TMQ AP4 Manual
IMPORTANT: PLEASE RETAIN ON BOARD
Installation and Service Manual
AP4
AUTOPILOT
Unit 18, 17 Rivergate Place
Murarrie QLD 4172
T: +61 07 3640 5600
www.tmq.com.au
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Contents
Introduction 2
Warning 2
Overview 2
Autopilot Operation - Standard 3
Set (Standby) 4
Auto 4
Power Steering 4
GPS – Waypoint Steering 5
Watch Timer Mode 6
Commercial Boat Watch Timer 6
Autopilot Operation -
Remote Control 7
Hand Remote 7
Active Remote 8
Steering Lever &
Electric Helm Steering 10
Jog Switch Steering 10
Sensitivity & Rudder Adjustments 12
Alarms 13
Installation of Autopilot 14
List of Components 14
Installation of Main Control Unit 15
Installing a Compass Top Sensor 17
Installing a Magnetic
Sensor Unit (Fluxgate Compass) 17
Magnetic Sensor Unit &
Compass Top Sensor Interchange 18
Installation of Rudder Feedback 19
Installation of Remote Units 22
NMEA Connection 23
Heading Data Connections 24
External Alarm Installation 26
Wiring Connections –
AP4 Rear Panel 27
Examples -
Drive Connection Diagrams 28
General Information - Drive Units 29
Commissioning Checks 30
Post Installation Checks 30
Pre Sailing Dockside Tests 30
Sea Trials 31
Rudder Limits Setting 32
Compass Calibration 34
Calibrating TMQ Compass -
COMMAG 34
Calibrating TMQ Electronic
Compass - ELECOM 35
Resetting Compass to Factory
Calibration 35
AP4 Special Modes 36
Operating Without RFU 38
Adjusting the PID Control 38
Keeping the Heading 38
Following a Track (Waypoint) 39
Optional Extras 41
Declaration of Conformity 42
Warranty 43
Troubleshooting 44
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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 has large
control knobs for ease of use in all
sea conditions. It has various special
modes of operation to cater for all
dierent requirements.
An AP4 system comprises the
following essential components:
• Control Unit
• Compass
• 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
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.
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TMQ AP4 | Revision Date: 01.07.2022 Version 10588
For more information on installation
of your AP4 autopilot, see the
Installation of Autopilot 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 specied.
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 xed 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 tted
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Set (Standby)
• MODE switch in SET position
• The AUTO light is o *
• 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 rst turn on.
• Other special remote modes are
accessible (refer later)
* Apart from when in some of
the remote modes.
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 o
• Steering control is deactivated.
• Display shows boat heading
• Boat under manual steering control
(helm)
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
• O course (more than 45º)
• Watch timer (if set)
• FUS Indicated advises the internal
fuse is open
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)
• FUS Indicated advises the internal
fuses is open
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TMQ AP4 | Revision Date: 01.07.2022 Version 10588
GPS – Waypoint Steering
Autopilot must be interfaced to a GPS
Plotter generating NMEA 0183 data
output. A route has to be selected on
the GPS (refer GPS manual).
Note: Before using this functionality,
make sure the auto mode is
working properly and adjusting
its variables if necessary. How to
adjust the auto mode is explained
in the section “Sensitivity & Rudder
Adjustments” and also. If necessary
some advanced settings, they are
described in the sections “AP4
Special Modes” and “Adjusting the
PID control”.
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 (the maximum rate of
turn, if necessary, can be adjusted
with the special mode 920)
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 ash
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 rst. 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
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
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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 tted,
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
Commercial Boat
Watch Timer
Used where survey regulations for
commercial vessels require a watch
timer (which includes an external
alarm) tted 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
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TMQ AP4 | Revision Date: 01.07.2022 Version 10588
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.
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. The RFU control mode
must be selected in order to use the
remotes, apart from the front panel
knob and the jog levers.
Hand Remote
Hand Remote Auto Steer
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.
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 +/- 90º 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 o" 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 o).
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
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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.
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.
Active Remote Auto Steer
Note: 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 +/- 90º 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 o
• Boat is now steered manually (by
helm)
Otros manuales para AP4
2
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Otros manuales de Sistema de piloto automático de TMQ
