TP2030 TP30 Tillerpilot2030
User Manual: TP30
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Manual Navico TP20 & TP30 Tillerpilots E03547 Issue 1.0 CONTENTS 1. General For service and advice please contact the main Simrad dealer in your country of residence. 1.1 1.2 1.3 2. Operation 2.1 2.2 2.3 2.4 2.5 2.6 2.7 3. Fitting Tillerpilot Electrical Installation Interfacing Via NMEA NMEA Sentences Received Appendix 6.1 6.2 6.3 6.4 6.5 © 1998 Simrad Navico Ltd Porthand Mounting Calibration Mode Adjusting Gain Adjusting Seastate Installation 5.1 5.2 5.3 5.4 6. Navlock™ Sail To Wind Using External Compass Configuration 4.1 4.2 4.3 4.4 5. General Autopilot Mode Adjusting Course Autotack Tiller Movement (Gain) Seastate Autotrim Advanced Features 3.1 3.2 3.3 4. Introduction Technical Summary The Complete Navigation System Advice On Operation Fault Finding Auto Compass Calibration Spares & Accessories Service & Warranty The technical data, information and illustrations contained in this publication were to the best of our knowledge correct at the time of going to print. We reserve the right to change specifications, equipment, installation and maintenance instructions without notice as part of our policy of continuous development and improvement. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form, electronic or otherwise without prior permission from Simrad Navico Ltd. No liability can be accepted for any inaccuracies or omissions in the publication, although every care has been taken to make it as complete and accurate as possible. MDL 2/12/98 Page 2 Page 3 1 General 1.2 Technical Summary 1.1 Introduction TILLERPILOT SPECIFICATIONS The TP20 & TP30 Tillerpilots from Simrad are suitable for a wide variety of tiller steered sailing yachts up to 12.8M (42 Ft) in length. Combining highly sophisticated electronics with advanced software and a powerful mechanical drive, it is capable of providing reliable and accurate steering performance under a variety of different conditions with minimal current consumption. The Tillerpilots have been designed so that, while they represent the state of the art in marine autopilots with many advanced features, they remain very simple to operate, using only five keys to access all functions. Sophisticated functions available include Sail To Wind Mode and Navlock Mode (Steer To GPS) using external equipment linked directly to the Tillerpilot through the inbuilt NMEA0183 interface. There is also the option to operate the Tillerpilot remotely, either using the simple HR20 Hand Remotee. For more details, refer to the separate instruction card supplied with this unit. TACK TP20 TP30 Drive System Screw Thread Recirculating Ballscrew Hardover time 0kg 20kg 40kg 50kg 6.9 secs 8.0 secs 12.0 secs 4.0 secs 4.7 secs 6.0 secs 8.0 secs Peak Thrust 65kg (143lbs) 85kg (187lbs) Operating Stroke 250mm (10in) STBY STBY AUTO TACK Supply Voltage 12v DC (10v-16v) NAV STBY STBY AUTO Power Consumption (Typical) 0.06A (Stby) 0.5A (Auto) Mounting Starboard as default (Can be reversed) NAV TACK STBY STBY AUTO NAV 610mm (24in) MID STROKE SIMRAD TP30 SIMRAD TP20 60mm (2.3in) To ensure the best results from your Tillerpilot it is essential that the unit is installed correctly. Please read this manual thoroughly before installation. 105mm (4.0in) Fig 1.1 - Tillerpilot dimensions 1.3 The Complete Navigation System Thank you for choosing Simrad The TP20 and TP30 are fully compatible with the Navico Corus instrument system, so not only do they operate as a stand alone autopilot, but by connecting it to a Corus instrument network, they can form part of a complete navigation system, offering additonal functions such as connection to an external compass, wind sensor or navigational receiver, as well as additional remote control options. For more details, contact Simrad Navico at the address on page 2. If you are pleased with your Tillerpilot we hope you will be interested in our range of marine electronic equipment, which is manufactured to the same high standards as the Tillerpilot. Please contact your nearest Simrad Agent for a catalogue showing our increasing range of high tech navigational instruments, GPS, CHart Plotters, autopilots, Radar, Fishfinders and VHF radio sets. The new range of IS15 instruments from Simrad will interface with the T20 & TP30 to provide wind information and (when connected to a GPS) crosstrack error and bearing to waypoint information. Please refer to the relevant IS15 manual for further information Simrad operate a policy of continual development and reserve the right to alter and improve the specification of their products without notice. Tillerpilot¨ is a Registered Trade Mark of Simrad Navico Ltd Tillerpilots TP20 & TP30 Page 4 Page 5 2 Operation 2.4 Autotack 2.1 General The keypad of the Tillerpilot has been designed to be as simple and intuitive to operate as possible. Using only five keys (Fig 2.1) it is possible to perform precise course adjustments and navigational functions. The unit powers up in Standby Mode, indicated by a flashing LED next to the STBY AUTO key (Fig 2.2). The two direction LEDs above the Port and Starboard keys are always dimly lit, which provides night illumination for the keypad. All functions are confirmed audibly by a ÒbeepÓ and visually by the LEDs, so the status of the unit can always be confirmed at a glance. TACK STBY STBY AUTO NAV Fig 2.1 - Tillerpilot keypad The Tillerpilot has a built-in autotack facility, allowing easy tacking of the vessel when single or short handed. An autotack is only possible when in Autopilot Mode To initiate autotack, press and hold the Tack key, followed by either the Port or Starboard key, depending on which direction you wish to tack (Fig 2.5). The operation of the Tillerpilot will differ during an autotack depending on whether the pilot is in Sail To Compass or Sail To Wind Mode: TACK 2.5.1 Autotacking In Compass Mode 2.2 Autopilot Mode While in Standby Mode, the pushrod can be manually driven in and out by pressing the arrowed Port and Starboard keys, which allows Òpower steeringÓ of the vessel. To engage Autopilot Mode, simply press the STBY AUTO key, and the Tillerpilot will lock onto the current course. The LED next to this key will stop flashing and remain permanently lit as long as the pilot is in Autopilot Mode (Fig 2.3). To lock the pilot onto the desired course, either steer the correct course and then engage the autopilot, or engage the autopilot and then adjust the heading until the correct course is being sailed (see section 2.3). If the STBY AUTO key is pressed and held, the pilot will beep a second time and lock onto the previously used heading (this feature will not be available if the unit has just been switched on). TACK STBY STBY AUTO Fig 2.2 - Standby Mode TACK STBY STBY AUTO 2.3 Adjusting Course N.B - When in NavLock Mode (see section 3.1), the Tillerpilot will gradually return to the original track. STBY STBY AUTO 2.5.2 Autotacking In Wind Mode (Section 3.2) Fig 2.3 - Engaging Autopilot Mode While in Autopilot Mode, precise course adjustments can be easily made. By pressing either the Port or Starboard key once, a 1¼ course adjustment will be made in the specified direction. This is confirmed by a single beep, and the relevant Port or Starboard LED will flash once. By pressing and holding the key, 10¼ course adjustments will be made, confirmed by a double beep and a double flash of the Port or Starboard LED (Fig 2.4). If in Sail To Compass Mode (default), the Tillerpilot will then tack the vessel in the selected direction. The WP30 has a factory preset autotack angle of 100¼, how ever this can be adjusted to any value between 40 and 140¼ using either a C600AD Active Display (configured to PILOT) or a CP600 Corus Programmer. Please refer to the relevant unitÕs instruction manual for more details. TACK STBY STBY AUTO The Tillerpilot will only allow an autotack if the apparent wind is less than 90¼ i.e autotack is disabled if sailing downwind. The Tillerpilot will tack the vessel through to the same apparent wind angle, but on the opposite tack. NB - In this mode, the Tillerpilot automatically pre vents tacking in the wrong direction eg, If on Port tack, only an autotack onto Starboard tack will be possible. TACK STBY STBY AUTO Fig 2.5 - Initiating Starboard autotack In all cases, the autotack is confirmed by a long beep, with the relevant Port or Starboard LED flashing during the course change. 2.5.3 NavLock (Section 3.1) The autotack facility is disabled while in NavLock mode. NAV Fig 2.4 - Course adjustment to Port Page 6 Page 7 2.5 Tiller Movement (Gain) 3 The Tillerpilot will apply adjustments to the tiller in order to compensate for heading variations, the amount of movement being proportional to the heading error detected by the compass unit. The amount of movement is set by the Gain (sometimes referred to as the rudder ratio). The TP20 and TP30 Tillerpilots contain many advanced features, one of which is the ability to accept course data from a variety of sources apart from the internal fluxgate compass, including NMEA compatible navigational receivers (GPS etc) and windvanes. An external compass option is also available via the inbuilt Corus network connection, which can also accept wind and navigational data from the relevant Corus active transducers. Section 3 describes in detail the advanced facilities available with the Tillerpilots when interfaced with other equipment. Fig 2.6A shows the effect of setting the Gain too low: the vessel takes a long time to return to the correct heading. Fig 2.6B shows the ideal setting, where errors are quickly corrected. Fig 2.6C illustrates the effects of setting the Gain too high, which causes the vessel to oscillate around the correct heading. Excessive Gain (Fig 2.6D) creates a tendency to instability of course, leading to increasing error. ST AU BY TO NA V 3.1 NavLock™ The TP20 and TP30 has a built in NMEA interface which allows direct connection with NMEA0183 compatible equipment such as GPS and Plotters. A B C D Fig 2.6 - Effects of Gain setting 2.6 Seastate In rough weather, more variations in heading will be detected by the Tillerpilot due to the heavy seas yawing the vessel. If no account of this was taken, then the Tillerpilot would be overworked, causing unnecessary strain on the unit and excessive drain on the batteries. The Tillerpilot will continuously monitor corrections applied to the tiller over the course of a voyage, and allow a Òdead bandÓ within which the boat can go off course without corrections being made. The dead band is automatically set and updated by the Tillerpilot to give the best compromise between course holding and battery consumption. However, this can be manually set if so desired. To manually adjust the Seastate, please refer to section 4.4. 2.7 Autotrim Under differing conditions a tiller bias (sometimes known as standing helm or rudder trim) is applied in order to steer a straight course. An example is when sailing close hauled where the vessel will normally pull into the wind, and the helmsman applies a standing helm to leeward in order to maintain course. The amount of this standing helm varies according to factors such as strength of wind, boat speed, sail trim and amount of sail set. If no account of these were taken, then the vessel would tend to veer off course, or pull round head to wind if sailing close hauled. The Tillerpilot continuously monitors the average course error and applies a bias to the tiller to compensate until the optimum condition is reached. This bias or standing helm is applied gradually, so as not to upset the normal performance of the Tillerpilot. Thus, it may take up to a minute or so to fully compensate after changing tack. Once optimum trim is reached, the pilot will still monitor for changes in the prevailing conditions and update the trim accordingly. Page 8 TA CK TP20/TP30 NMEA The Gain setting can be likened to driving a car - at high speeds, very little wheel movement is necessary to steer the car (LOW gain). When driving at slow speeds, more wheel movement is necessary (HIGH gain). The Gain setting can be adjusted manually - see section 4.2. Additionally, if Speed data is available (through Corus or NMEA), the Tillerpilot will automatically optimise the Gain within the manually set value. Advanced Features Once interfaced with navigation equipment via NMEA, the Tillerpilot can steer using data from this source in addition to the internal compass, allowing a highly accurate course to waypoint. To access NavLock the unit must be in Autopilot Mode. Simply activate a waypoint or route programmed into the navigational receiver, and press the NAV key. The LED next to the NAV key will light and the Tillerpilot will steer to the first waypoint, using Cross Track Error and Bearing To Waypoint information from the navigational receiver to maintain an accurate course. On arrival at the target waypoint an intermittent alarm will sound. As a safety feature to avoid an unexpected course change, the next waypoint will not be automatically loaded until the NAV key is pressed. When the vessel reaches the final waypoint, the Tillerpilot will continue its current course under Compass Mode. Note that some of the standard key stroke functions may have a different effect in NavLock than when in Compass Mode. Please refer to sections 2.5.2 and 2.5.3 NMEA Compatible Equipment Fig 3.1 - Interfacing via NMEA TACK STBY STBY AUTO NAV NAV Fig 3.2 - Initiating NavLock Page 9 3.2 Sail To Wind 3.3 Using External Compass The TP20 and TP30 are able to sail to the apparent wind angle rather than a compass course, using wind data via the NMEA interface. The use of a Simrad IS15 wind instrument is recommended. Normally, the accurate operation of a self-contained autopilot is very difficult on a ferrous hulled boat (steel, ferro cement etc) as the hull will affect the bearing read by the internal fluxgate compass. If no wind information is present, the Tillerpilot will not enter Sail To Wind Mode. TACK STBY STBY AUTO To select Sail To Wind Mode, the unit must be in Autopilot Mode. To enter Sail To Wind Mode, press and hold both the Port and Starboard keys together until a double beep is heard (Fig 3.3). Both the Port and Starboard LEDs will flash simultaneously while the pilot is in Sail To Wind Mode. Fig 3.3 - Selecting Sail To Wind Mode To switch back to Compass Mode, simply press and hold the Port and Starboard key together again until a double beep is heard. TACK While in Sail To Wind Mode, engaging the autopilot will lock the Tillerpilot onto the current apparent wind angle being sailed. Any course adjustments made will be relative to the apparent wind angle, rather than the compass heading as when in Compass Mode. Please note that some of the standard key stroke functions may have a different effect in Sail To Wind Mode than when in Compass or NavLock Mode. Refer to section 2.5.3 for more details. Note that NavLock cannot be selected while in Sail To Wind Mode - to initiate, first return to Compass Mode. NAV STBY STBY AUTO NAV Although the TP20 and TP30 Tillerpilots operates using a built-in fluxgate compass, they have the facility to accept data from an external source - the Navico Corus ATC600 active compass. On a steel or ferro hulled boat, the correct location for the ATC600 would be on the mast, between 1 and 2 metres above the deck (Fig 3.5). On a non-ferrous hulled boat, the ATC600 should be situated low down ,as near the centre point of the boat as possible, but away from any sources of magnetic interference such as speakers etc. The ATC600 is connected to the Tillerpilot via the Navico Corus Network connection. Note that in order to operate, the ATC600 will require a separate 12v power supply through a CPC02 or CPC05 power cable. ATC60 CPC05 TP20/30 12v CMC-TP Fig 3.5 - Using TP20 / TP30 with external compass Once connected, the Tillerpilot will automatically accept bearing data from the ATC600 active compass transducer in preference to the internal fluxgate compass. TACK STBY STBY AUTO NAV Fig 3.4 - Initiating Port Autotack in Sail To Wind Mode Page 10 Page 11 4 4.2 Calibration Mode Configuration To adjust the Gain and Seastate settings of the Tillerpilot (refer to sections 2.5 & 2.6), it is necessary to enter Calibration Mode, which can be done whilst the Tillerpilot is in either Standby or Autopilot Mode. 4.1 Porthand Mounting Although the Tillerpilot is factory preset for Starboard side mounting, it is possible to reconfigure it for mounting on the Port side of the cockpit, to facilitate easy installation on most types of yacht. With the power off, hold down the NAV and TACK keys and switch on the power. Either the Port or Starboard LED will illuminate, depending on the current mounting configuration. Press the PORT key to select Port side mounting. The Port LED only will remain illuminated to indicate selection. Confirm selection and exit to Standby Mode by pressing NAV. (Fig 4.2) To select Starboard mounting, repeat the above procedure, but press the Starboard key instead of Port. TACK TACK Press and hold the TACK key, followed by the NAV key (Fig 4.3). The Starboard green LED will illuminate to indicate that the pilot is in Gain Mode. To toggle between Gain and Seastate Mode, press the TACK key (Fig 4.4). The Port red LED will illuminate to indicate Seastate Mode. STBY STBY AUTO 4.3 Adjusting Gain POWER ON TACK When Gain Mode is selected (indicated by the Starboard green LED illuminated), the Nav LED will flash and a repeated sequence of beeps will be heard. The number of flashes and beeps in the sequence indicates the level of the Gain setting. STBY STBY AUTO NAV Fig 4.3 - Entering Calibration Mode STBY STBY AUTO To increase the Gain press the Starboard key the required number of times, to a maximum level of 9 (Fig 4.5). To decrease the Gain press the Port key the required number of times, to a minimum level of 1. For example, if the Gain was set at 4 (indicated by a sequence of four flashes of the Nav LED and four beeps), and the Gain needed to be increased to 7, pressing the Starboard key three times would adjust the Gain accordingly. The Nav LED would then flash seven times and seven beeps would be heard. TACK 4.4 Adjusting Seastate STBY STBY AUTO NAV TACK STBY STBY AUTO NAV Fig 4.2 - Configuring for Port mounting Page 12 TACK TACK NAV NAV Fig 4.1 - Starboard and Port mounting options TACK TACK When adjusting Seastate (indicated by the Port red LED illuminated), the Seastate level is indicated by the number of audible beeps and flashes of the Nav LED. No beeps or flashes of the Nav LED indicates that the Tillerpilot is set to automatic seastate (see section 2.6). To switch from Manual to Auto Seastate and increase the Seastate level, press the Starboard key the required number of times to a maximum level of 9. To decrease the Seastate press the Port key the required number of times, to a minimum level of 0 - which will switch the Tillerpilot back to Auto Seastate. To confirm Gain/Seastate settings and return to Standby Mode, press the NAV key. TACK TACK STBY STBY AUTO Fig 4.4 - Toggling between Adjust Gain and Seastate TACK STBY STBY AUTO NAV Fig 4.5 - Increasing Gain level Page 13 5 Installation 595mm (23 1/2 in) Pushrod at mid-stroke 5.1 Fitting Tillerpilot Horizontal 38mm The Tillerpilot is a very sophisticated piece of equipment, and therefore in order for it to function to its full capabilities, it is essential that it is installed correctly. Please read this section thoroughly before attempting installation and use. The Tillerpilot should be installed so that it is level (horizontal - Fig 5.2), and 90¼ to the tiller when it is amidships and the pushrod is in the midstroke position (Fig 5.3). The pilot is factory preset to be mounted on the Starboard side as shown, but this can be reconfigured for Port side mounting (see section 4.1). The dimensions given in Figs 5.2 & 5.3 should be adhered to as far as possible, especially Fig 5.2. Some tolerance on the distance from tiller stock (Fig 5.3 dimension) is permissible, but the Tillerpilot may require a Gain adjustment to compensate (see section 4.3). If the dimension given in Fig 5.2 is not practical for the vessel to which it is to be fitted, a range of fitting accessories are available to facilitate correct installation. Please refer to section 6.4. The Tillerpilot houses an internal fluxgate compass, and should therefore be mounted away from sources of magnetic interference, such as the vesselÕs steering compass. The minimum safe distance is 1M (3Ft). PB30 8mm PB60 105mm PB90 135mm Pedestal Bracket (PB) Fig 5.2 - Installation, cross section The Tillerpilot is mounted using a supplied tiller pin and mounting cup, which allows the unit to be fitted and stowed easily. Tillerpin 18.0mm (0.75in) Tiller To fit the tillerpin, drill a 6.3mm (1/4 in) hole in the tiller (ensure that this is on the centreline of the tiller and is vertical). Drill to a depth that allows only the top 18.0mm (3/4 in) to protrude. 460mm (18in) Fix in place using an epoxy adhesive. To fit the mounting cup, drill a 12.7mm (1/2 in) hole into the cockpit seat and mount so that only the flange protrudes. Ensure that the cup is a tight fit (use an epoxy adhesive), and is supported over its entire depth. If necessary, reinforce the underside of the cockpit seat with hardwood or marine plywood. 90º TACK NAV STBY STBY AUTO Mounting Cup NOTE - Due to the high loads exerted, do not fit the Tillerpilot to the mounting cup and pin until the adhesive has completely set. Hardwood Reinforcing Fig 5.1 - Tillerpin & mounting cup Fig 5.3 - Installation , plan view Page 14 Page 15 5.2 Electrical Installation Wired To 1 +12v DC 2 0v (3 Corus Green) (4 Corus White) 5 NMEA0183 Com 6 NMEA0183 Data Important - If the vessel has more than one separate battery bank, when connecting the Tillerpilot to the power supply always ensure that the pilot and all interfaced equipment - whether Corus or NMEA - are connected to the same battery bank, even though they each have independent connections to the switch panel. This is to avoid a possible voltage drop between the interfaced equipment which would render the equipment inoperative. NMEA Data 12V Red NMEA Com 0V Black 6 1 5 2 4 3 (Green) (White) CMC-TP External Compass Cable Fig 5.4 - Six pin socket connections - rear view * Use a suitable gauge cable for the run from the socket to the supply (see Fig 5.5). Cable Run * Ensure all wire ends are tinned, and any connections are well made. Poor contact will result in loss of thrust from the Tillerpilot and slower speed of response. * If in any doubt, employ a qualified engineer to install the equipment. Page 16 Due to the vast number of different manufacturers and models of navigational equipment, Simrad cannot guarantee correct operation and installation of this equipment. Therefore, before connecting any equipment to the Tillerpilot it is important that the unitÕs manual is referred to with regard to interfacing via NMEA. NMEA 12v DC When connecting to the TillerpilotÕs NMEA interface, two wires are used - a DATA wire and a COMMON (Com) wire. These should be connected to the six-pin bulkhead socket as follows: Pin No. * Connect to the vesselÕs switch panel via a 10 Amp Length of fuse or breaker. * Do not fit other electronic or electrical equipment to this cable, or Òtap intoÓ the supply from a nearby cable - always wire each piece of equipment to its own breaker in the switch panel. The TillerpilotÕs state-of-the-art electronics include a built-in NMEA processor, which means that NMEA0183 compatible equipment can be connected directly to the Wheelpilot, without any need for a separate interface unit (Fig 5.6). TACK * Mount the bulkhead socket on a vertical surface to prevent standing water gathering around or in the socket. Always fit the protective cap when the pilot is not plugged in. 5.3 Interfacing Via NMEA Cross Section Conductor AWG Area Type Under 4M (13Ft) 1.5mm2 30/0.25 16 4-8M (27Ft) 2.5mm2 50/0.25 14 Fig 5.5 - Cable selection table NAV The six pin bulkhead socket should be mounted in a convenient position close to where the Tillerpilot is to be fitted, and wired in accordance with Fig 5.4. The CMC-TP is used purely to supply Corus data to the Tillerpilot, and does not carry any power supply. The ATC600 must always have itÕs own 12v power supplied via a CPC02 or CPC05 Corus Power Cable. STBY STBY AUTO The Tillerpilot operates from a 12v DC supply. It is supplied with a high quality six pin waterproof connector ready fitted, which is used to supply the power, NMEA and (where appropriate) Corus data. The mating 6-pin bulkhead socket is also supplied with the unit. The Tillerpilot is linked to the ATC600 external compass via a connecting lead CMC-TP (not supplied), which is wired to the Tillerpilot bulkhead socketÕs Corus input (terminals 3 & 4), and then plugged into the Compass. Pin No. Wired To 5 NMEA-Com (-) 6 NMEA-Data (+) Fig 5.6 - Interfacing to Tillerpilot via NMEA It should be noted that some manufacturerÕs equipment does not have a dedicated Common connection. In this case, the DATA connection will usually be labelled NMEA OUT, and the NMEA Common connection on the Tillerpilot (terminal 5) should be connected directly to 0v (terminal 2). If in any doubt, refer to the manufacturer, or SimradÕs Product Support department for advice. If a navigational receiver (GPS etc) is connected to the Tillerpilot, it can extract the NMEA sentences necessary for the NavLock function to operate. Other functions such as Sail To Wind may also be available if NMEA0183 compatible equipment transmitting the correct NMEA sentences is interfaced. Page 17 5.4 NMEA Sentences Received 6 Appendix The NMEA0183 information required for full functionality whilst in NavLock is as follows Cross track error Bearing to destination waypoint Arrival at waypoint indication 6.1 Advice On Operation The Simrad Tillerpilot when used correctly can maintain as good a course, on most points of sail as a skilled helmsman, with the advantage that they never lose concentration where a human may begin to show lapses of concentration after as little as ten minutes. Magnetic Variation This information is extracted from the following NMEA0183 sentences XTE Cross Track Error and Arrival At Waypoint BWC Bearing To Destination Waypoint and Arrival At Waypoint (Great Circle) BWR Bearing To Destination Waypoint and Arrival At Waypoint (Rhumb Line) APA Cross Track Error, Bearing To Destination Waypoint and Arrival At Waypoint APB Cross Track Error, Bearing To Destination Waypoint and Arrival At Waypoint RMA Speed Over Ground (SOG) & Magnetic Variation RMB Cross Track Error, Bearing To Destination Waypoint and Arrival At Waypoint RMC Speed Over Ground (SOG) & Magnetic Variation NOTE - The Cross Track Error (XTE) information has a maximum value of 1.21 Nautical Miles. If the XTE exceeds this while using NavLock, the Wheelpilot will sound an alarm, exit NavLock Mode and return to Compass Auto Mode. The TP20 & TP30 also extracts the apparent wind angle from the following NMEA0183 sentences VWR Apparent Wind Speed & Angle MWV Wind Speed & Angle There are certain circumstances however, where a human pilot has the advantage in being able to anticipate events which no autopilot can sense, typically in a heavy following sea. The following advice should improve efficiency when sailing using Tillerpilot: 1. When sailing close to the wind, it is easy to forget to trim the mainsail, allowing excessive weather helm to build up. Where a human helmsman would quickly complain, the autopilot will struggle on, and the boat will be sailed less efficiently. Whereas a human normally likes to feel some weather helm, this is not necessary for the functioning of the Tillerpilot. Power consumption, wear and drag will be greatly reduced if the mainsail is freed or reefed a little sooner than normal when sailing manually. 2. It is also advisable when sailing close hauled to set a course a few degrees free of that normally sailed under manual control, to avoid luffing into the wind. 3. When running dead downwind, a human pilot can see visual signs warning him if the boat is about to gybe, which the Tillerpilot cannot sense. Therefore, when under autopilot it is advisable not to sail as close to the gybe as you may do when sailing manually. 4. When broad reaching or running fast, particularly with quartering waves, a helmsman will naturally apply periodic larger angles of helm than when beating or sailing slowly. This is the equivalent of increasing rudder Gain, and it may be a good idea to adjust the Gain on the Tillerpilot. Many people prefer to find a compromise setting which is used for all sailing, but with practice it can be optimised for different conditions e.g. low for motoring in a calm sea or high for running fast. If the Gain is set too low, the boat will yaw because insufficient rudder is applied in time; if the gain is too high, the boat will continually overcorrect on each deviation, increasing power consumption. 5. The Tillerpilot is a highly advanced piece of equipment - as such, it is a valuable aid to enjoyable sailing. However, it would be a mistake to become complacent. As with all electronic navigational equipment, it is an aid to navigation and should not be used as a substitute for conventional navigational practice. Remember - Maritime Law* requires that you keep a good look out at all times. *IMO International Regulations for Preventing Collisions at Sea, Part B Rule 5 (1972) Page 18 Page 19 6.2 Fault Finding Symptom 6.3 Auto Compass Calibration Probable Cause Remedy When engaged, the pilot Tillerpilot is configured for Porthand * Refer to section 4.1. immediately applies a large setting but installed on Starboard side helm angle and increases (or vice versa). course error. After functioning normally course is suddenly lost and the Tillerpilot goes into Standby Mode. * Power interrupted briefly, or low * Increase size of cable. * Check all connections. voltage. * Charge batteries. * Cable used to socket too small. * Uprate batteries. * Intermittent connection. Helm is hard over and alarm is * Steerage way insufficient to control * Reset the vessel on course continuously on. course, or sails are aback. Pulsing is a and re-engage pilot correct safety feature when tiller is at full travel. Power socket is live, but pilot * Socket is wired incorrectly. is not on. * Check wiring of socket (see section 5.2). * Apparent wind has become too light * Change to Compass Mode. Loss of course under Sail To to give a consistent direction. Wind Mode. * Fit ATM601 Masthead Unit. * Check Corus Monocable connections. * See section 5.5. * Navigational receiver not connected. * Check NMEA interface connections. * No waypoints have been * Check NMEA0183 format programmed. * Wrong NMEA format is being used. is being transmitted by navigational receiver. * Masthead unit is not connected. Cannot select Sail To Wind * Corus system is not switched on. Mode. * Required NMEA sentence not being transmitted. Cannot select NavLock Mode. * Pilot is in NavLock Mode. not * Pilot is in Steer To Wind Mode and a) apparent wind is >90¼ b) autotack being attempted is in the wrong direction. * Cross Track Error has exceeded 1.21 Nm. Pilot exits NavLock before waypoint is reached. Autotack working. Page 20 function * Exit NavLock. * Luff up until apparent wind is less than 90¼. Although the Tillerpilot internal compass is extremely accurate, for long distance sailing it may be necessary to calibrate the compass, to compensate for any deviations caused by objects surrounding it on board the vessel. With the vessel motoring along slowly (2-3 knots) in calm conditions and the Tillerpilot in Standby Mode, press the Starboard key a number of times to induce a slow clockwise rotation of the vessel. Press and hold the TACK key, followed by the Port and Starboard keys simultaneously to enter Auto Compass Calibration Mode (Fig 6.1). The Port and Starboard LEDs will both light. Allow the vessel to turn through a minimum of 1 1 Ú4 turns (450¼) in approximately two minutes, during which time the fluxgate compass will automatically calibrate itself. TACK TACK TACK Fig 6.1 - Auto Compass Calibration TACK If the rate of turn or the boat speed is too high, the Port LED will flash (FIg 6.2) indicating that it is necessary to Fig 6.2 - Rate of turn too fast either slow the boat or decrease the angle of turn. If the rate or turn or boat speed is too slow the Starboard LED will flash, indicating that it is necessary to either increase the boat speed or increase the angle of turn. A short beep will indicate that the calibration has been successful, and the Tillerpilot will return to Standby Mode. If the calibration has been unsuccessful after a period of four minutes, a long beep will sound. Try again carefully following the above directions. Note that this function is only available for auto calibrating the internal fluxgate compass. If an ATC600 external compass is being used, this is calibrated using a separate display head. Please contact Simrad Product Support for more information. 6.4 Spares and Accessories The following spare parts can be ordered from your local authorised Simrad Technical Dealer. Please quote the relevant part number when ordering. E02648 E00111 Tiller Pin Push Rod End 170090 E00099 170153 Protective Cover for Bulkhead Socket Mounting Cup Bulkhead Socket * Reset the vessel on course and re-engage NavLock. Page 21 Accessories Tiller Brackets Part No. Height TB30 30mm (1.18") ATC600 TB60 60mm (2.36") TB90 90mm (3.54") External Compass TB120 120mm (4.72") Height HR20 TACK Hand Remote Unit. STBY STBY AUTO CMC-TP Pedestal & Cantilever Brackets Part No Cantilever Bracket CB1 Corus interface cable (5M) Height / Length PB30 30mm (1.18") PB60 60mm (2.36") PB90 90mm (3.54") CB1 135-240mm (5.31-9.44") Height Length Push Rod Extensions Page 22 Your Tillerpilot should seldom need servicing, but will benefit from an application of silicone or Teflon grease to the pushrod and connectors each season, and by keeping the connectorÕs protective cover in place when not in use. PRE30:GY 30mm (1.18") PRE60:GY 60mm (2.36") The unit is guaranteed for 12 months from date of retail sale. If it is necessary to have the unit repaired, return it carriage prepaid to the agent in the country of purchase with a copy of the receipted invoice showing the date of purchase. Where possible, return all the components unless you are certain that you have located the source of the fault. If the original packing is not available, ensure that it is well cushioned in packing; the rigours of freight handling can be very different from the loads encountered in the marine environment for which the unit is designed. PRE90:GY 90mm (3.54") For Worldwide Warranty details, please refer to the Warranty Card supplied with this unit. PRE120:GY 120mm (4.72") A list of official worldwide Simrad dealers is included in the Warranty Card. PRE150:GY 150mm (5.90") PRE300:GY 300mm (11.81") Part No. Length 6.5 Service & Warranty Length Page 23 Manufacturer: Simrad Navico Star Lane, Margate Kent CT9 4NP United Kingdom Telephone: +44 (0) 1843 290290 Telefax: +44 (0) 1843 290471 E-Mail: simrad-navico.co.uk WORLDWIDE MANUFACTURER OF MARINE ELECTRONICS
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