Cetrek PROPILOT 700 User manual

PROPILOT 700
User’s Guide
Issue 02

Welcome...
All of us at Cetrek would like to welcome you to the world of
Cetrek ProPilot Systems.
Your ProPilot 700 is easy to operate. It will effortlessly steer your
boat on a straight course moving the rudders with the minimum of
fuss to ensure the absolute minimum wear and tear on the steering
system. When properly set up it will also help to give optimum fuel
economy and minimise power consumption.
Your Safety
THE USE OF AN AUTOPILOT DOES NOT AVOID THE NEED FOR
NORMAL WATCHKEEPING.
Your System
The system consists of the following basic units:
• ProPilot Control
• Pilot Computer
• Compass Sensor
• Rudder Feedback Unit
• Drive Unit
It may also include any of these optional enhancements:
•asecond ProPilot 700
•aProJog or ProSteer remote steer lever
•aRudder position indicator
Most of these options can be added to the system at any time. Your
Cetrek Dealer will be glad to give you the latest information on
any of them.
Document
Reference:
807000
Issue 03
December 1997

The information contained in this manual is believed to be accurate at the time of
going to print but no responsibility, direct or consequential, can be accepted by
Cetrek Ltd for damage resulting from the use of this information. Cetrek Ltd
reserve the right to make changes without notice to any of its products,
documentation or services. © Cetrek Ltd 1997
EMC Directive 89/336/EEC
This product has been designed to be compliant with the above
Directive.
Maximum performance and compliance with the EMC Directive can
only be ensured by correct installation. It is strongly recommended
that the installation conforms with the following Standards:
SMALL CRAFT - ELECTRICAL SYSTEMS:
a) ISO 10133 - Extra Low-Voltage DC Installations
b) ISO 13297 - Alternating Current Installations
ISO - International Standards Organisation

Contents
1. Using Your ProPilot 700 ....................7
1.1 The Autopilot Control ...................7
1.2 The Keyboard .........................8
1.3 Getting Started ........................9
1.4 Standby Mode (Manual Control of the steering) . 9
1.5 Jog Steer ............................9
1.6 Auto Mode (with the Control Option Compass) 10
1.7 Selecting Arrow Key Functions ............ 10
1.8 Dodge ............................ 11
1.9 Changing Course ..................... 11
1.10 Tack (with the Control Option Compass) ..... 11
1.11 Off Course Warning ................... 12
1.12 Rudder Position Indicator ................ 12
2. Navigator Control ....................... 13
2.1 NMEA 0183 Messages ................. 14
2.2 Using Navigator Control ................ 14
2.3 Selecting NMEA Input .................. 15
2.4 Waypoint Sequence ................... 16
2.5 Cross Track Error Display ................ 16
2.6 To Engage Navigator Control ............. 17
2.7 Cancelling Navigator Control ............. 17
3. Sea State Adjustments ................... 18
3.1 Response .......................... 19
3.2 Rudder Ratio ........................ 20
4. Installing Your ProPilot 700 ................ 21
4.1 Installation Procedure .................. 22
4.2 ProPilot 700 Specifications ............... 22
4.3 The Autopilot Control .................. 23
4.4 Mounting the ProPilot 700............... 23
4.5 Connecting The ProPilot 700 ............. 24
5. Dockside Settings ....................... 25
5.1 Step 1 Powering up for the First Time ...... 25
5.2 Step 2 Vessel Type Configuration ......... 26
5.3 Step 3 Rudder Settings Routine ........... 26
5.4 Step 4 Align Compass ................. 28
5.5 Step 5 Checking the Settings ............ 28

PROPILOT 700
6
6. Sea Trials .............................. 30
6.1 Step 6 Automatic Compass Deviation Correction30
6.2 Step 7 Align Compass ................. 31
6.3 Step 8 Centre Rudder ................. 32
6.4 Step 9 Auto Sea Tune ................. 32
6.5 Step 10 Final Sea Trials and Fine Tuning ..... 33
7. Pilot Configuration ...................... 35
7.1 Rudder Deadband ..................... 35
7.2 Counter Rudder ...................... 35
7.3 Trim .............................. 36
7.4 Navigator Gain ....................... 37
7.5 Waypoint Sequence ................... 38
7.6 Compass Damping .................... 38
7.7 Transition Speed (Rudder Ratio) ........... 39
7.8 Speed Display ....................... 39
7.9 Motor Speed Control ................... 40
7.10 Spool Valve ......................... 41
7.11 Motor Speed Reduction Angle ............ 41
7.12 Tack Angle ......................... 41
7.13 Power Steer Gain ..................... 42
7.14 Rudder Limits ....................... 42
7.15 Rudder Gauge Type .................... 43
7.16 Reset All ........................... 43
8. ProPilot 700 Key Summary ................ 44
9. System Messages ....................... 47
10. System Faults .......................... 48
11. Rudder Angle Template .................. 51
Warranty
Index
Index - Menu Options

7
1. Using Your ProPilot 700
1.1 The Autopilot Control
This is the unit where you, the Helmsman, tell your ProPilot 700
what you require it to do for you.
It communicates to you using a 4 digit illuminated Liquid Crystal
Display (LCD) and you communicate with it by using the 6 backlit
keys and the Course Control knob.
Figure 1 - The ProPilot 700 Autopilot Control
In an EMERGENCY press the OFF key to regain manual
control.
The style of LCD means that displayed messages will be a mixture
of upper and lower case characters. The alphabet used is as
follows:
"AbCcdEFGHIiJLNnOoPrStUu1234567890"

PROPILOT 700
8
Figure 2 - LCD Display
1.2 The Keyboard
OFF Key
• With the system powered up, this key selects Standby Mode.
AUTO key
• With the system powered up, this key selects Auto Mode.
and keys
• To dodge, Course Change or Tack in Auto Mode, depending on
selection.
• Jog Steer in Standby Mode.
• They change values in the menus.
ADJ Key
• This key selects; Response, Rudder Ratio and Rudder Position.
•Athree second press of the ADJ key will display the Pilot
Configuration Menu
NAV Key
• This key selects NMEA Input and displays Waypoint Sequence
and Cross Track Error.
• This key engages Navigator Control.
Course Select Knob
• To Course Change in Auto Mode
• Changes value in some menus.

9
1.3 Getting Started
Before the ProPilot 700 can be operated, the Dockside Settings
must be carried out, see section 5.
The ProPilot 700 has 2 basic modes of operation.
1. Standby Mode where the ProPilot 700 is switched on but not in
control of the vessel.
2. Auto Mode where the ProPilot 700 is in control of the vessel.
As soon as the ProPilot 700 is supplied with power it will turn on
in Standby Mode.
There will be a delay of about 10 seconds while the ProPilot 700
carries out a self test routine:
8888 Displays all the segments of the LCD,
Sn** Software Version Number,
P700 Pilot Control Type,
tESt then Self test completed successfully.
H*** The vessel’s heading is now displayed.
1.4 Standby Mode (Manual Control of the steering)
H035 "H" is displayed to show that the ProPilot 700 is in Standby Mode
and is displaying the vessel’s heading (035º in this example). The
Heading will change as you manually steer, just like a conventional
compass. The ProPilot 700 is not in control of the vessel.
1.5 Jog Steer
When in Standby Mode the Jog Steer function can be used by first
pressing either the or key, which will turn the vessel onto a
new heading.
JOG- To Jog Steer to Port (left), press the key.
-JOG To Jog Steer to Starboard (right), press the key.
The Jog Steer function will not operate in Auto Mode or when
Menu settings are being altered, using the and keys.

PROPILOT 700
10
1.6 Auto Mode (with the Control Option Compass)
Press the AUTO key to switch the ProPilot 700 from Standby to
Auto Mode, which engages the pilot in control of the vessel’s
course.
Press the OFF key at any time to revert to Standby Mode and
resume Manual Control.
A081 "A" is displayed to show that the ProPilot 700 is in Auto Mode,
steering under Compass Control and Course to Steer is displayed
(081º in this example).
If you are in Auto Mode but adjusting settings, a colon between the
second and third characters will flash to remind you that the vessel
is still under ProPilot 700 control.
1.7 Selecting Arrow Key Functions
In Auto Mode, each time the and keys are pressed together,
the ProPilot 700 cycles through the arrow key functions.
dOdg The display in Auto Mode shows “A234” when the
Dodge function is selected,
C.C “A.234” when the Course Change function is
selected (note dot),
t.AC and “t.234” when the Tack function is selected.
The Tack function is only available when “SAIL” is
selected as the Vessel Type Configuration.
E
E
D

11
1.8 Dodge
When you are in Auto Mode the Dodge function can be used by
pressing either the or key, which will turn the vessel and
continue to turn until the key is released. The ProPilot 700 will
then return to its preset heading. This function is used to “Dodge”
small obstacles in the vessel’s path and return to a parallel track
from your original.
d0-- Press the key and the display will indicate a Dodge to Port (left)
and the vessel will turn to Port.
--d0 Press the key and the display will indicate a Dodge to Starboard
(right) and the vessel will turn to Starboard.
The dodge function not operate in Standby Mode or when Menu
settings are being altered, using the and keys.
1.9 Changing Course
A.091 To change course, in Auto Mode, rotate the course Select Knob
until the new course is displayed (alternatively if the arrow key
function is set to Course Change, press the or keys, one press
represents 1º). The ProPilot 700 will immediately bring the vessel
on to the new course.
You could switch your ProPilot 700 back to Standby Mode, steer to
the new course manually then switch back to Auto Mode.
1.10 Tack (with the Control Option Compass)
The Tack function is only available when “SAIL” is selected as
the Vessel Type Configuration.
When the pilot is in Auto Mode and with the Tack function
selected, pressing either the or key will tack through a
preset angle, and will then hold course on this new heading. The
Tack Angle setting may be adjusted in the Pilot Configuration.
t.156 Press the key for a Port Tack, left of your course.
t.226 Press the key for a Starboard Tack, right of your course.
The Tack function not operate in Standby Mode or when Menu
settings are being altered, using the and keys.

PROPILOT 700
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1.11 Off Course Warning
If the vessel remains Off Course by more than 15º for 20
seconds, or instantly if it reaches 30º, the display will flash to
warn the Helmsman that there is a problem.
1.12 Rudder Position Indicator
The LCD can display a readout of the position of the rudder.
Pr00 Press the ADJ key until the LCD displays the rudder
position indication. “Pr” indicates Port rudder applied, “Sr”
Sr03 indicates Starboard rudder applied. The figure is the rudder’s angle
in degrees from amidships. “Pr00”is displayed when the
rudder is amidships.
StOP When the rudder reaches its set limit of travel, the LCD will display
the message “StOP”.
Press the OFF key to return to Standby Mode.
In Auto Mode, press the AUTO key to return to Auto Mode.
While viewing the rudder position, the and keys
are still active. In Auto Mode, this means that pressing
the or key will cause the vessel to Dodge,
Change Course or Tack.
or

13
2. Navigator Control
The ProPilot 700 can be interfaced to a navigation device such as a
GPS, Loran or Plotter using the Industry Standard NMEA 0183
Format.
Once a waypoint or a waypoint within a route has been selected as
your target and the navigation device is providing Navigator Data to
the target the ProPilot 700 may be engaged under Navigator
Control. It is advisable to steer the boat on to the desired heading
to minimise any Cross Track Error before engaging navigator
control, to avoid an immediate course change.
As soon as Navigator Control is selected the ProPilot 700 will read
the magnetic bearing to the target from the navigator (if magnetic
bearings are not available, the Pilot Computer will automatically use
true bearings) and turn the vessel onto that course. The ProPilot
700 constantly monitors the Cross Track Error and applies Navigator
Gain to maintain a direct Course Over Ground to the target. Note
the vessel may establish a “crab” angle to compensate for wind and
tide as it steers to the waypoint.
If a route or a new waypoint is selected, in the navigator, the
ProPilot 700 will be triggered by a change of waypoint identifier to
automatically turn the vessel onto the next course to the new
waypoint if Automatic Waypoint Sequence is selected. The system
may be programmed for Manual Waypoint Sequence, if preferred,
this is described later, see section 7.5.
While under Navigator Control, both the arrow keys and Course
Select Knob still operate.
Figure 3 - Navigator Control

PROPILOT 700
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2.1 NMEA 0183 Messages
The ProPilot 700 is capable of processing the following NMEA
0183 messages for navigation. Cross Track Error, Bearing to
Waypoint and Waypoint identifier are required as a minimum,
Velocity can be used to control the Rudder Ratio setting.
MESSAGE CROSS TRACK BEARING TO WAYPOINT VELOCITY
ERROR WAYPOINT IDENTIFIER
APB/APA üüü-
BOD - üü-
BWC - üü-
XTE ü---
RMA - - - ü
RMB üüü-
RMC - - - ü
VTG - - - ü
VHW - - - ü
üindicates that the data should be present in the given message
according to the NMEA 0183 specification, however please note
that not all manufacturers provide all the data required by a given
message.
Providing the navigator outputs the minimum information, your
craft will turn automatically on to the next track without any action
on your part. You have the option to change the configuration of
the ProPilot 700, so that it requires a key press before it changes to
the new bearing.
2.2 Using Navigator Control
If the navigator is to output the required information, it first has to
be programmed with your a waypoint or route selected as your
target. The basic information used for ProPilot 700 control is:-
• Bearing to Next Waypoint.
• Cross Track Error: Whether you are port or starboard of the
course and by how much, expressed in units of one hundredth
of a nautical mile (60ft).
• Alarm condition: This indicates if information received from the
navigator is not valid, check the navigator.
• Next Waypoint Identifier

15
The NAV key cycle is as follows:
H035 From Standby
NA 1 Selects the NMEA Input (1-3)
AUTO Automatic Waypoint Sequence Display, or
not auto Manual Acceptance Sequence Display
}14 Cross Track Error Display
N226 Selects Navigator Control
To exit Navigator Control, at any time.
2.3 Selecting NMEA Input
On the first press of the NAV key, the NMEA Input is displayed.
NA1 NMEA Input PL11 in the 930609 Pilot Computer
Additional NMEA Inputs are only available with a 930619 Pilot
Computer, to change the NMEA Input press the ADJ key.
NA2 NMEA Input PL17 in the 930619 Pilot Computer
NA3 NMEA Input PL16 in the 930619 Pilot Computer
C775 Only when a ChartPilot 775 is connected to a 930619 Pilot
Computer is “C775” displayed.
or
E
D
E
E
D
E

PROPILOT 700
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2.4 Waypoint Sequence
On the second press of the NAV key the LCD will display the
Waypoint sequence message that has been set in the Configuration
Routine.
AUtO This message is given to show that the Automatic sequence is
selected, whereby on reaching a waypoint the ProPilot 700 will
flash the bearing to next waypoint for 7 seconds, but turn onto it
automatically after the first 2 seconds.
not Auto This scrolling message shows that manual acceptance sequence is
selected, whereby on reaching a waypoint the ProPilot 700 will
flash the bearing to next waypoint for 7 seconds, but the vessel will
not turn onto it unless the NAV key is pressed.
If the NAV key has NOT been pressed, after 7 seconds the ProPilot
700 will switch to Auto Mode and continue on its last heading
until new instructions are received.
2.5 Cross Track Error Display
The third press of the NAV key displays the Cross Track Error.
}14 The number displayed is the cross track error in one hundredth’s of
a mile. The left hand character indicates if the error is to Port or
Starboard. This example shows 0.14 miles Port (left) of the track.
{02 This example shows 0.02 miles Starboard (right) of the track.
}{00 This example shows that the pilot is on track.
NO}{ No Cross Track Error information has been received from the
Navigator.
Before engaging the Pilot. CHECK the Cross Track
Error. The larger the error, the sharper the turn that
will be made when the Pilot is engaged. This could be
dangerous. The display cannot show errors greater than
99. Reduce the error by steering manually to bring the
vessel closer to the track.

17
2.6 To Engage Navigator Control
If the Cross Track Error is at an acceptable value then press the
NAV key a fourth time to engage Navigator Control. The left
character will be “N” to inform you that the ProPilot 700 is
controlling the vessel with information from the Navigator.
N266 The other three characters are the course that is being followed.
NONA The ProPilot 700 has received No Navigator Data. Check the cable,
connections and message format.
Pressing the NAV key now will step through and allow viewing of
the four displays, NMEA Input, Waypoint Sequence, Cross Track
Error and Course being followed.
The and keys will still function under Navigator Control and
the Dodge function will work normally if it has been selected.
In the event of a navigator error or fault condition, the ProPilot 700
will display a fault message, hold the vessel on its present heading
and will not accept any further course changes from the Navigator
until the error clears.
If the alarm clears, the ProPilot 700 will accept data and navigator
control can resume. If the fault condition remains, turn the ProPilot
700 back to Auto Mode or manually steer the vessel.
2.7 Cancelling Navigator Control
Exit from Navigator Control, at any time, by pressing the OFF key
to regain Manual Control.

PROPILOT 700
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3. Sea State Adjustments
Adaptive Setting
The ProPilot 700’s “Adaptive” software has been designed to
optimise Response, Rudder Ratio, Counter Rudder and Trim in order
to maintain the best performance, as conditions change.
With Response set to Adaptive (see section 3.1 below) the ProPilot
700 automatically fine tunes the controlled helm movements to
roughly the same frequency and magnitude as those performed by
hand when steering manually.
When sea states or conditions obviously change, ie after turning to
a new course from a following wind / tide to an oncoming wind /
tide, the Adaptive Software adjusts the Rudder Ratio, Trim and
Counter Rudder settings to suit the change in conditions. It is
possible to assist the Adaptive Software by changing these three
settings manually, without exiting the Adaptive setting.
These settings are explained in the following pages.
Proper setting of these controls has a marked effect on steering
system wear and tear, as well as battery life in sailing craft.
The ADJ key Sea State Adjustment cycle is as follows:
H035 From Standby, or
A035 Auto Mode
rU Rudder Ratio (0-20)
Pr Port Rudder Display, or
Sr Starboard Rudder Display, or
StOP Rudder End Stop
rE Response (1-20), or
AdPt Adaptive Setting
To exit Sea State Settings, at any time.
E
D
E
E
or
D

19
3.1 Response
The Response setting is primarily the autopilot’s “weather” control.
It sets the amount that the vessel is permitted to move off course
before rudder is applied to bring it back onto its set heading.
You may need to open the Response (i.e. increase the setting value)
in heavy seas and close it (i.e. decrease the setting value) in calm
seas.
If the response setting is too high the vessel moves a long way
from the course before it is corrected. You will need to decrease
the Response setting to correct this.
If the response setting is too low the vessel will hold its course but
the helm will be constantly and rapidly moving, making small
unnecessary corrections. You will need to increase the Response
setting to correct this. This is the condition that can cause
unnecessary wear in the steering gear and is wasteful of battery
power.
Figure 4 - Response
Your ProPilot 700 can be set to Adaptive setting and in this state
will automatically vary the Response, Rudder Ratio, Counter Rudder
and trim settings to suit prevailing sea conditions.
To Adjust the Response Setting
AdPt Sea State Adjustment menu system, press the ADJ key repeatedly
until "AdPt" or "rE" is displayed. Change the setting by
using the or keys.
The range is Adaptive, then manual values from 1 (No Response) to
20 (Maximum Response).
To select Adaptive, press the key until "AdPt" is displayed.

PROPILOT 700
20
3.2 Rudder Ratio
The Rudder Ratio setting is used primarily to match rudder
movement to boat speed. Generally the higher the speed, the lower
the setting needs to be.
If the setting is too low the vessel will understeer and tend to drift
off course to one side.
If the setting is too high the vessel will oversteer and build up
oscillations from side to side.
Figure 5 - Rudder Ratio
If NMEA Speed information is connected to the Pilot Computer,
the ProPilot 700 can be configured to automatically adjust the
Rudder Ratio setting in relation to the vessel’s speed, see section
7.7.
To Adjust the Rudder Ratio Setting
rU 5 Sea State Adjustment menu system, press the ADJ key repeatedly
until "rU" is displayed. Change the setting by using the or
keys.
The range is from 0 (No Rudder) to 20 (Maximum Rudder).