Raymarine Autohelm 100 User manual

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.

AUTOPILOT
Installation and Set Up
TYPE
100/300

Contents
3
Contents
Chapter1:Introduction .......................................................................... 9
1.1ST7000ControlUnit ................................................................. 10
1.2ST6000ControlUnit ................................................................. 10
1.3CourseComputer ..................................................................... 11
1.4FluxgateCompass .................................................................... 11
1.5RotaryRudderReferenceTransducer .......................................... 12
1.6LinearFeedbackTransducer ...................................................... 12
1.7TypeCRInterfaceUnit ............................................................... 12
1.8DriveSystems.......................................................................... 13
RotaryDriveUnits ..................................................................... 13
ReversingHydraulicPump ......................................................... 14
LinearDrive ............................................................................. 15
HydraulicLinear ....................................................................... 15
ConstantRunningHydraulicPump .............................................. 16
Sterndrive............................................................................... 16
1.9Options ................................................................................... 17
Hand-heldRemote(Z101) .......................................................... 17
NMEAInterface(D153).............................................................. 17
AuxiliaryAlarm(Z035) ............................................................... 18
Joystick(Z147) ........................................................................ 18
WindTransducer(sailonly) ......................................................... 19
MastheadWindTransducer(Z080,LongArmVersionZ188) ...... 19
PushpitWindTransducer(Z087) ............................................ 19
GyroplusTransducer(Z179) ...................................................... 20
Chapter2:Installation .......................................................................... 21
2. General .................................................................................... 21
PlanningtheInstallation ............................................................. 21

4 TYPE100/300OperationandInstallationHandbook
2.1CourseComputer ..................................................................... 21
Mounting ................................................................................. 22
Cabling ................................................................................... 22
Type1DriveUnits/SternDrive/ConstantRunningPump ............ 23
Type2DriveUnits(12V) ........................................................ 23
Type2DriveUnits(24V) ........................................................ 23
Type3DriveUnits(12V) ........................................................ 24
Type3DriveUnits(24V) ........................................................ 24
2.2ST7000/6000ControlUnit........................................................ 25
Mounting ................................................................................. 25
Cabling ................................................................................... 26
2.3FluxgateCompass .................................................................... 28
Mounting ................................................................................. 28
Cabling ................................................................................... 29
2.4RotaryRudderReferenceTransducer .......................................... 30
Mounting ................................................................................. 30
Cabling ................................................................................... 32
2.5LinearFeedbackTransducer ...................................................... 33
Mounting ................................................................................. 33
Cabling ................................................................................... 34
2.6HydraulicDriveSystems ............................................................ 35
PumptoCylinderSpecifications.................................................. 35
ReversingHydraulicPumps(Type1,Type2&Type3) ................... 35
Mounting ............................................................................ 35
Cabling............................................................................... 35
Type1DriveUnit ........................................................... 35
Type2DriveUnit(12V) ................................................... 36
Type2DriveUnit(24V) ................................................... 36
Type3DriveUnit(12V) ................................................... 36
Type3DriveUnit(24V) ................................................... 36

Contents
5
Plumbing ............................................................................ 37
Twolinesystem ................................................................... 39
Twolinepressurisedsystem.................................................. 39
Threelinesystem ................................................................. 40
Bleedingthesystem ............................................................. 40
ConstantRunningHydraulicPump .............................................. 41
Mounting ............................................................................ 41
Cabling............................................................................... 42
PumpCable ................................................................. 43
SolenoidCable ............................................................. 43
Plumbing ............................................................................ 44
HydraulicLinearActuator........................................................... 45
Installation .......................................................................... 45
Cabling............................................................................... 48
FinalPreparationsBeforeuse ................................................ 48
2.8MechanicalDriveSystems ......................................................... 49
RotaryDriveUnit ...................................................................... 49
Mounting ................................................................................. 49
Cabling ................................................................................... 52
Type1DriveUnit.................................................................. 52
Type2DriveUnit(12V) ......................................................... 52
Type2DriveUnit(24V) ......................................................... 53
LinearDriveUnit ....................................................................... 53
Mounting ................................................................................. 54
Cabling ................................................................................... 55
Type1DriveUnit.................................................................. 55
Type2DriveUnit(12V) ......................................................... 55
Type2DriveUnit(24V) ......................................................... 56
SterndriveActuator .................................................................. 56
Mounting ................................................................................. 56

6 TYPE100/300OperationandInstallationHandbook
Volvo(Pretype872215) ....................................................... 56
Volvo(Posttype872215) ..................................................... 58
Mercruiser/OMC/Yamaha ..................................................... 61
MountinginaRestrictedArea................................................. 63
Cabling ................................................................................... 64
2.9AuxiliaryAlarm ......................................................................... 65
Cabling ................................................................................... 65
2.10Joystick ................................................................................ 66
Cabling ................................................................................... 66
2.11MastheadTransducer(sailonly) ................................................ 67
Mounting ................................................................................. 67
Cabling ................................................................................... 68
2.12Interfacingtoothermanufacturer'sequipment(NMEA) ................. 69
CourseComputerNMEAports ................................................... 69
InputPort ............................................................................ 69
OutputPort ......................................................................... 70
Cabling............................................................................... 70
ST6000/ST7000ControlUnitNMEAInput ................................... 71
Cabling............................................................................... 72
NMEAInterface ........................................................................ 73
Cabling............................................................................... 74
Chapter3:FunctionalTest ................................................................... 76
3.1Systemtest ............................................................................. 76
3.2Switch-on ................................................................................ 76
3.3Rudderanglesense .................................................................. 77
ST7000controlunit .................................................................. 77
ST6000controlunit .................................................................. 77
3.4Rudderanglealignment ............................................................. 77
3.5Operatingsense ....................................................................... 78
3.6Rudderdeadband ..................................................................... 78

Contents
7
3.7Mechanicaltest(Linear,Rotary&HydraulicDrives) ........................ 78
Currentlimitandcutout ............................................................. 78
3.8MechanicalTest(SternDrive) ..................................................... 79
3.9SettingtheAutopilotRudderLimit(Alldrives) ................................. 79
3.10GyroPlusOffsetandDriftCompensation .................................... 80
Procedure ............................................................................... 80
Chapter4:Calibration .......................................................................... 81
4.1RecommendedSettings ............................................................ 81
4.2Selectingcalibration.................................................................. 82
4.3Adjustingcalibration.................................................................. 83
RudderGain............................................................................. 83
RateLevel ............................................................................... 84
RudderOffset(HelmAdjust) ....................................................... 84
RudderLimit ............................................................................ 84
TurnRate ................................................................................ 85
CruiseSpeed ........................................................................... 85
OffCourseLimit ....................................................................... 85
TrimLevel ............................................................................... 86
JoystickMode(ManualType) ...................................................... 86
DriveOption ............................................................................. 86
RudderDeadband(RudderDamping) .......................................... 87
MagneticVariation .................................................................... 87
AutoAdapt .............................................................................. 87
Latitude .................................................................................. 88
WindTrim ................................................................................ 88
ResponseLevel ........................................................................ 88
AutoRelease(manualoverride) ................................................... 89
4.4SavingCalibrationMode ............................................................ 89
4.5DisplayContrastAdjustment(ST7000only) .................................. 90
4.6PermanentWatchAlarm(SFIA) ................................................... 90
4.7RecordingCalibrationSettings.................................................... 90

8 TYPE100/300OperationandInstallationHandbook
Chapter5:InitialSeaTrials................................................................... 91
5.1InitialSeaTrials ........................................................................ 91
5.2AutomaticCompassHeadingAlignmentandDeviationCorrection ... 91
5.3CompassAlignment(withoutdeviationcorrection) ......................... 93
5.4FirstSeaTrials ......................................................................... 93
5.5ResponseControl ..................................................................... 94
Level1-AutomaticSeaStateControl .......................................... 94
Level2-AutomaticSeaStateInhibit ............................................ 94
Level3 -AutomaticSeaStateInhibitandcounterrudder ................ 94
5.6AutomaticTrimControl ............................................................. 95
5.7RudderGainAdjustment(DisplacementCraft) ............................... 96
5.8RudderGainAdjustment(HighSpeedPlanningCraft) ..................... 97
5.9RudderGain-AdjustmentwithSpeed ........................................... 97
5.10ManualOverride (SternDriveActuatorsonly) .............................. 98
Chapter6:TrackControl...................................................................... 99
Chapter7:WindvaneControl(SailOnly) .............................................101
Index ..................................................................................................103

Chapter1:SystemComponents 9
Chapter1:Introduction
TheAutohelmType100/300autopilotsaremodularsystemsthatcanbe
configured tosuittheindividualrequirementsofalltypesofvessels,using
arangeofhighefficiencyrotary,linearorhydraulicrudderdriveunitsto
matchvarioustypesofsteeringsystems.
TheAutohelmsysteminitsmostbasicformconsistsofacontrolunit,
coursecomputer,driveunit,fluxgatecompassandarudder
referencetransducer.
Afullrangeofaccessoriesarealsoavailableandinclude:
• Joystick(manualsteeringunit)
• Mainalarmandinterface
• Rategyro
• Handheldremotecontrolunit
• SeaTalkinstrumentation
• Interfaceleads
Control
Unit
Control
Unit
Drive Unit
Rudder
Reference
Unit Gyro Fluxgate
Compass
Course
Computer
Cable
Clamp
D726-1

10 TYPE100/300 Operationand InstallationHandbook
1.1 ST7000 Control Unit
TheST7000controlunitisfullyweatherprotectedanddesignedforabove
orbelowdeckistallation.Theunitisconnected tothecoursecomputervia
theSeaTalkbus.NMEAnavigation,speedandwindinformationcanbe
receivedviaafixedsocketontherearofthecase.
Note: AdditionalcontrolunitscanalsobeconnectedviatheSeaTalkbus.
ST7000
●●
●●
–1
–10
+1
+10
STAND BY AUTO DISPLAY TRACK RESPONSE
110mm
(4.33in)
24mm (0.95in)
177.8mm (7in) 38.75mm (1.5in)
D727-1
TM
1.2 ST6000 Control Unit
TheST6000controlunit,liketheST7000,isfullyweatherprotectedand
alsodesignedforaboveorbelowdeckinstallation.Theunitisconnected
tothecoursecomputerviatheSeaTalkbus.NMEAnavigation,speedand
windinformationcanbereceivedviaafixedsocketontherearofthecase.
Note: AdditionalcontrolunitscanalsobeconnectedviatheSeaTalkbus.
–1
–10
+1
+10
STAND BY AUTO
ST6000
DISPLAY
TRACK
RESPONSE
110mm
(4.33in)
24mm(0.95in)
110mm (4.33in) 38.75mm (1.5in)
D728 -1
TM

Chapter1:SystemComponents 11
1.3CourseComputer
Thecoursecomputer,availableinboth12Vor24Vversions,housesa
microprocessor,driveunitelectroniccontrolcircuitryandpoweramplifier.
Itisthecentraldistributionpointfortheautopilot,electricalwiringand
ship’spowerconnectionpoint.
ThecoursecomputeralsohasNMEAinputandoutputstoallowoperation
withothermanufacturer'sequipment.
Theunitisonlysplashproofandmust,therefore,beinstalledinadry,
protectedlocation.
Type100isusedforType1andTypeCR12Vdrives.Type300isused
withType2andType3drives.
45mm (1.8in)
233mm (9.2in)
130mm (5.1in)
D865-1
1.4FluxgateCompass
Thefluxgatecompasscontainsagimbalmechanismthatpermits
accuratereadingswithpitchandrollmovementsupto+/-35degrees.
Thecompassisdesignedforbelowdeck,bulkheadmountingand
connectsdirectlytothecoursecomputer.
Onsteeldeckedvesselsthecompasscanbemountedabovedeck,
however,autopilotperformancemaybeaffectedduetotheincreased
motion.
76mm (3in)
76mm (3in)
D729-1
TM

12 TYPE100/300 Operationand InstallationHandbook
1.5RotaryRudderReferenceTransducer
Therudderreferencetransducerprovidesthecoursecomputerwiththe
precisepositionofthevesselsrudder.Theunitismountedonasuitable
baseadjacenttotherudderstock.Itsuseismandatoryonallinstallations,
exceptwhenalinearrudderreferencetransducerisconnected.
139.7mm (5.5in)
152mm (6in)
69.5mm (2.7in)
61mm (2.4in)
D730-1
1.6LinearFeedback Transducer
Thelinearfeedbacktransducerisdesignedforinstallationson‘bullhorn’
stylehydraulicoutboardsteeringsystems.Theunitistotallyweatherproof
andmountedonthebullhornram.Itsuseismandatoryonallhydraulic
outboardinstallations.
425mm (16.75in)
32mm (1.3in)
D869-1
TM
1.7TypeCRInterface Unit
Thecoursecomputercanbeconnectedtothesolenoidsonaconstant
runninghydraulicpumpusingthetypeCRinterface.Theunitalsoprovides
connectionstoenergiseasolenoidoperatedbypassvalve.
125mm (5.9in)
100mm (3.95in)
60mm
(2.37in)
D734-1

Chapter1:SystemComponents 13
1.8DriveSystems
Arangeofmechanical(rotary,linearandsterndrive)andhydraulicdrive
unitsareavailableforusewiththeType100/300system.Rotarydrives
arecoupledtothesteeringsystembyasimplechaindrive,lineardrives
directlytotherudderstockatthetillerarmradiusandsterndrivesdirectly
tothepowersteeringvalveblock.
Thetypeofhydraulicdriveusedisdependentonthesizeofthevessels
hydrauliccylinder.
RotaryDriveUnits
Autohelmrotarydriveunitsprovidesmooth,powerfulsteeringcommands
withalmostsilentoperation.Aruggedelectricmotordrivesaprecision
epicyclicgearboxviaahightensiledrivebelt.Anelectronicclutch
transmitshightorqueloadswithnoslippage.Thedriveunitcanbe
mountedinanyattitudetosimplifyinstallation.
274mm (10.8in)
195mm
(7.7in)
256mm (10in)
20mm (0.8in)
184mm
(7.2in) 60mm
(2.4in)
60mm
(2.4in)
D736-1
2 holes 12.5mm (0.5in) diameter

14 TYPE100/300 Operationand InstallationHandbook
ReversingHydraulicPump
Thereversinghydraulicpumpconsistsofaprecisiongearpumpandan
integralcheckvalveblockdrivenbyacontinuouslyratedservomotor.The
pumpisconnecteddirectlytothevesselssteeringcylinder,withthe
coursecomputerregulatingthepeakpumppressure.
Therearethreetypesofpump:type1,type2andtype3.Thedifferent
typerelatestothesteeringramcapacity,whichisdirectlyrelatedtothe
displacementofthevessel.
Type1: 80 to 230cc(4.9to14cuin)
Type2: 160to350cc(9.8to21cuin)
Type3: 250to460cc(15to28cuin)
'A' 117mm (4.62in)
103mm (4.07in)
D738-1
Pump Dimension 'A'
Type 1 177mm (6.96in)
Type 2 177mm (6.96in)
Type 3 235mm (9.25in)

Chapter1:SystemComponents 15
LinearDrive
TheAutohelmlineardriveunit isofoutstandingdesignwhichfeatures
powerfulthrust,fasthardovertimesandnearsilentoperation.When
backdriventhemovementissmoothwithminimalbackdrivenforce.Using
ahightensilebeltdriveandepicyclicreductiongearboxthepowerful
electricmotoriscontrolledbyanelectronicfail-safeclutch.
Thedesignishighlyefficientandprovideshighperformanceforminimum
currentconsumption.
90°
D1010-1
A
4 off fixing holes suitable
for 10mm (0.4in) bolts
79mm (3.1in)
114mm (4.5in) 197mm (7.8in)
50mm (2in)
Drive Dimension 'A'
Type 1 700mm (27.5in)
Type 2 (short) 700mm (27.5in)
Type 2 (long) 850mm (33.5in)
HydraulicLinear
Thehydrauliclineardriveunitisaselfcontainedsecondarysteering
cylinder(withabuilt-insolenoidbypassvalve).Theunitisdrivenbya
reversinghydraulicpumptoprovideatotallyisolatedautopilotsteering
system.
D877-1
101.6mm (4in)
152mm (6in) 80mm
(3.15in)
457mm (18in)
A
Drive Dimension 'A'
Type 2 540mm (21.25in)
Type 3 690mm (27.15in)

16 TYPE100/300 Operationand InstallationHandbook
ConstantRunningHydraulicPump
Whensteeringloadsrequirearamcapacityofover460cc(28cuin)the
constantrunninghydraulicpumpprovidestheidealautopilotdrivesystem.
Hydraulicfluidissuppliedfromaselfcontainedreservoirandflowtothe
steeringramiscontrolledbyintegralsolenoidoperatedvalves.
Usedwithasolenoidoperatedbypassvalveandaseparatehydraulicram,
thissystemisrecommendedforheavydutyapplicationsonlarge
mechanicallysteeredvessels.
356mm (14in) 262mm (10.3in)
224mm (8.8in)
D740-1
Sterndrive
Thesterndriveactuatormustonlybeusedonsterndriveswithcable
operated,powerassistedsteering.
Thedriveunitoperatesthepowersteeringvalveinexactlythesameway
asthesteeringcable.Aclutchdisengagesthedriveunittoallowmanual
steeringwhentheautopilotisdisengaged.
Installationkitsareavailableformostpopulartypesofsteeringmanufac-
turers.
220mm (8.66in) 240mm (9.45in)
460mm (18.1in) mid-stroke
102.5mm
(4.0in)
63.4mm
(2.5in)
D743-1

Chapter1:SystemComponents 17
1.9Options
TheType100/300autopilotsystemisavailablewiththefollowingoptional
systemcomponents:
Hand-heldRemote(Z101)
Thehand-heldremoteallowscoursechangingfromapositionawayfrom
thesteeringstation.Thehandheldremoteisconnectedtotheautopilotvia
theSeaTalkbus.
10 10
–
+
+
–11
TM
65mm (2.5in) 14.5mm (0.6in)
138mm (5.4in)
D1011-1
NMEA Interface (D153)
AlthoughtheType100/300hasitsownNMEA0183inputandoutput
ports,youmaywishtoreceiveinformationfromadditionalequipment
transmittingNMEA.TheNMEAinterfaceconnectstotheSeaTalkbusand
convertsincomingdatatoSeaTalk.TheinterfacealsoconvertsSeaTalk
datatoNMEA0183format.
117.5mm (4.6in) 37mm (1.5in)
87.5mm (3.4in)
D873-1

18 TYPE100/300 Operationand InstallationHandbook
AuxiliaryAlarm(Z035)
Theautopilotisprovidedwithacomprehensiveautomaticoff-coursealarm
systemthatsoundsfromallcontrolunits.Thisprovidessufficientaudible
warningundermostconditions.However,incaseswhereahighpowered
alarmisrequired,anauxiliaryalarmcanbefitted.Theauxiliaryalarmis
connectedtotheSeaTalkbusviatheNMEAinterfaceboxandwillsound
whenevertheautopilottransmitsoneofthefollowingalarmconditions.
• AutopilotOffCourse
• WatchAlarm
• WindShift
• LowBattery
• LargeCrossTrackError
• NMEADataError
• NoAutopilotActuatorConnected
• SterndriveAutoRelease
• WaypointChangeAlarm
45mm (1.8in)85mm (3.35in)
D732-1
Joystick(Z147)
TheJoystick isanelectromechanicalremotesteeringunitthatusesthe
coursecomputeranditsdriveunittopowersteerthevesselsrudder.
JOYSTICK
110mm (4.3in) 76mm (3in) 157mm (6.2in)
110mm (4.3in)
D734a-1
TM

Chapter1:SystemComponents 19
WindTransducer(sailonly)
IftheinstallationdoesnotincludeaSeaTalkWindinstrumenteitherthe
mastheadorpushpit windtransducercanbeconnecteddirectlytothe
NMEAinterfaceboxtosupplywindangleinformation.
MastheadWindTransducer(Z080,LongArmVersionZ188)
371mm (14.6in)
D733-1
PushpitWindTransducer(Z087)
D1075-1