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Step 9: Integrate the System

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Step 9:

Integrate the System

This section explains how to connect the autopilot to other equipment
and integrate the system:

Note: Before connecting other equipment, read the EMC installation
guidelines (see page 7).

9.1

Connecting SeaTalk equipment

page 32

9.2

Connecting NMEA equipment

page 36

9.3

Connecting optional components

page 40

9.4

Setting-up the autopilot

page 42

81173_3.book Page 31 Thursday, June 7, 2001 11:51 AM

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Summary of Contents for 150

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 ...

Page 2: ...Type 150 400 Autopilot System Installation Guide Document number 81173 3 Date June 2001 ...

Page 3: ...t SeaTalk and SportPilot are registered trademarks of Raymarine Ltd Raymarine AST Advanced Steering Technology AutoAdapt AutoLearn AutoRelease AutoSeastate AutoTack AutoTrim FastTrim GyroPlus RayGyro RayPilot and WindTrim are trademarks of Raymarine Ltd Handbook contents Raymarine Ltd 2001 ...

Page 4: ...2 EMC installation guidelines 7 Step 3 Install the Course Computer 9 3 1 Select the location 10 Suitable locations 10 Unsuitable locations 11 Orientation 11 3 2 Secure the course computer 12 3 3 Remove the connector cover 12 Connecting cables to the terminals 14 Using the fuses 14 3 4 Attach the power cables 15 Step 4 Install the Compass 17 4 1 Select the location 18 4 2 Mount the compass 20 4 3 C...

Page 5: ...t 32 Possible systems 32 9 2 Connecting NMEA equipment 36 Course computer NMEA inputs outputs 36 Control unit NMEA inputs 38 SeaTalk NMEA interface 38 Connecting several items of NMEA equipment 38 9 3 Connecting optional components 40 GyroPlus yaw sensor 40 Handheld remotes 40 External alarm 40 Wind vane sail boats 40 Off switch 41 Other manufacturers drive units 41 9 4 Setting up the autopilot 42...

Page 6: ...book we have also included maintenance information product specifications glossary and index installation template the warranty statement Note This handbook contains important information about the installationandmaintenanceofyournewRaymarineproduct Toget the best from the product please read this handbook thoroughly 1 Check the Installation Kit page 1 2 Check Locations page 6 3 Install the Course...

Page 7: ...his product You will only receive full warranty benefits if you can show that an Authorized Raymarine Service Representative has installed or commissioned this product WARNING Electrical safety Make sure the power supply is switched off before you make any electrical connections WARNING Calibration We supply this product calibrated to default settings To ensure optimum performance on your boat thi...

Page 8: ...t Even when your autopilot is locked onto the desired track using a navigationaid alwaysmaintainalogandmakeregularpositional plots Navigation signals can produce significant errors under some circumstances and the autopilot will not be able to detect these errors EMC conformance All Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine e...

Page 9: ...ts Options External GyroPlus yaw sensor Active compass Rotary drive Hydraulic pump Linear drive Wind vane External alarm SeaTalk handheld remote D5191 2 NMEA equipment SeaTalk equipment Rudder position sensor Standard fluxgate compass Control unit Course computer Drive unit Type 150 400 autopilot system ...

Page 10: ...arine Service Representative has installed or commissioned this product 1 1 Read this handbook To prepare for the system installation read through the following informationandthe rest ofthis handbookto familiarize yourselfwith the autopilot system and how to install it The autopilot system core pack contents Course computer The course computer lies at the heart of the autopilot system It processes...

Page 11: ...ion about the boat s heading Raymarine supplies a standard fluxgate compass for the autopilot system Rudder position sensor The rudder position sensor or rudder reference transducer provides the course computer with the exact position of the boat s rudder Course computer versions Version Supply voltage Drive unit compatibility Built in GyroPlus Type 150 12 V All Raymarine Type 1 12 V drivesand pum...

Page 12: ...it The control unit is the your interface with the autopilot system You can use it to engage and disengage the autopilot adjust the boat s course when the autopilot is engaged view information about the autopilot system s statusandperform a range of other functions Raymarine produces a range of control units to suit different boats and user requirements The autopilot system extended systems Around...

Page 13: ...nd masking tape for the rudder position sensor hacksaw small adjustable spanner bolts nuts and lockwashers if required for tiller pin for the course computer power supply suitable power cable see page 16 suitable fuse circuit breaker see page 16 Note You will also need the tools and equipment required to install the control unit and drive unit For full details refer the information supplied with c...

Page 14: ...lf tapping screws x3 for rudder position sensor No8 x 3 4 inch countersunk self tapping screws x2 for tiller pin No8 x 3 4 inch pan head self tapping screws x4 Compass warning label Installation Guide includes warranty documents and fitting templates Worldwide Distributor List Fluxgate compass with 8 m 26 ft cable Compass components Rudder position sensor components Rudder position sensor with 10 ...

Page 15: ...ulkhead below decks dry protected and well ventilated free from high operating temperatures and excessive vibration Compass location mount vertically with cable exiting at the base as near as possible to the boat s pitch and roll center at least 0 8 m 2 ft 6 in away from the boat s steering compass in the back two thirds of the boat away from potential sources of magnetic interference Í For more i...

Page 16: ...cessary 2 2 EMC installation guidelines All Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine environment Their design and manufacture conforms to the appropriate Electromagnetic Compatibility EMC standards but correct installation is required to ensure that performance is not compromised Although every effort has been taken to ensur...

Page 17: ...nt toreset This willnotdamage the equipment but may cause the loss of some information and may change the operating mode Raymarine specified cables are used Cutting and rejoining these cables can compromise EMC performance and must be avoided unless doing so is detailed in the installation manual Ifasuppressionferriteisattachedtoacable thisferriteshouldnot be removed If the ferrite needs to be rem...

Page 18: ...rts 3 1 Select the location page 10 3 2 Secure the course computer page 12 3 3 Remove the connector cover page 12 3 4 Attach the power cables page 15 D5413 2 Mounting lug Keyhole slot Suppression ferrite Cables for autopilot system components and power Cable clamp Tie wrap Mounting screws No 8 x 3 4 in x5 Main cover Connector cover Connector cover catch ...

Page 19: ...e computer On sailboats we also recommend mounting the course computer across the boat on a transverse bulkhead Notes 1 If the only possible location has a metallic surface you must insulate the base of course computer so it is not earthed 2 When selecting the mounting location also refer to the EMC installation guidelines on page 7 Course computer installation dimensions 277 mm 10 9 in 288 mm 11 ...

Page 20: ... covers tool boxes etc where it might be covered by other equipment Orientation CAUTION You MUST mount the course computer so it is level and within 10 of the vertical The Type 150G and Type 400G course computers contain a built in GyroPlus yaw sensor that will NOT work correctly if you mount the computer in any other orientation This orientation also maximizes the air flow to cool the course comp...

Page 21: ...f tapping screws No 8 x 3 4 in pan head into the holes so the head of each screw is at least 6 mm 1 4 in from the surface 3 Place the keyhole slots over the screw heads then move the course computer down so the screw heads are at the top of the keyhole slots 4 Tighten the screws to hold the course computer securely against the mounting surface 3 3 Remove the connector cover To remove the connector...

Page 22: ...utputs and fuses D5194 1 Lock Unlock D5193 2 Spare connectors for future upgrades Type 400 only Fluxgate compass inputs External GyroPlus yaw sensor inputs Fuse puller SeaTalk fuse 5 A Spare fuses Clutch fuse 4 A Power fuse Type 150 30 A Type 400 40 A Rudder position sensor inputs SeaTalk inputs outputs Power inputs Type 150 12 V Type 400 12 V or 24 V Drive solenoid return inputs for drives pumps ...

Page 23: ...ept stranded cable up to 2 5 mm2 14 AWG To secure cables to the other terminals strip at least 5 mm 1 4 in of insulation from the end of each cable use a small screwdriver to push the small plastic lever on top of the terminal and release the cable clamp insert the stripped cable release the lever to grip the cable Using the fuses The POWER MOTOR and SeaTalk terminals are fuse protected against sh...

Page 24: ...r This could cause the course computer to malfunction and will reduce the power supplied to the drive unit 2 Route thecables backto the coursecomputer taking into account the EMC installation guidelines page 7 3 Install a circuit breaker or fuse on the power supply to suit the drive unit connected to your autopilot system see Table 3 2 4 Connect the cables to the POWER inputs on the course compute...

Page 25: ...drive 12 V up to 5m 16ft up to 7m 23ft up to 16m 52ft 10 AWG 8 AWG 6 AWG 6 mm2 10 mm2 16 mm2 Type 2 drive 24 V up to 3m 10ft up to 5m 16ft up to 10m 32ft up to 16m 52ft 12 AWG 10 AWG 8 AWG 6 AWG 4 mm2 6 mm2 10 mm2 16 mm2 Type 3 drive 12 V up to 5m 16ft up to 7m 23ft up to 16m 52ft 8 AWG 6 AWG 4 AWG 10 mm2 16 mm2 25 mm2 Type 3 drive 24 V up to 5m 16ft up to 7m 23ft up to 16m 52ft 10 AWG 8 AWG 6 AWG...

Page 26: ...to the course computer see page 21 Compass description and dimensions The compass contains a self levelling mechanism This enables the compass to provide accurate readings with pitch and roll movements up to 35 Fluxgate compass dimensions Note The rattle that the fluxgate compass makes when shaken is normal It is caused by the pendulum weight hitting the inside of the case 4 1 Select the location ...

Page 27: ... 6 in away from the boat s steering compass to prevent deviation of either compass awayfromthefrontthirdoftheboat otherwiseshockmotionwill affect compass performance away from potential sources of magnetic interference such as motors drive units loudspeakers alternators starters electric cables large ferrous objects such as engines ballast keel gas bottles and tool boxes Note Because you align the...

Page 28: ...s and your boat s main steering compass if accurately aligned should not differ by more than10 at any heading Steel hulled boats On steel hulled boats you must mount the compass at least 1 m 3 ft above the main deck or wheelhouse Otherwise the compass will not work correctly because the hull will prevent it from sensing the Earth s magnetic field The following diagram shows recommended mounting po...

Page 29: ...s using the self tapping screws provided No 8 x 3 4 in pan head Note Stick the supplied warning label near to the compass where it is clearly visible 4 3 Connect to the course computer 1 Thecompassis suppliedwith 8m 26ft ofcable Routethecable to the course computer taking into account the EMC installation guidelines page 7 Note Makesureyouleavesomesparecableso ifnecessary youcan re position the co...

Page 30: ...esses their signals in this order of priority 1 Fluxgate compass 2 NMEA compass 3 SeaTalk compass This means that if you want to use a NMEA compass as the primary compass you need to disconnect the fluxgate compass To connect a SeaTalk or NMEA compass to the autopilot system NMEA compass connect it to one set of NMEA inputs on the course computer SeaTalk compass connect it to the SeaTalk bus or th...

Page 31: ... systems apart from bullhorn style hydraulic outboards which require a linear rudder position sensor see page 26 The rotary rudder position sensor connects directly to the boat s tiller arm or quadrant Installing the sensor involves five main tasks ensuring correct alignment securing the sensor to the boat attaching the sensor to the tiller arm checking alignment connecting to the course computer ...

Page 32: ...vel as possible so the ball joints at each end are level remain parallel to the tiller arm s plane of rotation at all times Note If misalignment exceeds 5 the ball joints will bind or fail Maximum permitted travel 60 Cable entry Parallel Minimum 75 mm 3 in Maximum 310 mm 12 in 90 60 60 Min 101 mm 4 in Optimum 140 mm 5 5 in Max 190 mm 7 5 in D5387 1 Mounting base Tiller arm or quadrant Rudder posit...

Page 33: ...in place mark the mounting holes then remove the sensor If required use the template at the back of the book 2 Drill the pilot holes using a 3 mm 1 8 in drill bit 3 Attach the sensor to the mounting base using the self tapping screws supplied No 8 x 3 4 inch pan head Note Tomakeminoradjustmentstothesensoralignment loosenthe screws rotate the sensor body then re tighten the screws Attaching the sen...

Page 34: ...n the linkage to the tiller Checking alignment Move the rudder from hardover to hardover and check that at all rudder angles all moving parts of the sensor remain free from any obstructions the sensor and connecting rod remain accurately aligned the ball joints do not bind Connecting to the course computer 1 Theruddersensorissuppliedwith 10 m 32ft ofcable Routethe cable to the course computer taki...

Page 35: ...Note Contactyoursteeringgearmanufactureforadviceonthisstep and follow their instructions for releasing the hydraulic pressure 3 Loosen the starboard bolt that secures the bullhorn ram s shaft to the end bracket 4 FittheU bracket supplied overtheendbracketandthebullhorn ram s shaft 5 Hand tighten the starboard bolt to hold the U bracket in place 6 Fully open the hose clamps supplied using a flat bl...

Page 36: ... at the course computer Linear rudder position sensor installation Connecting to the course computer 1 Route the cable to the course computer taking into account the EMC installation guidelines page 7 2 Connect to the RUDDER terminals on the course computer refer to the illustration on page 25 Note To allow for the bullhorn s movement leave a loop of cable at the end of the linear rudder position ...

Page 37: ... pump are primarily designed for boats with existing hydraulic steering systems Alternatively you can use them in combination with a secondary steering ram on boats with mechanicalsteering TheCRpumpissuitableforlargerboatsand heavier duty steering applications The I O drive the Inboard Outboard or stern drive is designed todrivecableoperated powerassistedoutboardsteeringsystems To control a Raymar...

Page 38: ...o some of its more advanced functions ST6000 control unit ST7000 control unit ST600R remote control unit ST80 autopilot keypad as part of an ST80 instrument system RayPilot 650 control unit ST6000 and ST7000 control units Connecting to the course computer Ifyoursystemonlyincludesasinglecontrolunit connectittooneset of SeaTalk terminals on the course computer Í For full information about control un...

Page 39: ...rse computer the hole locations are clear of any cables 2 Markthepositionofthethreeholes thenremovethecableclamp 3 Drill the three pilot holes using a 3 mm 1 8 in drill bit 4 Secure the cable clamp using the self tapping screws supplied No 8 x 3 4 in pan head making sure the tie wrap securing loops are on the right below the POWER and MOTOR terminals on the course computer the clamp securely holds...

Page 40: ...ecttheautopilottootherequipment and integrate the system Note Beforeconnectingotherequipment readtheEMCinstallation guidelines see page 7 9 1 Connecting SeaTalk equipment page 32 9 2 Connecting NMEA equipment page 36 9 3 Connecting optional components page 40 9 4 Setting up the autopilot page 42 ...

Page 41: ...ve a range of options depending on whether you want to providean isolated controlunit forsystemswith morethanone control unit see next page provide power separately to the course computer and main SeaTalk bus The following illustrations show some typical ways to connect simple SeaTalk systems CAUTION If your autopilot system includes more than one control unit we strongly recommend connecting the ...

Page 42: ...e isolated control unit you can regain full autopilot control Note DependingonthenumberofSeaTalkunitsandthetotal lengthofSeaTalk cabling you may need to provide power supply to each end of the SeaTalk bus ring main style Refer to the instrument handbook for more information Control unit D5391 2 ST60 instruments Single control unit single power supply SeaTalk bus SeaTalk A Extra connection on large...

Page 43: ... the SeaTalk B line Typical larger boat system The following illustration shows a typical system layout for a Type 150G or Type 400G course computer on a larger boat It has separate course computer and SeaTalk power supplies an isolated control unit on SeaTalk A a NMEA 1 output so the radar chartplotters can use the fast heading output from the course computer to enable MARPA see page 37 Screen Re...

Page 44: ...alk B SeaTalk A HSB High Speed Bus Control unit Instrument Instrument Isolated control unit Instrument Instrument Radar scanner Radar Chartplotter Radar Chartplotter GPS receiver Flybridge SeaTalk A isolated control unit NMEA 1 out fast compass heading Typical larger boat system Separate power feed for SeaTalk B Fast compass output from NMEA 1 out ...

Page 45: ...ine equipment to other equipment using a non Raymarine cable you MUST attach an appropriate suppression ferrite to the cable near to the Raymarine unit Course computer NMEA inputs outputs Note Do NOT connect more than one piece of equipment to each of the course computer NMEA inputs ThecoursecomputerhastwosetsofNMEAinputs outputstoreceive and transmit information from NMEA equipment The course com...

Page 46: ... type of navigation data the course computer uses NMEA 1 Course computer NMEA 1 output NMEA 0183 transmitted Information sent HDM heading Note Type 150G and Type 400G course computers provide fast heading HDM output from NMEA 1 at 10 Hz 0 1 resolution This fast heading data is suitable for use with the MARPA function on radar equipment Course computer NMEA 2 output NMEA 0183 transmitted Informatio...

Page 47: ...ormation to from the SeaTalk system The interface converts NMEA data from the equipment into SeaTalk data SeaTalk data from the SeaTalk system into NMEA data Connect the NMEA equipment to the SeaTalk NMEA interface the SeaTalk NMEA interface to one of the course computer SeaTalk terminals or any other SeaTalk product using one of the available interface cables Connecting several items of NMEA equi...

Page 48: ...an Decca Control unit rear NMEA wind instrument NMEA radar NMEA speed instrument SeaTalk SeaTalk SeaTalk Screen Red Yellow Screen Red Yellow Type 150 400 course computer terminals SeaTalk NMEA interface GPS Loran Decca NMEA radar Typical NMEA connections Option 1 without SeaTalk NMEA interface Option 2 with SeaTalk NMEA interface NMEA NMEA NMEA NMEA NMEA NMEA NMEA NMEA ...

Page 49: ...te part number A15002 gives you full course control away from the main steering position External alarm The autopilot system sounds an off course alarm from all control units On large and or noisy boats you can fit a Raymarine external alarm part number Z035 connected though E85001 interface box as a high volume repeater Wind vane sail boats The course computer can use wind angle information from ...

Page 50: ...s drive motor drive clutch and drive solenoid terminals Connect the drive unit to these terminals as necessary Connecting spool valves If the drive has spool valves connect them to the motor and solenoid terminals on the course computer as shown below The course computer provides a negative ground for the spool valves even when it is switched off CAUTION Do NOT connect the solenoid return cables t...

Page 51: ...12 V clutch or right 24 V clutch 9 4 Setting up the autopilot When you have installed and connected all components you need to check the system and then set up the autopilot Í For more information about autopilot set up refer to the control unit owner s handbook 12 V 24 V D5397 1 Spool valves diodes across spool valves Course computer connections Return cables Diodes Electronic steering or jog lev...

Page 52: ... finding Course computer fuses Symptoms of a blown course computer fuse are if either the power fuse or SeaTalk fuse blows the control unit display will go blank if the clutch fuse blows and your drive has a clutch the control unit will show a DRIVE STOPPED alarm message If your control unit shows either of these symptoms check the relevant fuse s If the fuse has blown replace it with a fuse of th...

Page 53: ... Raymarine equipment guidelines are given in the installation instructions to enable you to ensure minimum interaction between different items of equipment i e ensure optimum Electromagnetic Compatibility EMC Always report EMC related problemsto yournearest Raymarine dealer We use suchinformationtoimprove our qualitystandards In some installations it may not be possible to prevent the equipment fr...

Page 54: ...131 F 80 drip resistant when mounted vertically Storage conditions temperature range relative humidity limit 5 C to 50 C 23 F to 122 F 75 Dimensions width height depth 307 mm 12 1 in 195 mm 7 7 in 70 mm 2 8 in Weight 2 1 kg 4 lb 7 5 oz Inputs fluxgate compass external GyroPlus yaw sensor rudder position sensor NMEA 0183 v2 3 x2 SeaTalk x2 off switch power drive solenoid return Outputs NMEA 0183 v2...

Page 55: ...ping using AST Full access to AutoLearn providing automatic steering calibration Improved track keeping Steers to true and apparent wind in Wind Vane mode Improved calibration access Full basic functionality Improved track keeping Steers to true and apparent wind in Wind Vane mode Improved calibration access but without AutoLearn Uses Raymarine steering algorithm without AST Standard functionality...

Page 56: ...rformance By following the EMC guidelines in this handbook you can minimize these effects by ensuring optimum Electromagnetic Compatibility EMC between equipment Fluxgate Standard Raymarine compass supplied with course computer core pack ft foot 1 ft 305 mm GPS Global Positioning System GyroPlus Raymarine s GyroPlus yaw sensor that measures the boat s rate of turn It is built into the Type 150G an...

Page 57: ...bus Thisrefers to the continuous SeaTalk system connecting together a series of Raymarine units SSB Single Side Band radio Type 150 12 V course computer without internal GyroPlus Type 150G 12 V course computer with internal GyroPlus Type 400 12 24 V course computer without internal GyroPlus Type 400G 12 24 V course computer with internal GyroPlus V Volts VHF Very High Frequency radio Yaw Boat s ra...

Page 58: ...40 Handheld remotes 40 Off switch 41 Wind vane 40 Raymarine equipment 32 35 Additional control units 32 SeaTalk equipment 32 SeaTalk compass 21 Control unit Description 3 29 Installation 29 Core pack Parts supplied 4 Course computer 12V and 12 24V versions 2 Cable clamp 30 Cabling 14 Connector cover 12 Description 1 Dimensions 10 Fuses 14 43 GyroPlus options 2 40 Input output terminals 13 Installa...

Page 59: ... Compass 6 18 Course computer 6 10 Rotary rudder position sensor 7 24 M Maintenance and servicing 43 44 Mounting Compass 20 Course computer 12 Rudder position sensor Linear 26 Rotary 24 Multiple compass systems 21 N NMEA compass 21 NMEA data inputs outputs 36 37 Fast heading HDM output 37 Navigator data inputs 37 NMEA equipment Connecting 36 39 Non Raymarine drives Connecting 41 Selecting clutch v...

Page 60: ...pass 21 SeaTalk equipment 32 Servicing 43 44 Specifications 45 Step 1 Check kit 1 4 Step 2 Check locations 6 8 Step 3 Install course computer 9 16 Step 4 Install compass 17 21 Step 5 Install rudder sensor 22 27 Step 6 Install drive unit 28 Step 7 Install control unit 29 Step 8 Clamp cables 30 Step 9 Integrate system 31 42 T Technical support 44 Tools required 4 W Warranty vi Wind vane 40 Y Yaw sen...

Page 61: ...52 Type 150 400 Autopilot System Installation Guide ...

Page 62: ...Aft Cable position Drill 3 mm 1 8 in diameter hole 3 positions D3440 2 Rudder positioned amidships Rudder position sensor template Maximum permitted travel 60 ...

Page 63: ......

Page 64: ...p in impeller carriers impellers impeller bearings and impeller shaft are specifically excluded from this Warranty Magnetrons Cathode Ray Tubes CRT TFT Liquid Crystal Displays LCD and cold cathode fluorescentlamps CCFL hailerhornsandtransducersarewarrantedfor1year 12monthsfromdate of sale These items must be returned to a Raymarine facility All costs associated with transducer replacement other th...

Page 65: ...Telephone 1 800 539 5539 Ext 2333 or 1 603 881 5200 Ext 2333 Customer Support Telephone 44 0 23 9271 4713 Fax 44 0 23 9266 1228 Technical Support Telephone 1 800 539 5539 Ext 2444 or 1 603 881 5200 Ext 2444 Email techsupport raymarine com Email techsupport raymarine com Product Repair Center Telephone 1 800 539 5539 Ext 2118 Purchased from Purchase date Dealer address Installed by Installation dat...

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