Compass Installation".
Calibration
The compass unit will need to be rotated for the correct

heading to be displayed. During sea trials further
adjustment may be required to reduce any heading error
displayed.
The compass is calibrated in the factory. This will

certainly be good enough for sea trials and in most
cases will be as good or better than the results of an
auto-calibration on the vessel. If you find after sea
trials that the autopilot compass bearing has
significant errors, then follow the calibration
instructions in the autopilot operation section of this
manual.

Installation of Rudder Feedback
Position
Install rudder feedback as shown in the diagram labelled

"Rudder Feedback Unit Installation". The unit should be
adjacent to the tiller and must copy the angular
movement of the tiller. The markings on the rudder
feedback unit indicates the required movement of the
tiller for course correction. It should be installed
with the shaft uppermost, mounted in such a way that the
four pivot points (tiller post, feedback shaft and the
adjustable linkage points) form the four corners of a
parallelogram.
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 rudder feedback unit may be
mounted upside down in which case the blue and red wires
in the cable must be reversed ( Note: yellow wire in
cable is not used).
When installation of the feedback unit is complete and

the linkage is fitted, have the steering of the vessel
turned lock to lock and ensure:
a) the direction indicated on the top of the RFU

is correct.
b) no undue mechanical strain is placed on the
rudder feedback or linkage.
NOTE 1: THE AUTOPILOT WILL NOT FUNCTION CORRECTLY
IF A RUDDER FEEDBACK IS NOT FITTED, OR IF THE
FEEDBACK IS FAULTY OR INCORRECTLY ADJUSTED.
NOTE 2: 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.
NOTE 3: THE FEEDBACK ARM HOLDS AN O-RING AGAINST

THE FEEDBACK BODY TO FORM A WATER RESISTANT SEAL.
DO NOT MOVE THE ARM UP THE SHAFT.

Installation of Remote Units
Hand Remotes, Panel Remotes, Steering Levers and

Steering Wheels:
These units are robust and any of these may be

mounted where it is subjected to occasional splashes of
water. If mounted in direct sunlight, the decal may
fade. The cable leading from the unit should be
connected to the remote socket of the Main Computer Unit
(MCU).
Provision is included for 3 different remote input

selection :
R-1 Provision for 2 hand remotes

R-2 Provision for 1 TMQ Active remote.
R-3 Not available this model
R-4 Basic remote plus power steer on pin 5 in
standby Mode. (Electric steering vessel)
To select the mode: (Not an operator function)

Select "MANUAL"
Push switch 3 to on and monitor the status
led.
Push the switch off to select the mode after
the required number of LED illuminations
ie 1 illumination for R1
2 illuminations for R2
If a non TMQ supplied remote is being used the Pin

configuration is:
Pin Number Function R1 R2 R4

1 5v Power Power Power Power
2 Remote Wiper 1 Wiper Wiper
3 Negative Negative Negative Negative
4 Control Control 1 Select 1 Control
5 Wiper 2 Select 2 Wheel Input
6 Control 2 Select 3
In Version R1 and R4 control line pin 4 and 6 (in R1) is

set to 5v for power steer and 0v for Remote Auto. Open
circuit returns the Autopilot to Manual mode and version
R4 effective power steer from a potentiometer input on
pin 5.
R2 allows selection of GPS and adjustment of rudder

ratio, sensitivity, power steer and auto from the remote

socket.
Hydraulic Drive Installation
Follow any instructions of the Hydraulic Steering

Supplier.
THE AUTOPILOT SUPPLIER'S ADVICE SHOULD BE SOUGHT IF
USING UNBALANCED RAMS WITH THIS AUTOPILOT.
The following Hydraulic Drive Units are recommended:
1. A pump with adjustable flow rate suitable for

most installations (12V or 24V DC) with flow rates up to
1000cc per minute.
2. A pump with adjustable flow rate suitable for

high volume 12 or 24 volt installation with flow rate up
to 2000cc per minute.
Position
All pump units must be mounted horizontally, in a dry

position, lower than the highest Helm Pump on the
vessel. Hydraulic lines must be used to connect the
pump to the steering lines of the vessel.
With most pumps, a balance line must be used to connect

the drive pump back to the helm reservoir. Check with
your pump supplier.
Precautions
Some brands of Helm Pumps will require lock valves

fitted to prevent the helm from turning when the
autopilot is operating. Consult your steering supplier
for this information.
All air must be purged form the steering system before

commencing tests with the autopilot. Consult your
hydraulics manual.
Wiring
Connect the pump unit to the main computer unit (MCU)

with the supplied 2-core cable. This cable may be

extended if required but the maximum voltage drop
allowed in the motor cable with full load of 10 amps is
0.5 volts. This must be considered when selecting the
extension cable.

Mechanical Motor Installation
Motor Gearing Ratio
Mechanical drive motors should have a nominal output

speed of 30 RPM. They are typically fitted with a 16
tooth 3/8 pitch sprocket to suit B.S. chain (06B-1R).
1.5 meters of chain, a 38 tooth sprocket and mounting
bolts are also required.
Due to wide variation of mechanical steering systems and

the turning speed of vessels, this ratio has proved the
most effective in regard to helm speed and the required
torque. If steering problems are encountered, different
sprockets can be fitted on the motor drive shaft; the
variations normally available are 10 or 24 tooth.
Position
Mounting of the motor unit requires a flat base and

fasteners with sufficient strength to withstand in
excess of 150kg pull. The output shaft should always be
parallel with the shaft to be driven although the motor
can hang down or be mounted on the side.
Wiring
Connect the motor unit to the main computer unit (MCU)
using the supplied 4-core cable. This cable may be
extended if required but the maximum voltage drop
allowed in the motor cable on full load of 10 amps is
0.5 volts. This must be considered when selecting the
extension cable.
Warning
Time taken for rudder to travel lock to lock should not

be less than 12 seconds. This will occur if steering
shaft total turns are less than 2. In this type of
installation a large sprocket will be required on the
steering shaft. Refer to supplier for the correct
sprocket size.

GPS Connection
Data In and Out
For GPS navigation, connect the GPS unit via the outside
of the two 6 pin socket.
Pin 1 NMEA Rx +
Pin 2 NMEA Rx -
Pin 3 NMEA Tx + ( heading
information )
Pin 4 NMEA Tx - "
Pin 5 TMQ Data Rx + ( TMQ Rate
sensor )
Pin 6 TMQ Data Rx - "
Data In Connection Examples:
For any GPS unit which has a BNC type output plug (a
bayonet plug, with a core and shield), eg for the JRC
brand JLU-121, JLR-6000 or NWU-53, connect the core to
NMEA Rx + and the shield to NMEA Rx -.
For any GPS having open wires, connect TX+ to NMEA Rx +

and TX- to NMEA Rx
For a GPS with the following marking, connect Data Out +

to NMEA Rx + and Common to NMEA Rx -.
For a Plotting system, connect Data Out + to NMEA Rx +

and Data Common to NMEA Rx -.
For information on connecting other types of GPS units,

refer to the owners manual.
Programming the GPS unit
This is the part of the GPS-to-autopilot connection that

causes the majority of problems. The AP50 autopilot
looks for APA, APB, XTE and BOD information in the NMEA
0183 data format. For more information on this, see the
Operations section of this manual and consult your GPS
unit manual.

Commissioning Checks
Connection Checks
1. Power to be connected is the required DC

voltage (12 or 24V).
2. ENSURE POLARITY OF THE VOLTAGE SUPPLY IS
CORRECT.
3. All electrical connections are correct.
4. Loose cables are clipped or tied up.
5. Turn steering wheel fully clockwise and
visually check that moving and mechanical parts do not
foul; visually check that RFU has moved in correct
direction as indicated on the RFU label on top.
6. Repeat step 5 for anti-clockwise.
Dockside Tests
1. Turn steering (by hand) to midships position.

2. Determine vessel heading by a sighting on
known heading or compass.
3. Turn on power supply
4. If a Control Head is fitted, align autopilot
magnetic sensor until display reads known heading.
5. Select AUTO mode.
CAUTION: IF AUTOPILOT DRIVES HARD OVER, IMMEDIATELY TURN
CONTROL UNIT OFF, REVERSE MOTOR DRIVE WIRES AT THE SCREW
TERMINALS ON THE MAIN COMPUTER UNIT AND REPEAT FROM STEP
5.
6. Using either the Control Head push-buttons or

the Remote Unit course-change knob, change course about
10 degrees to starboard.
7. Confirm that rudder moves to starboard.
8. Change course about 10 degrees to port
9. Confirm that rudder moves to port.
NOTE: AT NO STAGE SHOULD THE AUTOPILOT DRIVE THE RUDDER
INTO THE MECHANICAL STOPS.
10. Go back to "Manual" (Standby) mode.
The autopilot is now ready for full operational testing.

Adjustments and Indicator Lights
Main Computer Unit (MCU) Indicator Lights
There are three indicator lights inside the MCU.
*CPU light flashes once per second to indicate that

the autopilot computer is functioning.
*Limits light comes on when the rudder position

reaches the limit set by the rudder limit
potentiometer inside the MCU.
* Status light for selection of Analogue Remote

type.
NOTE: THE RUDDER LIMITS ARE FACTORY SET AT 25

DEGREES. IF THE RUDDER FEEDBACK HAS BEEN INSTALLED
CORRECTLY, IT SHOULD NOT BE NECESSARY TO ADJUST THE
LIMIT SETTING.
Adjustment may be necessary when a Rudder Angle

Indicator is fitted.
Rudder Limits
The rudder limits prevent the steering motor driving the

rudder beyond its physical (mechanical) stops. The limit
potentiometer is set so that the limit light comes on
before the rudder reaches the stops.
Turning the rudder limit potentiometer clockwise will

increase the amount of rudder which can be applied
before reaching the stops.
The one adjustment affects both port and starboard

limits. The setting should be such that the rudder
cannot be driven into either port or starboard stops by
the autopilot.
If at any time during testing the motor runs under
load and the rudder does not move checks should be
carried out to confirm the limit switch are operating
prior to the rudder running into the stops.

Remote selection
Provision is included for 3 different remote input

selection :
R-1 Provision for 2 hand remotes

R-2 Provision for 1 TMQ Active remote.
R-3 Not available this model
R-4 Basic remote plus power steer on pin 5 in
standby Mode. (Electric steering vessel)
To select the mode: (Not an operator function)

Select "MANUAL"
Push switch 3 to on and monitor the status
led.
Push the switch off to select the mode after
the required number of LED illuminations
ie 1 illumination for R1

Warranty
TMQ Electronics products are thoroughly inspected and
tested before shipment from the factory and are
conditionally warranted to be free of defects in
workmanship and materials for a period of three years
from the date of shipment from the factory.
This warranty is extended to and is solely for the

benefit of the original consumer purchaser.
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, 264 Tingal Rd, Wynnum, Qld.
4178.
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 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.

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TMQ Electronics

Doc: TMQ-QS-AP50R3-MAN531 Rev: 0 Date 08/10/99 Page 1 of 42

Doc: TMQ-QS-AP50R3-MAN531 Rev: 0 Date 08/10/99 Page 2 of 42

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Automatic pilots are designed to be a navigational

This allows the operator of the vessel time to

HOWEVER, THE AUTOPILOT SHOULD NOT BE LEFT SOLELY IN

IT IS NOT RECOMMENDED THAT THE AUTOPILOT BE USED

Doc: TMQ-QS-AP50R3-MAN531 Rev: 0 Date 08/10/99 Page 4 of 42

The TMQ Electronics AP50 autopilot comprises a number of

* Main Computer Unit (MCU)

* Control Head (any number of these)

The main computer unit (MCU) is a black box, which is

The compass must be installed in a place free of

The rudder feedback must be attached to the rudder in

Any number of control heads may be attached to the MCU.

All control heads and the MCU are connected to a single

These control heads may be installed in such places as

Doc: TMQ-QS-AP50R3-MAN531 Rev: 0 Date 08/10/99 Page 5 of 42

The AP-R and Active Remote units are designed to provide

Provision has been made for remote panel, hand remote,

Note: To use an Active Remote as an "alone" unit or

For more information on installation of your AP50

For more information on using your AP50 autopilot,

Doc: TMQ-QS-AP50R3-MAN531 Rev: 0 Date 08/10/99 Page 6 of 42

Pressing keys on any of the control heads or operating a

The following is a brief list of the capabilities of the

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The AP50 compass can be calibrated on the vessel

* Optional Rudder Angle Bars

The AP50 display units can show rudder angle bars

The rudder angle can also be displayed in degrees.

* Selectable keypad backlighting

When using the autopilot at night, 3 levels of

Doc: TMQ-QS-AP50R3-MAN531 Rev: 0 Date 08/10/99 Page 9 of 42

The magnetic heading of the vessel at the current

The magnetic heading which the autopilot is

The "black box" which actually controls the

The small unit with digital display and keypad

This is a collective term for an "active remote",

Doc: TMQ-QS-AP50R3-MAN531 Rev: 0 Date 08/10/99 Page 10 of 42

* The display screen shows "Manual"

Doc: TMQ-QS-AP50R3-MAN531 Rev: 0 Date 08/10/99 Page 11 of 42

Engaging Auto mode

When in manual mode and the auto key is pressed, a

The auto pilot will lock on to the current heading.

Disengaging Auto mode

When in auto mode or GPS mode and the auto key is

Changing the position of the remote unit switch can

Pressing the port or stbd key will cause a one

Holding a course change key down will cause a ten

Before entering auto mode, ensure that the rudder

TMQ Autopilots selects the position of the rudder

Doc: TMQ-QS-AP50R3-MAN531 Rev: 0 Date 08/10/99 Page 12 of 42

For use when interfaced to a GPS generating NMEA 0183

The digital display indicates the course to steer, which

Engaging GPS Mode

When in auto mode, press both mode and auto keys

The vessel will begin turning from its current

If no GPS data is received by the AP50, the

* Pressing the auto key will set the AP50 to

Setting up your GPS unit