Related Manuals for Raymarine Autohelm 100
Summary of Contents for Raymarine Autohelm 100
- Page 1 Distributed by Any reference to Raytheon or RTN in this manual should be interpreted as Raymarine. The names Raytheon and RTN are owned by the Raytheon Company.
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Page 2: Chapter 2: Installation 2
TYPE 100/300 AUTOPILOT Installation and Set Up... -
Page 4: Table Of Contents
Contents Contents Chapter 1: Introduction ... 9 1.1 ST7000 Control Unit ... 10 1.2 ST6000 Control Unit ... 10 1.3 Course Computer ... 11 1.4 Fluxgate Compass ... 11 1.5 Rotary Rudder Reference Transducer ... 12 1.6 Linear Feedback Transducer ... 12 1.7 Type CR Interface Unit ... - Page 5 TYPE100/300 Operation and Installation Handbook 2.1 Course Computer ... 21 Mounting ... 22 Cabling ... 22 Type 1 Drive Units/Stern Drive/Constant Running Pump ... 23 Type 2 Drive Units (12V) ... 23 Type 2 Drive Units (24V) ... 23 Type 3 Drive Units (12V) ... 24 Type 3 Drive Units (24V) ...
- Page 6 Contents Constant Running Hydraulic Pump ... 41 Hydraulic Linear Actuator ... 45 2.8 Mechanical Drive Systems ... 49 Rotary Drive Unit ... 49 Mounting ... 49 Cabling ... 52 Linear Drive Unit ... 53 Mounting ... 54 Cabling ... 55 Stern drive Actuator ...
- Page 7 Volvo (Pre type 872215) ... 56 Volvo (Post type 872215) ... 58 Mercruiser/OMC/Yamaha ... 61 Mounting in a Restricted Area ... 63 Cabling ... 64 2.9 Auxiliary Alarm ... 65 Cabling ... 65 2.10 Joystick ... 66 Cabling ... 66 2.11 Masthead Transducer (sail only) ...
- Page 8 Contents 3.7 Mechanical test (Linear, Rotary & Hydraulic Drives) ... 78 Current limit and cutout ... 78 3.8 Mechanical Test (Stern Drive) ... 79 3.9 Setting the Autopilot Rudder Limit (All drives) ... 79 3.10 GyroPlus Offset and Drift Compensation ... 80 Procedure ...
- Page 9 Chapter 5: Initial Sea Trials ... 9 1 5.1 Initial Sea Trials ... 91 5.2 Automatic Compass Heading Alignment and Deviation Correction ... 91 5.3 Compass Alignment (without deviation correction) ... 93 5.4 First Sea Trials ... 93 5.5 Response Control ... 94 Level 1 - Automatic Sea State Control ...
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Page 10: Chapter 1: Introduction
Chapter 1: System Components Chapter 1: Introduction The Autohelm Type 100/300 autopilots are modular systems that can be configured to suit the individual requirements of all types of vessels, using a range of high efficiency rotary, linear or hydraulic rudder drive units to match various types of steering systems. -
Page 11: St7000 Control Unit
1.1 ST7000 Control Unit The ST7000 control unit is fully weather protected and designed for above or below deck istallation. The unit is connected to the course computer via the SeaTalk bus. NMEA navigation, speed and wind information can be received via a fixed socket on the rear of the case. -
Page 12: Course Computer
Chapter 1: System Components 1.3 Course Computer The course computer, available in both 12V or 24V versions, houses a microprocessor, drive unit electronic control circuitry and power amplifier. It is the central distribution point for the autopilot, electrical wiring and ship’s power connection point. -
Page 13: Rotary Rudder Reference Transducer
1.5 Rotary Rudder Reference Transducer The rudder reference transducer provides the course computer with the precise position of the vessels rudder. The unit is mounted on a suitable base adjacent to the rudder stock. Its use is mandatory on all installations, except when a linear rudder reference transducer is connected. -
Page 14: Drive Systems
Chapter 1: System Components 1.8 Drive Systems A range of mechanical (rotary, linear and stern drive) and hydraulic drive units are available for use with the Type 100/300 system. Rotary drives are coupled to the steering system by a simple chain drive, linear drives directly to the rudder stock at the tiller arm radius and stern drives directly to the power steering valve block. -
Page 15: Reversing Hydraulic Pump
Reversing Hydraulic Pump The reversing hydraulic pump consists of a precision gear pump and an integral check valve block driven by a continuously rated servo motor. The pump is connected directly to the vessels steering cylinder, with the course computer regulating the peak pump pressure. There are three types of pump: type 1, type 2 and type 3. -
Page 16: Linear Drive
Chapter 1: System Components Linear Drive The Autohelm linear drive unit is of outstanding design which features powerful thrust, fast hard overtimes and near silent operation. When backdriven the movement is smooth with minimal backdriven force. Using a high tensile belt drive and epicyclic reduction gearbox the powerful electric motor is controlled by an electronic fail-safe clutch. -
Page 17: Constant Running Hydraulic Pump
Constant Running Hydraulic Pump When steering loads require a ram capacity of over 460cc (28cu in) the constant running hydraulic pump provides the ideal autopilot drive system. Hydraulic fluid is supplied from a self contained reservoir and flow to the steering ram is controlled by integral solenoid operated valves. -
Page 18: Options
Chapter 1: System Components 1.9 Options The Type 100/300 autopilot system is available with the following optional system components: Hand-held Remote (Z101) The hand-held remote allows course changing from a position away from the steering station. The hand held remote is connected to the autopilot via the SeaTalk bus. -
Page 19: Auxiliary Alarm (Z035)
Auxiliary Alarm (Z035) The autopilot is provided with a comprehensive automatic off-course alarm system that sounds from all control units. This provides sufficient audible warning under most conditions. However, in cases where a high powered alarm is required, an auxiliary alarm can be fitted. The auxiliary alarm is connected to the SeaTalk bus via the NMEA interface box and will sound whenever the autopilot transmits one of the following alarm conditions. -
Page 20: Wind Transducer (Sail Only)
Chapter 1: System Components Wind Transducer (sail only) If the installation does not include a SeaTalk Wind instrument either the masthead or pushpit wind transducer can be connected directly to the NMEA interface box to supply wind angle information. Masthead Wind Transducer (Z080, Long Arm Version Z188) Pushpit Wind Transducer (Z087) 371mm (14.6in) D1075-1... -
Page 21: Gyroplus Transducer (Z179)
TYPE 100/300 Operation and Installation Handbook Gyroplus Transducer (Z179) The Autohelm Gyroplus is a transducer that measures the rate of turn of the vessel. This is used by the autopilot to give even better correction for boat yaw in adverse weather conditions. It is particularly beneficial downward and in following sea conditions. -
Page 22: Chapter 2: Installation
Chapter 2: Installation Chapter 2: Installation 2. General This section describes how to install the autopilot and system components described in chapter1. Planning the Installation When selecting power cable it is important to use the stated wire gauge. The cable you choose may meet the required current specification, however, if too small, the voltage will drop between the supply and the course computer. -
Page 23: Mounting
Mounting 1. With the course computer located as required, outline the two 2. Drill two pilot holes for the fixing screws. 3. Secure the course computer to the vessel using the two screws Note: If the mounting surface is less than 3mm (1/8in) thick, use the U clips provided. -
Page 24: Type 1 Drive Units/Stern Drive/Constant Running Pump
Chapter 2: Installation Type 1 Drive Units/Stern Drive/Constant Running Pump Cable Length (Distribution panel to Course Computer) Up to 3m (10ft) Up to 5m (16ft) Up to 7m (23ft) Up to 10m (32ft) Up to 16m (52ft) Type 2 Drive Units (12V) Cable Length (Distribution panel to Course Computer) -
Page 25: Type 3 Drive Units (12V)
Type 3 Drive Units (12V) Cable Length (Distribution panel to Course Computer) Up to 5m (16ft) Up to 7m (23ft) Up to 16m (52ft) Type 3 Drive Units (24V) Cable Length (Distribution panel to Course Computer) Up to 5m (16ft) Up to 7m (23ft) Up to 16m (52ft) 2. -
Page 26: St7000/6000 Control Unit
Chapter 2: Installation Drive Unit Type 1 Type 2 (12V) Type 2 (24V) Type 3 Sterndrive Type CR 2.2 ST7000/6000 Control Unit The ST6000 and ST7000 control units are identical in operation and installation.The main ST7000/6000 control unit should be mounted close to the steering station where it is: •... -
Page 27: Cabling
1. Make sure that the mounting surface is smooth and flat. 2. Use the template provided to mark the centres for the two fixing studs Note: Adjacent instruments should have 6mm (1/4in) separation to allow room for the protective covers. 3. - Page 28 Chapter 2: Installation If the vessel is already fitted with Autohelm instrumentation, this should be connected to the course computer as shown, using one of the standard SeaTalk interface cables. The course computer will then supply power for the complete system. SeaTalk CLUTCH SeaTalk CLUTCH ST50 Instrument...
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Page 29: Fluxgate Compass
2.3 Fluxgate Compass Correct positioning of the fluxgate compass is crucial if ultimate perform- ance is to be achieved. To minimise gimbal disturbance, the fluxgate should ideally be positioned as near as possible to the pitch and roll centre of the vessel. Mounting TYPE 100/300 Operation and Installation Handbook... -
Page 30: Cabling
Chapter 2: Installation 1. Locate the fluxgate compass on a suitable vertical surface. 2. Drill four pilot holes and attach the fluxgate compass using the self- 3. Make sure that the fluxgate is positioned at least 0.8m (2ft 6in) away Note: If any doubt exists over magnetic suitability of the chosen site, the position may be surveyed using a simple hand bearing compass. -
Page 31: Rotary Rudder Reference Transducer
2.4 Rotary Rudder Reference Transducer The rotary rudder reference transducer must be connected directly to the tiller arm to provide accurate rudder position to the course computer. If it is more convenient, the unit may be installed upside down. However, if mounted this way, the red and green wires must be reversed at the course computer. - Page 32 Chapter 2: Installation It is important to ensure that the dimensions (set out above) are within the set limits and that the tiller and rudder reference arms are parallel to each other. 1. With the rudder amidships, the rudder reference arm should be opposite the point of cable entry and at 90 degrees to the connecting...
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Page 33: Cabling
2. The tiller pin must be positioned within the limits shown. Ideally, 3. Cut the threaded rod to length and screw on the lock nuts ‘Y’and the Cabling 1. Run the rudder reference cable back to the course computer. 2. Connect to the rudder reference terminals on the course computer. Note: A 10m (30ft) extension cable is available for larger installations (part no. -
Page 34: Linear Feedback Transducer
Chapter 2: Installation 2.5 Linear Feedback Transducer The Linear Feedback Transducer is designed for use with bullhorn type outboard installations. 7 8 3 Mounting 1. Operate the steering system so that the ‘bullhorn’ ram (1) is positioned 2. Release the hydraulic pressure from the vessels hydraulic steering 3. -
Page 35: Cabling
10. Position the linear feedback transducer (5) on top of the spacers (4) Note: The linear feedback transducer should, under normal circum- stances, be assembled with the shaft (9) pointing towards starboard. However, if it is not possible to orientate the unit in this way, port installa- tion is possible providing the red and green wires are reversed at the course computer. -
Page 36: Hydraulic Drive Systems
Chapter 2: Installation 2.6 Hydraulic Drive Systems This section covers the installation of hydraulic system components together with relevant plumbing and cabling procedures. For optimum autopilot performance it is important that the pump specifica- tions given below match the vessel's steering ram. Pump to Cylinder Specifications Pump Type 1... -
Page 37: Type 2 Drive Unit (12V)
Type 2 Drive Unit (12V) Cable Length (Drive Unit to Course Computer) Up to 5m (16ft) Up to 7m (23ft) Up to 16m (52ft) Type 2 Drive Unit (24V) Cable Length (Drive Unit to Course Computer) Up to 3m (10ft) Up to 5m (16ft) Up to 7m (23ft) Up to 10m (32ft) -
Page 38: Plumbing
Chapter 2: Installation Note: The reversing hydraulic pumps do not require a clutch connection. If the pump is to be used to drive a secondary steering ram, a bypass valve will have to be fitted as shown in the following illustration. Relay –... - Page 39 It is also necessary to ensure that the helm pump is fitted with reversing check valves, otherwise the autopilot pump will drive the helm pump (sometimes referred to as motoring the wheel) in preference to moving the ram. Single helm pump systems without check valves should incorporate a double pilot check valve and block (available as part Z068).
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Page 40: Two Line System
Chapter 2: Installation Two line system A typical two line steering system is shown in the following illustration. Hydraulic fluid can be pumped into the ram in either direction depending on the direction of the helm pump rotation. The autopilot pump is con- nected to the system as shown. -
Page 41: Three Line System
Three line system In a three line system, hydraulic fluid flows in one direction only - out of the helm pump to the ram and then returning from the other side of the ram to the reservoir via a common return line. A uniflow valve block will be fitted in the system to ensure that all returned fluid from the ram is directed back to the reservoir. -
Page 42: Constant Running Hydraulic Pump
Chapter 2: Installation 3. Reverse this action to clear any air on the other side of the pump as 4. Press and hold the +10 degree key: the autopilot will try to drive the 5. Counter the rudder movement by turning the helm to port. Note: Monitor the reservoir tank at all times during the bleeding proce- dure, make sure it remains full of the hydraulic fluid recommended by the manufacturer. -
Page 43: Cabling
Cabling The constant running interface must be used on all installations with constant running hydraulic pumps. The main power supply is led to the interface and then onto the course computer. The interface unit has connections for the solenoid valves and the bypass valve, if one is required. -
Page 44: Pump Cable
Chapter 2: Installation Pump Cable Cable Length (Distribution Panel to Pump) Up to 3m (10ft) Up to 7m (22ft) Up to 16m (52ft) Solenoid Cable Solenoid Cable Length (Course Computer to Pump) Up to 7m (23ft) Up to 12m (39ft) Up to 17m (55ft) An isolator switch should be installed in the power supply to the complete system. -
Page 45: Plumbing
Plumbing If the autopilot operated hydraulic cylinder is independent of the manual steering system, a solenoid operated bypass valve (Z079 (12V),Z122 (24V)) should be fitted to allow the cylinder to backdrive when manual steering. The bypass valve should be connected to the ‘bypass’... -
Page 46: Hydraulic Linear Actuator
Chapter 2: Installation Hydraulic Linear Actuator The hydraulic linear actuator, with built in solenoid operated bypass valve and load limiting system, is designed for use as a secondary autopilot steering cylinder. The system is supplied prefilled and preplumbed for ease of installation. 1 Reservoir 2 Pump 3 Cylinder 4 Tie-wrap 5 Clip 6 Reservoir hose 7 Pump hose A 8 Pump hose B 9 Cylinder hose 10 Cylinder ball joint 11 Quadrant Installation... - Page 47 When siting the actuator the following points should be noted: 1. The actuator mounting foot must be mounted to a horizontal surface. View from above View from above 2. The drive end must be at right angles to the hydraulic cylinder when View from above TYPE 100/300 Operation and Installation Handbook There is insufficient movement in the swivel joint for vertical mounting.
- Page 48 Chapter 2: Installation 3. Accurate angular alignment between the hydraulic cylinder and the View from astern Caution: The push rod must not be shortened as it contains hydraulic fluid. 4. The push rod ball end must be attached to the tiller arm at the radius 5.
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Page 49: Cabling
Cabling 1. Run the pump and bypass valve cable back to the course computer. 2. Wire to the course computer clutch and motor connections. Final Preparations Before use 1. Remove the reservoir cap and replace with the supplied standard cap. 2. -
Page 50: Mechanical Drive Systems
Chapter 2: Installation 2.8 Mechanical Drive Systems Rotary Drive Unit The rotary drive is coupled to the steering by a chain drive. Most steering gear manufacturer's supply special autopilot drive attachments (many include this as standard). The Edson Company is a good source. Mounting Having selected the position for attachment of the autopilot drive chain, it is necessary to determine the chain reduction ratio. - Page 51 3.22mm – 3.24mm (0.127in – 0.1275in) Grub screw 19mm (0.75in) The drive unit must be bolted to a substantial frame member. The mounting foot is secured to the drive unit by four equally spaced allenhead screws and it may be rotated through 90 degrees to provide a more convenient mounting position, if required.
- Page 52 Chapter 2: Installation D759-1 Both sprockets must be accurately aligned to run in the same plane. Correct alignment must be carefully checked by means of a straight edge. The gearbox can be mounted in any position. Additionally, the drive sprocket may face in any direction as the steering sense can, by reversing the polarity of the drive motor connection, be corrected when installation is complete.
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Page 53: Cabling
Cabling The rotary actuator has electrical connections for both the drive motor (red/black cores) and clutch (twin cable with blue/red cores). Using a suitable size cable (see tables), route back to the course computer and connect to the clutch and motor terminals. Type 1 Drive Unit Cable Length (Drive Unit to Course Computer) -
Page 54: Type 2 Drive Unit (24V)
Chapter 2: Installation Type 2 Drive Unit (24V) Cable Length (Drive Unit to Course Computer) Up to 3m (10ft) Up to 5m (16ft) Up to 7m (23ft) Up to 10m (32ft) Up to 16m (52ft) Linear Drive Unit The linear drive unit connects directly on to the rudder stock at the tiller arm radius (shown below). -
Page 55: Mounting
Mounting When siting the linear drive unit, the following points should be noted: • The drive unit mounting bracket can be attached to any horizontal or vertical surface. Also, the drive unit can be mounted upside down if required. • The ball end fitting will allow up to 5 degrees misalignment between the pushrod and tiller arm plane of rotation. -
Page 56: Cabling
Chapter 2: Installation Cabling The linear drive unit has electrical connections for both the drive motor and clutch. Using a suitable size cable (see tables), route back to the course computer and connect to the clutch and motor terminals as shown. Type 1 Drive Unit Cable Length (Drive Unit to Course Computer) -
Page 57: Type 2 Drive Unit (24V)
Type 2 Drive Unit (24V) Cable Length (Drive Unit to Course Computer) Up to 3m (10ft) Up to 5m (16ft) Up to 7m (23ft) Up to 10m (32ft) Up to 16m (52ft) Stern drive Actuator The stern drive actuator can be fitted to power assisted Stern drive systems made by Volvo-Penta, Mercruiser, OMC and Yamaha. - Page 58 Chapter 2: Installation 1. Push the mounting bracket behind the steering cable, sliding the 2. The bracket clamp hinges onto the mounting bracket and is located Steering cable Steering cable 3. Uncouple the engine tie bar from the outdrive tiller arm by bending location pins either side (top and bottom) of the Volvo power steering block.
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Page 59: Volvo (Post Type 872215)
Drive unit 4. Attach the drive unit to the mounting bracket as shown above and 5. Slowly turn the steering system from hardover to hardover. It is most Volvo (Post type 872215) 1. Remove the locating pin that attaches the cable rod to the tiller end Safety clip Adaptor pin bracket... - Page 60 Chapter 2: Installation 2. Secure the assembly with the split pin (supplied). 3. Install the adaptor pin bracket to the cable end sheath. Note: The adaptor pin bracket must sit against, but not on, the shoulder of the cable end sheath. Also, it is important that the securing bolts are sternside of the steering cable end sheath.
- Page 61 7. Carefully twist and lower the actuator into the girdle support bracket Caution: It is most important that both the solid and spring location pins are fully engaged in the actuator girdle tube. Failure to do so will result in autopilot failure and possible steering system damage.
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Page 62: Mercruiser/Omc/Yamaha
Chapter 2: Installation Mercruiser/OMC/Yamaha 1. Remove the locating pin that attaches the cable end sheath to the tiller 2. Replace the locating pin with the girdle support bracket as shown. 3. Secure the assembly with the split pin (supplied). 4. With the helm turned hard to port, assemble the adaptor pin bracket Adaptor bracket Note: The securing bolts must be on the front or bow of the boat side... - Page 63 5. Make sure that the bracket remains vertical and tighten the two 6. Rotate the girdle support bracket so that the spring locator pin is 7. Position the stern drive actuator so as to locate the fixed support 8. Carefully twist and lower the actuator in to the girdle support Note: Both the solid and spring location pins must be fully engaged in the actuator girdle tube;...
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Page 64: Mounting In A Restricted Area
Chapter 2: Installation bracket do not touch any part of the engine or steering system. This includes any engine hoses that may have a passing contact with the autopilot actuator; after a time these will wear and ultimately fail. Mounting in a Restricted Area If an obstruction prevents installation of the drive unit as supplied, the main body can be rotated relative to the mounting bracket as follows: 1. -
Page 65: Cabling
Cabling 1. Plug in the power cable, supplied with the drive unit, making sure 2. Run the cable back to the course computer. Secure the cable 3. Once again using the steering wheel to move the rudder from 4. The actuator cable has electrical connections for both the drive TYPE 100/300 Operation and Installation Handbook Front cover Lock nut... -
Page 66: Auxiliary Alarm
Chapter 2: Installation 2.9 Auxiliary Alarm The auxiliary alarm is waterproof and, therefore, can be mounted in any position. A foam seal on the mounting flange ensures a watertight joint to the mounting surface. The auxiliary alarm must be connected to the system via an NMEA interface. -
Page 67: Cabling
Cabling Connect the NMEA interface to the alarm and course computer as shown. 2.10 Joystick The mounting surface must be smooth and flat to ensure that there is adequate waterproofing. 1. Use the template provided to mark the centers for the two fixing 2. -
Page 68: Masthead Transducer (Sail Only)
Chapter 2: Installation Cabling The Joystick is supplied with 26ft (8m) of cable which should be connected to the course computer as shown. Note: Only one joystick can be connected. 2.11 Masthead Transducer (sail only) To enable wind information to be made available to the SeaTalk system, the wind transducer must be connected to the NMEA interface box. -
Page 69: Mounting
Mounting 1. With the threaded end of the mounting block facing forwards, 2. Drill the holes using the supplied 4.0mm (5/32in.) drill. 3. Attach the mounting block to the mast using a suitable sealing 4. Tighten the locking ring securely. 1 Mounting block 2 Locking ring Cabling 1. - Page 70 Chapter 2: Installation – SeaTalk SeaTalk CLUTCH Grey (screen) Yellow D1021-1...
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Page 71: Interfacing To Other Manufacturer's Equipment (Nmea)
Note: The yellow connection from the mast head transducer is not connected at the NMEA interface. 2.12 Interfacing to other manufacturer's equipment (NMEA) Course Computer NMEA ports The type 100 and 300 course computers have NMEA 0183 input and output ports. Sentances decoded are as follows. Input Port NMEA 0183 Data Cross Track Error... -
Page 72: Cabling
True Heading Locked Autopilot Heading Course Over Ground Speed Over Ground Fix/No Fix Cabling Connect the NMEA output from a GPS, Loran, Decca etc. to the NMEA input terminals on the course computer. + – Type 100/300 Course Computer + –... -
Page 73: St6000/St7000 Control Unit Nmea Input
TYPE 100/300 Operation and Installation Handbook Connect the NMEA input on the radar etc. to the NMEA output terminals on the course computer. Type 100/300 Course Computer Radar etc. + – + – NMEA SeaTalk NMEA in D1065-1 ST6000/ST7000 Control Unit NMEA Input The ST6000/ST7000 control units are fitted with an NMEA input port. -
Page 74: Cabling
COG and SOG Cross Track Error Cabling Connect the NMEA output from either a GPS, Loran, Decca, Speed or Wind instrument to the NMEA input on the control unit. NMEA Interface The NMEA interface is primarily designed to allow operation with other manufacturers equipment by providing conversion between SeaTalk and NMEA 0183 data format. - Page 75 Navcenter or Navdata or Navcenter or Navdata or Navcenter or Navdata or Navcenter or Navdata or Wind Speed or Tridata Depth or Tridata GPS or Navcenter or Navdata Compass or SeaTalk Autopilot Compass or SeaTalk Autopilot SeaTalk Autopilot GPS or Navdata or...
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Page 76: Cabling
Chapter 2: Installation NMEA 0183 Data Cross Track Error Bearing to Waypoint Distance to Waypoint Waypoint Number Latitude and Longitude Magnetic Heading True Heading Locked Autopilot Heading Course Over Ground Speed Over Ground Fix/No Fix Cabling • Connect the NMEA interface box to the course computer SeaTalk connection or alternatively any other SeaTalk product using one of the available interface cables. -
Page 77: Chapter 3: Functional Test
Chapter 3: Functional Test This section provides detailed information related to complete system testing, equipment calibration and initial sea trials. 3.1 System test The steering system and drive unit/rudder reference transducer should be carefully inspected and the following points checked using the steering wheel to drive the vessels steering from hardover to hardover. -
Page 78: Rudder Angle Sense
Chapter 3: Functional Test 3.3 Rudder angle sense ST7000 control unit Move the wheel to produce a starboard turn. The rudder angle display should move to the right. If the display moves to the left the red and green wires from the rudder reference transducer must be reversed. -
Page 79: Operating Sense
3.5 Operating sense The operating sense of the autopilot can be checked as follows: 1. Push AUTO. 2. Press the +10 degree key. This should move the rudder a few 3.6 Rudder deadband The factory preset rudder deadband level will provide stable rudder positioning on most steering systems. -
Page 80: Mechanical Test (Stern Drive)
Chapter 3: Functional Test 3.8 Mechanical Test (Stern Drive) It is recommended that the Auto Release facility is used when a Autohelm mechanical stern drive actuator is installed. This should be switched on in calibration. 1. Manually drive the steering hardover to starboard 2. -
Page 81: Gyroplus Offset And Drift Compensation
3.10 GyroPlus Offset and Drift Compensation The GyroPlus uses the latest generation solid-state rate gyro to enhance steering performance at response level 3 (see Calibration for details). Like all rate gyro's the GyroPlus is subject to offset and drift. However, this is automatically compensated for whenever the autopilot is in AUTO mode. -
Page 82: Chapter 4: Calibration
Chapter 4: Calibration Chapter 4: Calibration 4.1 Recommended Settings As supplied the ST7000 can be switched on and tested safely without any adjustments to the factory calibration settings. The table below lists the suggested settings for sailing/power displace- ment and planing power vessels. These will provide good performance for initial sea trials and can be fine tuned later to optimise performance. -
Page 83: Selecting Calibration
4.2 Selecting calibration To select calibration: • Press Standby. • Press and hold Track and Display for 2 seconds to access the following display. ST7000 ST6000 • Press and hold Track and Display for a further 2 seconds to access the following display. -
Page 84: Adjusting Calibration
Chapter 4: Calibration 4.3 Adjusting calibration In calibration the Display key is used to scroll through the menu. The displayed value is adjusted using the Response keys (hold down for fast scroll). Note: If the 'CAL' display reappears at any time during calibration, press Display to advance to the next menu level. -
Page 85: Rate Level
Rate Level Rate level controls the amount of rudder the pilot will apply to reduce the speed at which the vessel is turning. This is also known as counter rudder, and is only used in response level 3. The settings available are as follows: Range Recommended setting... -
Page 86: Turn Rate
Chapter 4: Calibration Turn Rate Turn Rate is the rate in degress per second at which the vessel will turn when course changes are made via the autopilot. The settings available are as follows: Range Default setting 20 degrees (Displacement) Turn Rate limit does not apply in power steer or joystick modes. -
Page 87: Trim Level
Trim Level Trim Level sets the level for automatic trim which applies additional rudder to correct for unbalanced propeller torque on twin engine installations, or weather helm. The Trim Level settings available are as follows (rate of trim increases with trim level): Range Default setting 2 (Displacement) -
Page 88: Rudder Deadband (Rudder Damping)
Chapter 4: Calibration Rudder Deadband (Rudder Damping) The factory setting for Rudder Deadband provides stable rudder position- ing on most steering systems. However, some steering systems that use a rotary or hydraulic drive unit a long way from the rudder may experience slight instability. -
Page 89: Latitude
Note: If Auto Adapt is not selected manual adjustment of rudder gain is normally required when going from Northerly to Southerly headings or vice versa. Failure to do so can lead to poor course keeping. The settings available are as follows: Range Default setting 1: North Latitude... -
Page 90: Auto Release (Manual Override)
Chapter 4: Calibration Auto Release (manual override) Auto Release provides emergency manual override, should it be neces- sary, for example, to avoid an obstacle at the last moment. It is used with an Autohelm stern drive actuator. For all other drive systems Auto release should be turned off. -
Page 91: Display Contrast Adjustment (St7000 Only)
4.5 Display Contrast Adjustment (ST7000 only) The contrast of the LCD display can be adjusted to suit a wide range of viewing angles. • Press Display and Track together momentarily. • Press Response ( ) to increase contrast (suits viewing from below). •... -
Page 92: Chapter 5: Initial Sea Trials
Chapter 5: Initial Sea Trials Chapter 5: Initial Sea Trials 5.1 Initial Sea Trials Initial sea trials should be carried out in calm conditions with plenty of sea room. As the vessel will be constantly changing heading, it is most important to maintain a constant look out. - Page 93 Keep turning until the display changes to show the amount of deviation the autopilot has corrected. This can take up to 2 full turns depending on the amount of deviation found. Note: If the deviation exceeds 15 degrees, you should relocate the fluxgate compass.
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Page 94: Compass Alignment (Without Deviation Correction)
Chapter 5: Initial Sea Trials 5.3 Compass Alignment (without deviation correction) It is possible to change the alignment between the fluxgate and the ship's compass without carrying out the automatic deviation correction. Proceed as follows: 1. Push and hold 2. Use the course change keys to adjust the heading displayed. 3. -
Page 95: Response Control
5.5 Response Control There are three response levels to provide tighter than normal course keeping when there is restricted sea room. Select each level in turn and observe the autopilot activity. Level 1 - Automatic Sea State Control • This provides the optimum compromize between power consumption and course keeping accuracy and is suitable for most situations. -
Page 96: Automatic Trim Control
Chapter 5: Initial Sea Trials 5.6 Automatic Trim Control The autopilot automatically corrects for trim. No adjustment of the pilot is necessary. After each course change the automatic trim is cancelled and the autopilot will re-establish the correct trim for the new heading. It should be noted that if a large course change is keyed in(greater than 60 degrees) the autopilot will not assume the final selected course immediately. -
Page 97: Rudder Gain Adjustment (Displacement Craft)
5.7 Rudder Gain Adjustment (Displacement Craft) The factory set rudder gain level provides stable control for initial sea trials. However, vessels can vary widely in their response to the helm, and further adjustment to the rudder gain may improve the autopilot’s steering characteristics. -
Page 98: Rudder Gain Adjustment (High Speed Planning Craft)
Chapter 5: Initial Sea Trials 5.8 Rudder Gain Adjustment (High Speed Planning Craft) Adjust as follows: • Set to Rudder Gain for optimum steering performance at the vessels normal cruising speed. • Push either side of the calibrated setting to provide optimum autopilot steering. 5.9 Rudder Gain - Adjustment with Speed Due to the significant differences in dynamic stability between planing and non-planing conditions, most high speed craft require Rudder Gain... -
Page 99: Manual Override (Stern Drive Actuators Only)
5.10 Manual Override (Stern Drive Actuators only) Manual override should be selected in calibration only on installations fitted with the stern drive actuator. When it has been selected, the autopilot can be overridden to allow hand steering by turning the steering wheel. -
Page 100: Chapter 6: Track Control 9
Chapter 6: Track Control Track control allows the autopilot to maintain track between waypoints entered on a GPS, Decca or Loran Navigation System. The navigation system must have a suitable autopilot NMEA output (refer to section 2.13). If the navigation system transmits the correct NMEA 0183 sentences, the autopilot will receive and display bearing to waypoint, distance to waypoint, waypoint number and cross track error. - Page 101 TYPE 100/300 Operation and Installation Handbook...
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Page 102: Chapter 7: Windvane Control (Sail Only)
Chapter 7: Windvane Control Chapter 7: Windvane Control (Sail Only) Windvane control allows the autopilot to maintain an apparent wind angle. There are two methods of supplying wind angle: 1. Using NMEA 0183 output from another manufacturer's instrument 2. Using an Autohelm ST50 wind instrument connected using the The autopilot uses wind trim to eliminate the effects of turbulence and short term wind variations to provide smooth, precise performance under windvane with minimum power consumption. - Page 103 TYPE100/300 Operation and Installation Handbook...
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Page 104: Index
Index Index Adjusting calibration 83 Auto Adapt 87 Auto Release (manual override) 89 Automatic Compass Heading Automatic Sea State Control 94 Automatic Sea State Inhibit 94 Automatic Sea State Inhibit and Automatic Trim Control 95 Auxiliary Alarm Cabling 65 Mounting 65 Calibration 81 Adjusting calibration 83 Auto Adapt 87... - Page 105 Initial Sea Trials 91 Installation Auxiliary Alarm 65 Course computer 21 Control Unit ST6000/7000 25 Control Unit ST6000/7000 NMEA Fluxgate Compass 28 Hydraulic Drive Systems 34 Interfacing to other manufacturer's Joystick 66 Linear Feedback Transducer 33 Masthead Transducer 67 Mechanical Drive Systems 49 TYPE100/300 Operation and Installation Handbook Mounting 22 Cabling 22...
- Page 106 Index Saving Calibration Mode 89 Selecting calibration 82 Setting the Autopilot Rudder Limit Sterndrive Actuator Cabling 64 Mounting 56 Switch-on 76 System test 76 Track Control 99 Trim Level 86 Turn Rate 85 Wind Transducer Cabling 68 Mounting 67 Wind Trim 88 Windvane Control (Sail Only) 101 (All drives) 79...
- Page 107 Mechanical Drive Systems 49 Mechanical test (Linear, Rotary & Mechanical Test (Stern Drive) 79 NMEA Interface Cabling 74 Off Course Limit 85 Operating sense 78 Permanent Watch Alarm (SFIA) 90 Planning the Installation 21 Pump to Cylinder Specifica- Rate Level 84 Recording Calibration Settings 90 Response Control 94 Response Level 88...
- Page 109 Nautech Limited, Anchorage Park, Portsmouth P03 5TD, England Telephone (0705) 693611. Fax (0705) 694642...