Raymarine ST7000 User manual

ST7000 Installation

Autohelm
AutohelmAutohelm
Autohelm®
®®
®

Contents
1. System Description 2 4. Calibration 34
1.1.1 Course Computer 3 4.1 Recommended Settings 34
1.1.2 Control Unit 3 4.2 Calibration Mode 34
1.1.3 Fluxgate Compass 3 4.3 Adjusting Calibration 35
1.1.4 Rudder Reference Transducer 4 4.4 Display Contrast Adjustment 37
1.1.5 Auxiliary Alarm 4 4.5 Permanent Watch Alarm 38
1.1.6 Masthead Transducer 4 4.6 Recorded Calibration Settings 38
1.1.7 Type CR Interface Unit 5 4.7 Rudder and Rate Gain Tables 38
1.2 Drive Systems 6
1.2.1 Rotary Drive 6 5. Initial Sea Trials 39
1.2.2 Linear Drive 7 5.1 Automatic Deviation Correction 39
1.2.3 Hydraulic Drive 8 5.2 First Sea Trials 39
1.2.4 ConstantRunning Power Pack 9 5.3 Response Control 39
1.2.5 Sterndrive 11 5.4 Automatic Trim Control 40
5.5 Rudder Gain Adjustment
2. Installation 12 (Displacementcraft) 40
2.1.1 Course Computer 12 5.6 Rudder Gain adjustment
2.1.2 Control Unit 13 (High Speed Planing Craft) 41
2.1.3 Fluxgate Compass 13 5.7 Manual overide
2.1.4 Rudder Reference Transducer 14 (Sterndrive Actuators only) 41
2.1.5 Auxiliary Alarm 15 5.8 Rate Gain Adjustment 41
2.1.6 Masthead Transducer 16 5.9 Compass Alignment 42
2.2 Drive Systems 16
2.2.1 Rotary Drive 16
6. Track Control 43
2.2.2 Linear Drive 18 6.1 FunctionalTest 43
2.2.3 Hydraulic Drive 19 6.2 Operating Hints 43
2.2.4 Stern Drive 22
2.3 Cabling and Power Supplies 26 7. Windvane Control (Sail Only) 45
2.3.1 SignalCabling 26
2.3.2 Connection to other SeaTalk Units 27
2.3.3 NMEA Input 28
2.3.4 D.C.Power Supplies and Drive Unit 28
2.3.5 Type CR Installations 30
2.3.6 Stern Drive Actuator 31
3. Functional Test 32
3.1 Switch On 32
3.2 Rudder Angle Sense 32
3.3 MechanicalTest(ManualSteering) 32
3.4 Rudder Angle Alignment 32
3.5 Operating Sense 32
3.6 Rudder Deadband 32
3.7 MechanicalTest(AutopilotSteering) 32
3.8 MechanicalTest – Sterndrive
(Autopilotsteering) 33
3.9 Rudder Angle Limit 33

1

1. System Description
The ST7000 is a modular automatic pilot system
that can be built up to match the individual
requirements of all types of vessels. A range of
high efficiency rotary, linear, and hydraulic rudder
drive units are available to match all types of
steering systems.
The ST7000 is SeaTalk compatible providing full
data sharing with Autohelm range of SeaTalk
instruments.
The control unit has a built in interface which will
accept navigation and wind angle data to
0180/0183 format.
A
fully comprehensive installation is shown below.
The most basic installation would consist only of a
central course computer, drive unit, fluxgate
compass, rudder reference unit and a single
control unit.
2

1.1.1 Course Computer
(Cat.No. Z083-12V Cat.No. Z084-24V)
The course computer houses the microprocessor,
electronic control circuitry and power amplifier for
the drive unit. The course computer is splash
proof only and must be mounted in a dry and
protected position. The course computer is
available for operation with 12V and 24V power
supply.
1.1.2 Control Unit (Cat. No. Z082)
The control unit is designed for above or below
deck mounting. The control unit accepts NMEA
0183 navigation and wind angle data input.
1.1.3 Fluxgate Compass (Cat. No. Z130)
The fluxgate compass has been especially
developed for marine application. The compass
contains a gimbal mechanism to permit accurate
readings with pitch and roll movements up to +35
deg. The compass is bulkhead mounted below
decks and connects directly to the course
computer.
The fluxgate compass may be mounted above
deck on steel vessels however autopilot
performance may be degraded due to the
increased motion.
3

1.1.4 Rudder Reference Transducer
(Cat. No. Z131)
The rudder reference transducer provides the
course computer with a precise rudder position. It
is mounted on a suitable base adjacent to the
rudder stock. The interconnecting cable connects
directly to the course computer connector unit.
1.1.5Auxiliary Alarm(Cat.No. Z035)
The autopilot is provided with an automatic off
course alarm system which sounds from all
control units and provides sufficient audible
warning under most conditions. In cases where a
high power alarm is necessary, an auxiliary alarm
can be fitted. The auxiliary alarm is connected to
the main connector unitvia a two core cable.
1.1.6 Masthead Transducer (Sail Only)
(Cat. No. Z080)
If the installation does not include an Autohelm
ST50 Wind Instrument the masthead transducer
can be connected directly to the course computer
to supply wind angle information.
4

1.1.7 Type CR Interface Unit
(Cat. No. Z085)
A standard ST7000 course computer can be
connected to the solenoids on a constant running
hydraulic power pack using the Type CR Interface
Unit. The unit also provides connections to
energise a solenoid operated bypass valve if
required.
5

1.2 Drive Systems
The ST7000 offers a choice of Mechanical or
Hydraulic Drive Units. All vessels with hydraulic
steering will require a hydraulic drive unit (see
section 1.2.3).
Mechanical steering systems may be driven with
either a rotary or linear drive unit. If space permits
the linear drive unit provides the simplest
installation by connecting directly to the rudder
stock tiller arm. It may also be used to power
steer the vessel ifsteering linkage failure occurs.
1.2.1 Rotary Drive Units
The Autohelm Rotary Drive Units provide smooth
powerful steering commands with virtually silent
operation.
A rugged electric motor drives a precision
epicyclic gearbox via a high tensile belt drive. An
electronic clutch is totally fail-safe yet transmits
high torque loads with no slippage.
The drive units can be mounted in any attitude
simplifying installation.
6

1.2.2 Linear Drive Units
The Autohelm Linear Drive Units are of
outstanding design which features powerfulthrust,
fast hard overtimes and near silent operation.
When backdriven the movement is smooth with
minimal backdrive force. Using a high tensile belt
drive and epicyclic reduction gearbox the powerful
electric motor is controlled by an electronic fail-
safe clutch.
The design is highly efficient and provides high
performance for minimum currentconsumption.
A tiller arm of adequate strength must be used to
transfer drive from the drive unit to the rudder
shaft. Both Edson and Whitlock Marine provide
suitable standard tillers.
Type 1 Type 2S Type 2L
Supply Voltage 12 volts 12 volts(24V optional) 12 volts(24V optional)
Peak Thrust 295Kg(650lb) 480Kg(1050lb) 480Kg(1050lb)
Maximum Stroke Speed 28mm/sec(1.1
in/sec) 28mm/sec(1.1 in/sec) 28mm/sec(1.1 in/sec
Maximum Stroke 300mm(12in) 300mm(12in) 400mm(16in)
Overall length at Mid
Stroke 'A' 700mm(27.5in) 700mm(27.5in) 850mm(33.5in)
Tiller Arm Length 'B'
(+35deg Rudder) 250mm(10in) 250mm(10in) 350mm(14in)
MaximumRudder Torque 735Nm(6500lb in) 1190Nm(10,500lb in) 1660Nm(14,700lb in)
Power Consumption
(typical average) 1.5 - 3 amps 2.75 - 6 amps 2.75 - 6 amps
Suitable for vessels up to 14m(45ft) LOA 17m(55ft)LOA 18m(60ft)LOA
Maximum displacement 11800Kg(26000lbs) 20000Kg(44000lbs) 25000Kg(55000lbs)

7
1.2.3 Hydraulic Drive Units
Two reversing hydraulic drive units are available
depending on the size of the vessel and the
displacement ofthe ram.
The vessel size and displacement
recommendations given below apply to directly
driven steering systems. When a power steering
system is fitted the vessel size and displacement
recommendations can be ignored.
Type 1 and Type 2
The hydraulic drive unit consists of a precision
gear pump with integral check valve block driven
by a continuously rated servo motor. The pump
drive motor is connected directly to the course
computer which also regulates peak pump
pressure.
Type 1 Type 2
Supply Voltage 12 volts 12 volts (24V optional)
Regulated Peak Pressure 50 bar (750 psi) 55 bar (900 psi)
Flow Control Integral Pilot Check Valve Integral PilotCheck Valve Integral
Peak Flow Rate (unloaded) I 1 00cc/min (67in3/min) 1700cc/min (103in3/min)
Minimum Ram Capacity 100cc (6in3)200cc (12in3)
MaximumRam Capacity 230cc (14in3)400cc (24in3)
RamType Single or Double Ended Single or Double Ended
Power Consumption (typical
average) 2 - 4 amps 4 - 8 amps
Overall Length 'A' 190mm (7.5in) 216mm (8.5in)
Maximum Vessel size 13m (42ft) 18m (60ft)
Maximum Vessel Displacement 118OOKg (26000lbs) 24OOOKg (55000lbs)

8

1.2.4 Constant Running Power Pack
When steering loads require a ram capacity
above 400cc (24in3) the Autohelm Constant
Running Power pack provides the ideal autopilot
drive system.
Hydraulic fluid is provided from a self contained
reservoir and flow to the steering ram is controlled
by integral solenoid operated valves.
For the most rugged and demanding steering
applications the Autohelm Constant Running
Power pack is the optimumsolution.
Used with a solenoid operated bypass valve and
separate hydraulic ram this system is
recommended for heavy duty applications on
large mechanically steered vessels.
Type CR1 Type CR2
Supply Voltage 12 volts (24V optional) 12 volts (24Voptional)
Regulated Peak Pressure 50 bar (750 psi) 50 bar (750 psi)
Peak Flow Rate (unloaded) 3000cc/min (180in3/min) 4500cc/min (270in3/min)
Minimum Ram Capacity 400cc (24in3) 750cc (46in3)
Maximum Ram Capacity 750cc (46in3) 1500cc (92in3)
Ram Type Single or Double Ended Single or Double Ended
9

Power Pack Selection (Constant Running)
Hydraulic power pack selection depends on the
vessels overall length and the displacement of the
steering cylinder.
Using figure 2 establish the target hardover time
for your vessel. This is combined with the
steering cylinder displacement in figure 3 to select
the appropriate hydraulic power pack.
Note: If power packs other than the Autohelm
models are used with the ST7000 the following
solenoid specifications must comply-
Pull in Voltage - less than 8V (16v for 24v
systems)
Drop out Voltage - greater than 2V
Operating Current- less than 5A
The Solenoid Voltage must be the same as the
course computer.
10

Specifications
Description Size
Hardover/Hardover
time (unloaded) 8.8 secs
Stroke 190mm(7.5in)
Power
Consumption(Typical
average)
1.5 - 3 amps
1.2.5 Sterndrive
The Sterndrive Actuator must only be used on
sterndrives with cable operated power assisted
steering.
The drive unit operates the power steering valve
identically to the steering cable. A clutch
disengages the drive unitto allow manualsteering
when the autopilotis disengaged.
Two installation kits are available to allow
connection to different engine manufacturers
equipment. Maximum Thrust 150 Kgf(330lbs)
Cat. No. Manufacturer
D129 Volvo Penta
D137 Mercruiser/OMC/Yamaha
11

2. Installation
2.1.1 Course Computer
Mounting Position - Below Deck
The course computer should be positioned in a
dry protected area of the vessel free from high
operating temperatures and excessive vibration. It
can be mounted in any attitude. Care must be
taken to allow at least 150mm (6in) clearance all
round to aid heat dissipation from the power
amplifier in the unit. Do not mount in the engine
room.
Do not position the course computer so that it will:
• Receive any direct water splash/spray (from
Bilge/Hatch etc).
• Be liable to physical damage from heavy
items.
Mounting Instructions
• Remove Terminal box lid (Fig. 4).
• Unscrew two internal thumb retaining nuts
(Fig. 4).
• Unplug terminal box and mounting spine.
• Position terminal box and mounting spine in
correct location, mark off and pilot drill for the
5 self-tapping screws supplied (Fig. 5).
• Screw terminal box and mounting spine into
place.
• Plug course computer unit to terminal box.
Retighten thumb retaining screws.
The course computer is now ready for wiring
(see 2.3).
• Be covered by other
equipmentor onboard gear.
• Be close to major sources of
transmitted energy
(Generators/SSB radios,
Aerial Cables etc).
12

2.1.2 Control Unit
The control units must be mounted close to the
steering stations and are designed for above or
below deck installation.
Position them where they are:-
• Reasonably well protected from physical
damage.
• At least 230mm (9in) from a compass.
• At least 500mm (20in) from radio receiving
equipment.
• Accessible from behind to secure in place and
run cables.
Note: The back cover is designed to breath
through a duct in the cable boss to prevent
moisture accumulation. Direct exposure of the
rear of the control unit to water must be avoided.
Mounting Procedure (Fig. 6)
The mounting surface must be smooth and flat.
Use the template provided to mark the centres of
the two fixing holes and centralboss.
Note: Adjacent instruments should have a 6mm
(1/4in) separation to allow room for the protective
covers.
• Drill to 4mm (5/32in) diameter.
• Use 50mm (2in) diameter cutter to drill the
hole for the centralboss 1.
• Screw the two fixing studs 2 into the back
cover.
Pass the cable tails through the central hole and
secure the instrument with the thumb nuts
provided 3. (A sealing gasket 4 is already
attached to the back cover).
2.1.3 Fluxgate Compass
The fluxgate compass may be attached to a
convenient vertical surface using the self tapping
screws provided (Fig.7).
Correct positioning of the fluxgate is crucial if
ultimateperformance from the autopilotinstallation
is to be achieved. The fluxgate should ideally be
positioned as near as possible to the pitch and roll
centre of the vessel in order to gimbal disturbance
(Fig.8).
13

It is very important to ensure that the fluxgate is
positioned at least 0.8m (2ft 6in) away from the
vessel's steering compass in order to avoid
deviation of both compasses. The fluxgate must
also be positioned as far away as possible from
large iron masses, such as the engine and other
magnetic devices which may cause deviation and
reduce the sensitivity of the sensor. If any doubt
exists over magnetic suitability of the chosen site,
the position may be surveyed using asimplehand
bearing compass. The hand bearing compass
should be fixed in the chosen position and the
vessel swung through 360 deg. Relative
differences in reading between the hand bearing
compass and the vessel's main steering compass
should ideally notexceed 10 deg. on any heading.
Installation Precautions
Correct installation of the course computer and
fluxgate compass is vital to the successful
performance ofthe ST7000.
2.1.4 Rudder Reference Transducer
The rudder reference unit must be mounted on a
suitable base adjacent to the rudder stock (Fig.9)
using the self tapping screws provided. The base
height must ensure correct vertical alignment of
the rudder reference unit arm and tiller arm. If itis
more convenient, the rudder reference unit may
be mounted upside down (logo downwards), but if
this is done, the red and green wires must be
reversed in the connector unit.
The rudder reference unit has a built in spring to
remove any free play in the linkage to the tiller.
This gives very precise rudder position.
14

The rudder reference arm movement is limited to
± 60 deg. Care must be taken during installation
to ensure the rudder reference arm is opposite the
cable entry when the rudder is amidships. Failure
to do this could result in damage if the rudder
reference arm is driven onto its end stops by the
steering system(Fig.10).
Control Dimensions
It is important to ensure that the dimensions set
out in Fig. 11 are within the limits set and the tiller
arm and rudder reference arm are parallel to each
other.
With the rudder amidships, the rudder reference
arm should be opposite the cable entry and at 90
deg. to the connecting bar. Minor adjustment can
be made by slackening off the 3 securing screws
and rotating the transducer body.
The tiller pin must be positioned within the limits
shown in Fig. 11. Ideally dimension A should be
140mm (5.5in). However, changing this within the
limits shown will not degrade the autopilot
performance but will slightly alter the scaling of the
rudder angle display on the control unit. The tiller
pin is secured to the tiller arm using the self
tapping screws provided,
Cut the studding X (Fig. 11) to length and screw
on the lock nuts Y (Fig. 11) and ball pin sockets.
The sockets can then be pressed onto the pins.
Move the rudder from side to side to ensure the
linkage is free from any obstruction at all rudder
angles.
2.1.5Auxiliary Alarm
The auxiliary alarm unit is waterproof and may
therefore be mounted in any position. The alarm
unit is supplied with a terminal block to connect a
two core interconnection cable to the course
computer. A 22mm (7m/8in) hole should be bored
through the mounting panel/deck to pass through
the two way connector block and interconnecting
cable (Fig. 12).
Finally, the alarm unit should be screwed into
position using the four self tapping screws
provided. A foam seal on the alarm mounting
flange will ensure a watertight joint to the
mounting surface.
15