Should we?

Antifoul (Trilux) a Yanmar saildrive leg whilst it is under warranty, or should we leave it for 3 years?

Thoughts....

Thoughts only:

It'll foul if you don't

Abrading the surface to apply a primer and coating may invalidate the warranty.

Why not seek advice from Yanmar or their agents.
 
When my boat and Yanmar saildrive were new, the saildrive was not anti-fouled by the boatbuilders. At the first winter lift out, I found that not only was the leg quite badly fouled, but the paints cheme on the leg was showing signs of some bubbling under the silver grey paint. I contacted the Yanmar agent, but got nowhere. After taking some advice, I sanded down the leg and applied 4 (or maybe 5 - whatever is says on the tin) coats of InterProtect epoxy primer. Then 2 coats of Trilux. The boat is now 6 seasons old and it has been fine ever since - and I have been very impressed with the effectiveness of Trilux.
 
I have a 2004 Volvo 130S saildrive. By last year the factory finish was mostly gone so I took it down to bare aluminum. If your finish is still good you may need a different tie coat, but I used Interlux 433 Brush-Ease solvent followed by 4 coats of Primocon for the barrier coat. Instead of Trilux, though, I used one of the new nonmetallic econea antifouling paints - Pettit ECO. If you want to stay with Interlux they have a similar econea product called Pacifica.

I cannot overstate how well this stuff worked! I sail in Long Island Sound and the barnacles and slime have been very bad the past 3 years. I was amazed how clean the bottom was at the end of this past season. Even more amazing, I painted the prop with Primocon and Pettit ECO fully expecting it to slough off (like everything else did before) but it stayed put. This was the first season I didn't have to dive on the prop to clean it.
 
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