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- Instrument -

Autopilot

Installation and Operation Manual

English

Installation and Operation Manual

English

AUTOPILOT

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AUTOPILOT

This manual is written for NX2 Autopilot version 2.01 – 2.11

Edition: March 2007

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1 Part specification....................................................................................................................6

1.1 Welcome aboard!............................................................................................................ 8

1.2 Capabilities.....................................................................................................................8

1.3 Principle of operation......................................................................................................8

1.4 Components ...................................................................................................................9

1.4.1 Autopilot instrument............................................................................................... 9

1.4.2 Servo Unit (A-1500 and A-1510) ........................................................................... 9

1.4.3 Rudder Angle Transmitter...................................................................................... 9

1.1.1 Compass transducer ............................................................................................. 9

1.1.2 Pumpset .............................................................................................................. 10

1.1.3 Linear Drive ......................................................................................................... 10

1.4.4 Solenoid Valve Drive ........................................................................................... 10

1.5 Registering this product................................................................................................ 10

1.6 About this manual......................................................................................................... 10

2 Installation.............................................................................................................................11

2.1 Installing the instrument................................................................................................ 12

2.1.1 Installing instrument to the Server....................................................................... 13

3 First start...............................................................................................................................14

3.1 Initialising the instrument in a Nexus Network.............................................................. 14

3.2 Re-initialising the instrument ........................................................................................14

4 Operation...............................................................................................................................16

4.1 Instrument overview...................................................................................................... 16

4.1.1 Instrument display................................................................................................ 16

4.1.2 Instrument pages and functions .......................................................................... 16

4.1.3 Instrument modes................................................................................................ 16

1.1.4 Instrument power on/off....................................................................................... 17

4.2 How to use the push-buttons........................................................................................ 17

4.2.1 MODE.................................................................................................................. 17

4.2.2 LEFT.................................................................................................................... 17

4.2.3 RIGHT.................................................................................................................. 17

4.2.4 SET...................................................................................................................... 17

4.2.5 OFF...................................................................................................................... 17

4.2.6 Tack..................................................................................................................... 17

4.2.7 Setup mode ......................................................................................................... 18

4.2.8 Lighting ................................................................................................................ 18

5 Function ................................................................................................................................19

5.1 Standby mode............................................................................................................... 19

5.2 Autopilot mode..............................................................................................................19

5.2.1 Activate automatic steering .................................................................................19

5.2.2 Turn off automatic steering.................................................................................. 19

5.2.3 Automatic steering by compass........................................................................... 19

5.2.4 Automatic steering by navigator .......................................................................... 20

5.2.5 Automatic steering by wind.................................................................................. 20

5.2.6 Power steering..................................................................................................... 22

5.2.7 Dodging and returning to last automatic steering function ..................................22

6 Setup...................................................................................................................................... 23

6.1 Setup mode .................................................................................................................. 23

6.1.1 The setup mode is divided into 4 setup groups................................................... 23

6.1.2 How to access setup mode ................................................................................. 23

6.1.3 How to change a setting ...................................................................................... 23

6.1.4 How to return to previous mode........................................................................... 23

6.1.5 Factory default settings........................................................................................ 23

6.2 Lighting setup group [Lit] .............................................................................................. 25

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6.3 Autopilot setup group [P]...............................................................................................25

6.3.1 P0, Return [RET]..................................................................................................25

6.3.2 P1, Rudder [RUD] ................................................................................................25

1.1.5 P2, Damping of compass heading [SEA].............................................................26

6.3.3 P3, Counter Rudder [CRD]...................................................................................26

6.3.4 P4, Damping of wind [WSE].................................................................................26

6.3.5 P5, Automatic Trim Calibration [ATC] ..................................................................27

6.3.6 P6, Adaptive Control [ADC]..................................................................................27

6.3.7 P7, Automatic Pilot Calibration [APC] ..................................................................27

6.3.8 P8, Rudder Reduction Speed [RRS]....................................................................27

6.3.9 P9, Rudder angle limit [LIM].................................................................................28

6.4 Alarm setup group [A]....................................................................................................28

6.4.1 A0, Return [RET]..................................................................................................28

6.4.2 A1, Pilot Course Alarm [PCA] ..............................................................................28

6.4.3 A2, Timer watch alarm [TMR]...............................................................................28

6.4.4 A3, Cross Track Error alarm [XTA].......................................................................28

6.4.5 A4, Push-button beep [KEY] ................................................................................29

6.5 Compass setup group [C]..............................................................................................29

6.5.1 C0, Return [RET]..................................................................................................29

6.5.2 C1, Magnetic heading [MAG] ...............................................................................29

6.5.3 C2, Local magnetic variation [VAR] .....................................................................29

6.5.4 C3, Auto-deviation [Auto DEV].............................................................................29

6.5.5 C4, Check auto-deviation [Auto CHK]..................................................................30

6.5.6 C5, Clear auto-deviation [Auto CLR]....................................................................30

6.5.7 C6, Adjust compass alignment [ADJ]...................................................................31

7 Maintenance ..........................................................................................................................32

7.1 Instrument maintenance................................................................................................32

7.2 Drive unit maintenance and inspection schedule..........................................................32

8 Fault finding...........................................................................................................................33

8.1 General..........................................................................................................................33

8.2 Symptom - Cause - Action ............................................................................................33

8.3 Nexus Network error messages with cause and remedy..............................................36

9 Specifications........................................................................................................................38

9.1 Technical Specifications................................................................................................38

9.1.1 Autopilot instrument .............................................................................................38

9.1.2 Servo Unit A-1500................................................................................................38

9.1.3 Servo Unit A-1510................................................................................................38

9.1.4 Rudder Angle Transmitter ....................................................................................38

9.2 Nexus Network specification .........................................................................................39

9.3 Accessories...................................................................................................................39

9.3.1 Autopilot instrument .............................................................................................39

9.3.2 Nexus Remote Control instrument .......................................................................39

9.3.3 Nexus analog Rudder Angle instrument...............................................................40

9.3.4 Nexus Multi Control instrument with Server .........................................................40

9.3.5 External alarm buzzer ..........................................................................................40

9.3.6 NFU jog lever .......................................................................................................40

9.3.7 Other NX2 Accessories........................................................................................40

9.4 Abbreviations ................................................................................................................43

10 Warranty ...........................................................................................................................46

11 Installation........................................................................................................................48

11.1 Installation general ........................................................................................................48

11.2 Installation alternatives..................................................................................................49

11.3 Wire thickness...............................................................................................................49

11.4 Servo Unit......................................................................................................................49

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11.4.1 Location of Servo Unit ......................................................................................... 49

11.4.2 Installing Servo Unit............................................................................................. 49

11.4.3 Connecting Servo Unit......................................................................................... 50

11.4.4 Safety switch........................................................................................................ 52

11.4.5 Dip switches ........................................................................................................ 52

11.4.6 Trim potentiometers............................................................................................. 52

11.4.7 NMEA connections .............................................................................................. 52

11.5 Rudder angle transmitter .............................................................................................. 53

11.6 Pumpset ....................................................................................................................... 53

11.7 Linear drive................................................................................................................... 53

11.8 Solenoid valve controlled pumpset............................................................................... 55

11.9 Other Accessories ........................................................................................................ 55

12 Dockside Testing ............................................................................................................56

12.1 Preparations .................................................................................................................56

12.2 Dockside First Start ...................................................................................................... 56

12.3 How to remove air from system.................................................................................... 56

13 Sea Trials .........................................................................................................................57

13.1 Preparations .................................................................................................................57

13.2 Compass calibration..................................................................................................... 57

13.3 Automatic Pilot Calibration [APC]................................................................................. 57

14 Fine tuning.......................................................................................................................59

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1 Part specification

___________________________________________________________

Items delivered with the instrument

1 NX2 Autopilot instrument 4

1 Instrument cover 5

5 Cable protectors, 0,25 mm (0.1 inch) 6

5 Cable protectors, 0,75 mm (0.3 inch) 6

4 Instrument mounting screws 7

4 Rubber caps for screws 7

1 Connection back cover 7

1 4-pole jack plug 7

1 Silicon paste tube 7

2 Plastic cable strap 7

1 Adhesive drill template for instrument 8

1 Nexus Network cable, 8 m (26 ft) 9

1 Quick guide laminated 10

1 Inter-connection cable, 0,3 m (1 ft )

1 Installation and Operating manual 11

1 Warranty card 12

1 National distributor list 13

Registering this product

Once you have checked that you have all the listed parts, please take time to fill in the

warranty document and return it to your national distributor.

By returning the warranty card, it will assist your distributor to give you prompt and

expert attention. Keep your proof of purchase. Also, your details are added to our

customer database so that you automatically receive new product catalogues when

they are released.

Warranty conditions see 16.

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1.1 Welcome aboard!

Thank you for choosing a Nexus Autopilot. Through this manual we would like to help

you install and operate your Nexus product. We are convinced that you will appreciate

the useful functions. To get the most out of your Nexus product, please read through

this manual carefully before you start your installation. If you see us at a show, please

stop by and say hello.

Good luck and happy boating!

1.2 Capabilities

Accuracy, reliability and simplicity of use, are key features of the Nexus microprocessor

controlled Autopilot. Whether the need is for minimised fuel consumption, improved

navigational accuracy or simply more enjoyable yachting, the Nexus Autopilot is the

right navigational aid to provide precision steering under all sea conditions. Due to the

very stable fluid dampened compass with high gimbaling angles and automatic trim

feature, this Autopilot is suitable for sailing and powerboats. User adjustable settings

make it possible to fine tune each boat, yet factory default settings and automatic

calibration allow simple operation with minimal operator input.

The Nexus Autopilot is capable of operating either as a "Stand Alone" Autopilot, or as a

"Network" application by connecting it to the Nexus Network. Many options are

available, including GPS and wind transducers, Nexus Remote Control instrument and

other Nexus digital and analog instruments.

The Autopilot Servo Unit A-1500 is designed for sailing and power boats from 35 ft. (11

m.) to over 160 ft. (50 m.), depending on drive units used. Hydraulic drive units provide

precise control with low power consumption. Connection can also be made to solenoid

valves of electro-hydraulic steering systems, allowing use on very large boats.

Hydraulic linear drives provide powerful and accurate control when connected to

mechanical steering systems and also provide independent hydraulic steering for

added safety.

The Autopilot Servo Unit A-1510 is designed for sailing and power boats from 26 ft. (8

m.) to over 50 ft. (15 m.), depending on drive units used. Hydraulic drive units provide

precise control with low power consumption. Hydraulic linear drives provide powerful

and accurate control when connected to mechanical steering systems and also provide

independent hydraulic steering for added safety.

Power steering through the instrument’s push-buttons may be used to avoid heavy

wheel effort when manoeuvring. Alarms for off course, off track or watch alarm are

included with provision for an optional external alarm buzzer.

1.3 Principle of operation

Any difference between the set and actual course, is compared along with rate of

change and trends in change*, to drive the pumpset motor or solenoid valve. The ,

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AUTOPILOT

rudder is moved as necessary to return the boat back on course. The sensitivity to

course errors andamount of correction are user adjustable to suit different boats under

various sea conditions.

NB * (PID control, terminology as known by control technicians,

P = proportional part, I = integral part and D = derived part)

Factory default settings and automatic calibration, establish a basis for normal steering

and may be further fine tuned if necessary. During set up routines, the compass is

automatically compensated and installation errors such as reversed rudder feedback

and reversed pumpset wiring or piping are automatically diagnosed and corrected.

During this routine also the rudder speed is automatically optimised. This greatly

reduces installation set up and sea trials time while eliminating possible Autopilot

malfunction.

1.4 Components

1.4.1 Autopilot instrument

Control and display of all Autopilot functions are provided by the Autopilot instrument. It

is waterproof and may be mounted below or above deck. Multiple Autopilot instruments

can be connected and the Autopilot may be activated by pressing the push-buttons of

any instrument.

1.4.2 Servo Unit (A-1500 and A-1510)

The Servo Unit contains the course computer and pumpset motor drive circuitry and

acts as a centre for interconnecting wiring. It is splash proof and should be located

centrally to minimise lengths of wiring. The powerful microprocessor in the Servo Unit

accepts heading information direct from an electronic compass or gyro compass (A-

1500 only), wind transducer, navigators and compares this against the course set by

the instrument and rudder.

1.4.3 Rudder Angle Transmitter

The Rudder Angle Transmitter provides the Autopilot with accurate rudder position

information. It is mounted near the rudder shaft and connected to the tiller arm or

quadrant with an adjustable ball joint linkage.

1.1.1 Compass transducer

No Autopilot can steer better than the compass stability will allow. The Nexus compass

excels in this characteristic, where the liquid dampening provides for stability even at

high speeds in heavy seas. The high gimbaling angle, eliminates compass disturbance

with boat heeling or rolling. The compass provides a stable heading reference for the

Autopilot and should be bulkhead mounted below deck near the centre of pitch and roll

for maximum stability. Construction is splash proof. The Autopilot Servo Unit or the

Nexus Server can re-transmit the compass heading on the NMEA output port to

receivers such as radars, plotters, compass repeaters etc.

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1.1.2 Pumpset

Various sizes and types of pumpsets can be mounted into a hydraulic steering system.

The pumpset only operates when carrying out a rudder command. When the boat is on

course, the pumpset motor stops. A variable speed motor drive adjusts optimal rudder

speed and provides for minimum power consumption and maximising of rudder

positioning accuracy.

1.1.3 Linear Drive

A hydraulic linear drive is used to drive the tiller arm or quadrant of mechanical steering

systems. The linear drive is driven by a pumpset. The linear drive provides a cleaner

installation, being entirely below deck, and delivers more torque to the rudder than

wheel driven units. In case the mechanical steering should fail, the linear drive will

provide a back-up hydraulic steering.

1.4.4 Solenoid Valve Drive

On larger boats the main hydraulic steering may be fitted with solenoid valve controlled

power steering. In this case the Autopilot does not need to be supplied with a pumpset

since the Nexus Servo Unit output can be reconfigured with its board mounted DIP

switch to provide drive for steering solenoids or relays having coil voltages of 12 or 24

VDC.

1.5 Registering this product

Please take time to fill in the warranty cards and return them to your national distributor.

By returning the warranty card, it will assist your expert distributor to give you prompt

attention. Keep your proof of purchase. Also, your details are added to our customer

database so that you automatically receive new product catalogues when they are

released.

1.6 About this manual

• Each time a push-button is referred to in this manual, the push-button name will

appear in bold and CAPITAL letters, e.g. MODE.

• Unless otherwise stated, the push-button presses are momentary.

• Each time a function is mentioned in the text, it will be in brackets and in the same

format, where possible, as displayed, e.g. [HDG] for HeaDinG.

• With the word navigator we mean a GPS, Loran or Decca instrument.

• Which instrument is navigating? By the term navigating, we mean the active

instrument in which the waypoint memory is used for navigation to calculate the

navigation data, i.e. BTW, DTW etc. There can only be one instrument on the

Nexus Network which is keeping the waypoints in memory, but the waypoints can be

reached from all instruments.

Note! We have put in a lot of effort, in order to make this manual correct and complete.

However, since we have a policy of continuous improvement, some information may

differ from the product functions. If you need further information, do not hesitate to

contact your national distributor.

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2 Installation

• The installation includes 6 major steps:

1. Read the installation and operation manual.

2. Plan where to install the transducers and instruments.

3. Run the cables.

4. Install the transducers and instruments.

5. Take a break and admire your installation.

6. Learn the functions and calibrate your system.

Before you begin drilling ... think about how you can make the installation as neat

and simple as your boat will allow. Plan where to position the transducers, Server

and instruments. Think about leaving space for additional instruments in the future.

• A few ”do nots” you should consider:

− Do not cut the cables too short. Allow extra cable length at the Server so it

can be disconnected for inspection without having to disconnect all

attached cables.

− Do not place sealant behind the display. The instrument gasket eliminates

the need for sealant.

− Do not run cables in the bilge, where water can appear.

− Do not run cables close to fluorescent light sources, engine or radio

transmitting equipment to avoid electrical disturbances.

− Do not rush, take your time. A neat installation is easy to do.

• The following material is needed:

Wire cutters and strippers.

Small and large Philips and small flat head screw driver.

Hole saw for the instrument clearance hole 63 mm (2½").

5 mm (1/4") drill for the mounting holes.

Plastic cable ties

If you are doubtful about the installation, obtain the services of an experienced

technician.

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2.1 Installing the instrument

• Place the adhesive drill template on the desired location for the instrument. Drill the

2 holes using a 5 mm (1/4") drill for the two pin bolts. Use a 63 mm (2½") hole saw to

machine the clearance hole for the instrument connection socket. Remove the

template.

• Screw the two pinbolts to the instrument

• Put the instrument in place

• Screw the two nuts from the back

Note! The two nuts must just be tighten by hand

• Run the Nexus Network cable from the Server

to the instrument.

Silicon paste

• If you want to cut the Nexus Network cable to

length, disconnect 4-pole jack plug and cut

the cable. Peel off about 35 mm (1,4") of the

cable insulation. Remove about 6 mm (1/4")

from the 3 isolated wires (the 4th wire is an

earth / screen). Attach the 4 cable protectors

to the wires using a pair of flat pliers.

• Connect the 4 cable protectors to the 4-pole

jack plug as shown. Apply silicon paste on all

locations as

shown.

Note: Must be done to avoid corrosion.

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• Apply silicon paste to the instrument connection pins at the back of the instrument.

Press the jack plug onto the instrument pins. Press the cable in to the cable leads.

• Mount the connection back cover with the screw.

2.1.1 Installing instrument to the Server

All NX2 instruments are connected directly to the Nexus Network

in a daisy chain. They all use the same colour coded 4-pole jack

plugs. (For instrument installation, see 2.2).

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3 First start

At each power on, the instrument will perform a self test. The

display will first show all segments, then the software version and

the Nexus Network ID number.

3.1 Initialising the instrument in a Nexus Network

At the first power on after installation, you will be asked to press

SET [PrSKEY]. This will give the instrument a logical ID number

from 16 and upwards on the Nexus Network.

To initialise the instrument, press SET, one instrument at a time,

on all installed digital instruments,.

Warning! Always wait for the text [Init OK]

to be displayed, before you press SET

on the next instrument!

The Nexus Servo Unit or the Server automatically gives the first

unit ID number 16, then 17 and so on. The order in which you press

SET, will be the same order as the instruments will be given a

logical ID number on the Nexus Network, and the same order they

will be addressed by the Remote Control instrument if used.

The example shows that the instrument version number is 1.6 and

the logical ID number given is 17.

Warning! Do not activate any Autopilot functions until Dockside

Testing and Sea Trials APC routine have been performed.

3.2 Re-initialising the instrument

If two instruments have been given the same ID number by

mistake, you must re-initialise the instruments to avoid Network

disturbance and blockage of data.

To re-initialise the instrument, be prepared to press CLR during the

short power up sequence, i.e. when version and ID numbers are

displayed.

The display test is then re-started on all instruments and you will be

asked to press SET on one instrument at the time as explained

above.

Note! If you do not succeed to re-initialise, we suggest you

disconnect (just pull out the connection plug) on all, except one of

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the instruments that had the same ID number, then re-install the

instruments and repeat the above procedure.

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4 Operation

4.1 Instrument overview

Function

Top-line

Heading

Page-

arrow

Reference

course /

angle

OFF LEFT RIGHT

SET

Autopilot on

MODE

Lower -line

function text

4.1.1 Instrument display

The display consists of two lines, a top-line with 24 mm (1”) digits and a lower-line with

13 mm (0.5”) digits.

4.1.2 Instrument pages and functions

The Autopilot instrument has its functions divided into 4 pages. The page names are printed above

the display:

COMPASS, NAV (Navigation), WIND and PWR ST (Power steer)

The selected function is indicated by the page-arrow at top of the display.

4.1.3 Instrument modes

Standby mode: The instrument functions as a passive compass repeater.

Autopilot mode: When any Autopilot function is activated.

Setup mode: It allows calibrating your Network settings.

Edit mode: It allows editing settings (when digits are flashing).

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1.1.4 Instrument power on/off

You will switch on/off your Nexus instruments by using the

instrument switch on your electrical panel as the instruments have

no separate power on/off-button.

4.2 How to use the push-buttons

4.2.1 MODE

A press on MODE, moves one page to the right, indicated by the

page-arrow at top of the display.

In edit mode, a press on MODE moves the cursor one step to the

right.

It scrolls in a circular pattern, one step for every press.

4.2.2 LEFT

When the Autopilot is activated, a short press on LEFT decreases

the course by 1°, a long press decreases the course by 10°.

In setup mode a press on LEFT moves to the previous setup

function. In edit mode a press on LEFT decreases a digit by one.

4.2.3 RIGHT

When the Autopilot is activated, a short press on RIGHT increases

the course by 1°, a long press increases the course by 10°..

In setup mode a press on RIGHT moves to the next setup function.

In edit mode a press on RIGHT increases a digit by one.

4.2.4 SET

A press on SET activates the Autopilot in selected steering

function.

In setup mode, a press on SET unlocks a digit to access edit mode.

When unlocked, the digits are ”active” (flashes) and can be edited

by pressing LEFT, RIGHT and MODE as required.

When finished editing, lock the digit by another press on SET.

4.2.5 OFF

A press on OFF turns the Autopilot.

4.2.6 Tack &

A press on LEFT and RIGHT together, performs a Tack when

steering in wind mode.

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4.2.7 Setup mode

To access setup mode, press and hold MODE more than 2

seconds. [Lit OFF] flashes. To move to next setup group, press

MODE again.

> 2sec

To return to standby mode, press SET when the text return [RET] is

displayed.

4.2.8 Lighting

The instrument uses red back lighting for the display and the 4

push-buttons. The light can be set at 4 different levels.

To access the light control, press and hold MODE for more than 2

seconds. The flashing text [Lit OFF] will be displayed and the

display will be lit momentarily.

To select between the 4 light levels [LOW], [MID], [MAX] and

[OFF], press RIGHT. To lock the selected level, press SET.

The selected light level will be copied to all Nexus instruments

connected to the Network. It is not possible to reduce or turn off the

lighting on an individual instrument.

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5 Function

5.1 Standby mode

At power on the Autopilot starts is in standby mode and operates as

a passive compass repeater. No page-arrow is shown at the top of

the display.

The current course is displayed on the top-line.

The rudder angle is displayed on the bottom line.

In any function, the top-line displays the heading at all times.

5.2 Autopilot mode

Prior to activating any automatic steering function, the boat should

be steadied on the desired heading and on track for 5 to 10

seconds to minimise large course changes when activated. The

Autopilot operates with course errors up to 90°, and cross-track-

errors of max 2 NM.

5.2.1 Activate automatic steering

To select a steering function, press MODE.

The page-arrow at top of the display indicates the selected page.

To activate the selected steering function, press SET when the

lower-line text is flashing.

The reversed lit text [AUTO] to the right and in the middle on the

display always confirms that an automatic steering function is

activated. The function text at lower-line to the right confirms which

steering function is activated, ex [HDG] for compass steering.

Note! If a page is not available, such as when no waypoint

information is programmed / activated or no navigator or wind

transducer connected, the page-arrow will not stop at that page.

5.2.2 Turn off automatic steering

To turn off automatic steering, press OFF.

To turn off the Autopilot when you are in the process of changing

functions or are in setup mode, press OFF.

5.2.3 Automatic steering by compass

To select compass steering, press SET.

The present heading now becomes the reference course and is

displayed on the lower-line to the left.

To change the reference course to port, press LEFT.

To change the reference course to starboard, press RIGHT.

A short press changes the course by 1°, a long press by 10°.

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5.2.4 Automatic steering by navigator

Automatic steering by navigator is only possible if a navigator is

connected and it is navigating towards a waypoint.

To select steering by navigator, press MODE until the page-arrow

appears under NAV, and [NAV] is flashing on the lower-line. Your

present course is displayed on the top-line.

Caution! Before activating [NAV] steering, make sure your present

heading corresponds approximately with bearing to waypoint, and

that the cross track error is less than two NM, because the Autopilot

will turn the boat towards the track line first and then onto the

heading set. XTE

to

sta

r

boa

r

d

To activate NAV steering, press SET when [NAV] is flashing.

Bearing to waypoint or cross track error to waypoint are now

displayed on the lower-line to the left. To alternate the display

between bearing and track on the lower-line, press LEFT or

RIGHT.

XTE

to

po

r

t

Caution!

The NAV function will automatically change course when

the next waypoint information is displayed and the

helmsman should ensure that there are no boats or other

hazards on the new course as the waypoint is changing.

When using waypoint sequencing in a route list, it is

extremely important that the helmsman is at the steering

position and ready to override the pilot if the course

change would cause collision with other boats or objects.

Set all waypoints in navigators away from navigational

hazards by at least 100 metres as the boat may require

this radius or more on waypoint advance. The Nexus

GPS Navigator will allow you to select a route list with

automatic sequencing, or with a confirming push-button

press for each waypoint.

5.2.5 Automatic steering by wind

Automatic steering by wind is only possible if the Autopilot is

connected to a Nexus Network with a wind transducer connected.

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AUTOPILOT

Note! The apparent wind speed must be more than 3 knots. If the

apparent wind speed falls below 3 knots, wind signals are disabled

and the Autopilot will maintain the current magnetic heading

reference instead.

Before activating wind steering, optimise your sail trim.

To select wind steering, press MODE until the page-arrow appears

under WIND, and Apparent Wind Angle [AWA] is flashing on the

lower-line. Your present course is displayed on the top-line.

To activate wind steering, press SET when [AWA] is flashing.

The present [AWA] now becomes the reference angle, and is

displayed on the lower-line to the left, followed by a sign to describe

wind from port or starboard. Starboard

Port

To steer to port, press LEFT.

To steer to starboard, press RIGHT.

A short press changes the value by 1°, a long press by 10°.

When making large changes of over 30°, it may take about 1

minute for an accurate course to be re-established due to changes

in boat balance which must be recognised by the automatic trim

function.

To tack, press RIGHT and LEFT together and the boat will come

about the same apparent wind angle on the opposite tack.

Tack angles greater than 80° off the wind are not recommended

due to the possibility of an accidental gibe.

Warning! Pressing for a tack when the wind is abaft the beam will

result in a gibe!

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5.2.6 Power steering

To select power steering, press MODE until the page-arrow

appears under PWR ST, and Rudder Angle Indicator [RAI] is

flashing on the lower-line. Your present course is displayed on the

top-line.

To activate power steering, press SET when [RAI] is flashing.

The rudder angle, followed by a sign for port or starboard is

displayed on the lower-line.

To change the rudder angle to starboard press RIGHT and hold it,

until the desired rudder angle is displayed.

To change the rudder angle to port press LEFT and hold it, until the

desired rudder angle is displayed.

5.2.7 Dodging and returning to last automatic steering

function

To dodge, turn off the automatic steering by pressing OFF and

dodge manually.

If you want to re-activate the last steering function and value, press

MODE and SET together, within 10 minutes after turning off the

automatic steering.

This function is not available after 10 minutes after Autopilot off, or

if the Autopilot has been turned off by pressing OFF for more than

two seconds.

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AUTOPILOT

6 Setup

6.1 Setup mode

To get the most out of your Nexus product, it is important to

carefully setup and calibrate your Network. The settings are stored

in a non-volatile memory, which means they will remain in memory

after you have turned off the power. To get an overview of your

Network settings, we recommend that you note your settings.

6.1.1 The setup mode is divided into 4 setup groups

[Lit OFF] = Lighting setup group

[P0] - [P9] = Pilot setup group

[A0] - [A4] = Alarm setup group

[C0] - [C6] = Compass setup group

6.1.2 How to access setup mode

To access setup mode, press and hold MODE more than 2

seconds.

To move to next setup group, press MODE.

To scroll up and down in each group press LEFT or RIGHT.

6.1.3 How to change a setting

To unlock a setting, press SET.

To change a setting, press LEFT, RIGHT and MODE as required.

To lock a setting, press SET.

6.1.4 How to return to previous mode

To return to previous mode, press SET when the text return [RET]

is displayed.

6.1.5 Factory default settings

After each setting we have listed the factory default settings. This

allows you to manually get back to factory default settings, if

needed. There is no automatic way to get back to factory default

settings, it has to be done manually.

All Autopilot instrument settings are central, and affect all

connected Autopilot instruments and their commands.

Note! The APC routine automatically sets these settings:

[RUD], [SEA], [CRD], [ATC] and [RRS].

Therefore these settings and their minimum and maximum values

and times, depend on how your boat behaves.

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AUTOPILOT

Note! The above explanation is only mentioned here. It is not

repeated for each setup.

24

AUTOPILOT

Caution! All setup routines can be adjusted while the boat is

underway with Autopilot functions activated. Always be in a position

to monitor the boat’s heading and to watch for navigational hazards

when calibrating the Autopilot. Be prepared to turn off the Autopilot

by a long press on OFF, to revert to manual steering immediately if

an undesired heading occurs. If navigating with an automatic

steering function in a hazardous situation, do not adjust setup

routines while underway.

6.2 Lighting setup group [Lit]

The instrument uses red back lighting for the display and the 4

push-buttons. The light can be set at 4 different levels of

brightness.

To select between the 4 light levels [LOW], [MID], [MAX] and

[OFF], press RIGHT. To lock the selected level, press SET.

The selected light level will be copied to all Nexus instruments

connected to the Network. It is not possible to select the lighting

level individually for single instruments.

6.3 Autopilot setup group [P]

6.3.1 P0, Return [RET]

To return to previous mode, press SET when the text [RET] is

displayed.

6.3.2 P1, Rudder [RUD]

Possible settings are [0] = Minimum to [9] = Maximum.

Set by the APC routine.

The setting affects the degree of rudder angle used.

The most critical adjustment for good steering is the rudder. Too

high a setting will cause excessive amounts of rudder movement,

which forces the boat to hunt rapidly back and forth across the

course. Too low a setting lets the boat slowly fall off course, with

repeated corrections required to get back on course.

The rudder should be set to the position where positive control of

the steered course desired, is achieved without undue activity. Run

the boat at its cruising speed and make a course change of 40°,

with the push buttons. The boat should not overshoot by more than

approximately 5°. Adjust the rudder until this is achieved.

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AUTOPILOT

1.1.5 P2, Damping of compass heading [SEA]

Possible settings are [0] = Minimum to [9] = Maximum.

Set by the APC routine.

This setting is a combination of yaw dead-band (compass

sensitivity) and compass damping. The minimum setting may only

be used under calm sea conditions to avoid unnecessary rudder

correction due to compass acceleration errors.

Smaller boats and high speed boats, which are subject to more

acceleration in lighter seas will have to use higher settings. Larger

and more stable boats can use lower settings since there is less

compass disturbance.

Default setting should work on most boats in light to moderate sea

conditions. Following seas, no matter how rough, may require lower

settings to catch course error trends quickly in order to minimise

excessive yaw.

6.3.3 P3, Counter Rudder [CRD]

Possible settings are [0] = Minimum to [9] = Maximum.

Set by the APC routine.

This setting senses the rate of change of heading and gives

additional rudder corrections if the boat is rapidly falling off course,

and backs off the rudder as a boat approaches the desired

heading. Its effect is to rapidly catch the tendency to yaw in a

quartering sea, provide initially high rudder control when making a

large course change and to decelerate the swing of the bow, as a

boat approaches the desired course.

Course holding with heavy and difficult to steer boats, is greatly

improved , when using this feature. Too little counter rudder, will

allow the boat to overshoot on large course changes. Too much will

cause unnecessary rudder corrections and a tendency to stop short

of coming to a new course, requiring several successive corrections

before easing up to the new heading.

To optimise counter rudder, initially set it to minimum and adjust the

rudder (see, [RUD] 5.3.2). Increment the counter rudder one step at

a time, while testing 40° course changes, until the boat achieves an

overshoot of 1° to 2° or less. Remember, that any air in the

hydraulic system will prevent precision control.

6.3.4 P4, Damping of wind [WSE]

Possible settings are [0] = Minimum to [9] = Maximum. Default

setting is [2].

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AUTOPILOT

Damping of wind transducer. The factory default setting should be

adequate. In very heavy weather or unstable wind conditions,

unnecessary corrections may be minimised by increasing the

setting.

6.3.5 P5, Automatic Trim Calibration [ATC]

Possible settings are [0] = Minimum to [9] = Maximum.

Set by the APC routine.

[ATC] is not critical. It constantly compares the course set against

the course steered and slowly applies more rudder as necessary to

reduce any errors to zero. Errors may be due to wind, waves or

other unbalanced forces such as single screw operation of a twin

screw boat, an off centre tow or weather helm on a sailing boat, etc.

If the trim time is set too high, it will take a long time to eliminate the

course error. If it is set too low it can start to degrade course

stability.

In general, longer trim times (higher settings) should be set for

large boats and sailing boats and shorter trim times (lower settings)

for small boats and high speed planning boats. The factory default

setting should be acceptable for all but extreme applications.

6.3.6 P6, Adaptive Control [ADC]

Possible settings are [OFF] or [On].

This function is reserved for future functions.

6.3.7 P7, Automatic Pilot Calibration [APC]

Possible settings are [ON] or [OFF].

The APC routine automatically sets: [RUD], [SEA], [CRD], [ATC]

and [RRS].

The Autopilot will not function unless the boat pass the APC

routine. The APC will automatically determine and correct how

wires and pipes are connected. It will also learn how the boat reacts

on different rudder commands and automatically calibrate itself.

To learn how to perform the APC function, see Sea Trials.

6.3.8 P8, Rudder Reduction Speed [RRS]

Possible settings are [0] = Minimum to [9] = Maximum.

Set by the APC routine.

The [RRS] controls the flow of the pumpset. It will effect the

pumpset, but not a solenoid valve steering system.

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AUTOPILOT

The [RRS] will be set to [5] after the APC routine is performed. It is

then possible to increase or decrease the speed reduction of the

pumpset motor.

6.3.9 P9, Rudder angle limit [LIM]

Possible settings are [0°-99°]. Default setting is [00°].

An angle of 00° is the same as rudder angle limit disconnected

(OFF).

Note! Make sure [LIM] is set to 00° (OFF) during installation.

The rudder angle limit sets maximum angle for the rudder. If the

limit is set to 45°, it is not possible to exceed a rudder angle 45° on

either port or starboard. Check the maximum rudder angle by

turning the steering wheel to port and starboard and read the

maximum angle. If the angle is greater on one side, decrease the

smallest angle by 3°, and enter that setting as the limit.

6.4 Alarm setup group [A]

To silence an alarm, press any push button.

6.4.1 A0, Return [RET]

To return to previous mode, press SET when the text [RET] is

displayed.

6.4.2 A1, Pilot Course Alarm [PCA]

Possible settings are [OFF] and [00°-99°]. Default setting is [OFF].

When the boat’s average course differs more than the [PCA]

setting, the alarm will sound and the display will blink.

6.4.3 A2, Timer watch alarm [TMR]

Possible settings are [OFF] or [On]. Default setting is [OFF].

On = audible alarm activated.

The audible alarm will sound every 5 minutes to alert the person on

watch.

To confirm and restart the timer, press any push-button. If not

confirmed within 1 minute, the optional external alarm buzzer, if

connected to the Nexus Server, will sound for 1 minute, to alert the

rest of the crew.

6.4.4 A3, Cross Track Error alarm [XTA]

Possible settings are [0.00] = OFF to [9.99]. Default setting is

[0.00].

This function is only available in NAV function when the Autopilot is

connected to a Nexus Network and a navigator is connected to the

Nexus Server.

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AUTOPILOT

If the pilot’s cross track error exceeds the set threshold of distance

of the track, the alarm will be activated.

6.4.5 A4, Push-button beep [KEY]

Possible settings are [OFF] or [On]. Default setting is [ON].

[On] = Sound when push buttons are pressed. [OFF] = No sound.

6.5 Compass setup group [C]

Auto-deviation, auto-deviation-check and auto-deviation clear, are

only available if a Nexus compass transducer is connected. The

auto-deviation routine will automatically correct all possible faults,

except alignment.

Note! As soon as you place any kind of ferrous items close to the

compass, the auto-deviation and auto-deviation check routines

should be repeated. So if you have packed your boat for the

vacation, think about where you place ferrous items in relation to

the compass transducer.

6.5.1 C0, Return [RET]

To return to previous mode, press SET when the text [RET] is

displayed.

6.5.2 C1, Magnetic heading [MAG]

Possible settings are [OFF] and [On]. Default setting is [OFF].

[On] = All headings will be magnetic.

[OFF] = All headings will be true, i.e. corrected for local variation

set in C2, Local variation [VAR]. This is local setting.

6.5.3 C2, Local magnetic variation [VAR]

Possible settings are [+/-00.0°-99.9°]. Default setting is [00.0°]

Easterly variation = underlining ( _ ) sign.

Westerly variation = minus ( - ) sign.

The local magnetic variation is usually printed in the sea chart.

6.5.4 C3, Auto-deviation [Auto DEV]

This function is used to automatically correct the deviation of your

compass.

Take the boat into a slow turn, in calm sea and away from other

boats or obstructions. There is no need to perform a perfect circle.

When steady, select C3 [Auto DEV] and press SET to start. The

present "uncorrected" compass heading is displayed and the

compass auto-deviation is in progress. Turn the boat in a 1 ¼

circle, and when ready press SET again.

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AUTOPILOT

If successful, the text [CAL C3] [Auto DEV] will be displayed.

If not, an error messages can be displayed:

• [Err 15]: Make sure an Autopilot function is not activated and

carry out the auto-deviation procedure again.

• [Err 16]: Auto-Deviation is not possible, because a NMEA

compass is selected as compass for the Nexus Network.

• [Err 17]: The 1 ¼ turn was not performed or the compass is

affected by strong magnetic distortion.

You may interrupt the auto-deviation procedure at any time by

pressing LEFT and RIGHT together.

To check the auto-deviation, carry out the auto-deviation check

routine.

6.5.5 C4, Check auto-deviation [Auto CHK]

This function is used to check your auto-deviation.

The result of [Auto CHK] will be compared with [Auto DEV]. If the

deviation is less than 1,5°, the average value from the comparison

between [Auto DEV] and [Auto CHK] will be stored.

Take the boat into a slow turn, in calm sea and away from other

boats or obstructions. There is no need to perform a perfect circle.

When steady, select C4 [Auto CHK] and press SET to start.

The present compass heading is displayed and the compass auto-

deviationcheck is in progress. Turn the boat in a 1 ¼ circle, and to

end the routine, press SET again.

If successful, the text [CAL C4] [Auto CHK] will be displayed.

If not, [ERR 17] or [ERR 19] will appear, i.e. the difference between

the last auto-deviation and this auto-deviationcheck was too great

to be accepted.

Make a new auto-deviation-check, and if you still get [ERR 19],

make a new auto-deviation, since the last one was probably

disturbed.

6.5.6 C5, Clear auto-deviation [Auto CLR]

To clear the calibration created by the auto-deviation, select C5

[Auto CLR], and press SET.

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AUTOPILOT

6.5.7 C6, Adjust compass alignment [ADJ]

Possible settings are [000°] to [359°]. Default setting is [000].

Compass transducer alignment correction or the so called, ”A-fault”.

Allows 180° reversed mounting if needed. Never mount the

transducer at right angles to the boats fore-aft line.

Make sure that the local magnetic variation is entered before you

make the alignment adjustment, otherwise you are unable to see

the difference between local magnetic variation and alignment

error.

To check the transducer position, sail/steer your boat in a straight

line towards two visible objects in a line. If the actual heading taken

from the sea chart is 330° and the compass displays 335°, then set

the value of 360° - 5° to 355°.

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AUTOPILOT

7 Maintenance

7.1 Instrument maintenance

• To clean the instrument, use only mild soap solution and rinse

with water.

• Do not use detergents or high pressure washing equipment.

• At least once a year, check all your connections and apply

additional silicon paste at each connection point.

• When the instrument is not in use, always fit the instrument

cover for protection

• Storing of instruments when not in use for longer periods: It is

advisable to remove the instruments and transducers and store

them inside the boat or at home preferably at room temperature.

7.2 Drive unit maintenance and inspection

schedule

If the boat does not accumulate below hours within 3 months, the

frequency is every 3:rd month.

Warning!

Failure to rectify any faulty conditions discovered as a result of the inspection could

cause sudden loss of Autopilot control, with consequential danger. It is recommended

that all items referenced in the following table be inspected before commencing any

cruise.

Type Equipment Checks Remedy Inspection

frequency

Hydraulic Oil reservoir level Correct Fill 200 hrs

Oil condition Discoloration

Contamination Flush system and

replace the oil 1000 hrs

1000 hrs

Hydraulic piping Damage

Leaks & Corrosion Replace 1000 hrs

Hydraulic fittings Damage

Leaks & Loosening Replace

Tighten 500 hrs

Piston rod seals

on pumpset Leaking Replace 1000 hrs

Mechanica Linear drive Corrosion Replace or Repair 2000 hrs

Tiller arm Corrosion Replace 2000 hrs

Tiller bolts Corrosion

Loosening Replace

Tighten 2000 hrs

500 hrs

Rod end bolt

on linear drive Corrosion

Loosening Replace

Tighten 2000 hrs

500 hrs

Trunnion bolts

on linear drive Corrosion

Loosening Replace

Tighten 2000 hrs

500 hrs

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AUTOPILOT

8 Fault finding

8.1 General

Before you contact your Nexus dealer and to assist your dealer to give you a better

service, please check the following points and make a list of:

• All connected instrument and transducers, including their software versions.

• Nexus Network ID numbers for each instrument (displayed at power up).

In most cases, the reason for faults in electronic equipment is poor installation.

Therefore, always first check that:

• Installation and connection is made per instructions for instruments and

transducers.

• Screw terminals are carefully tightened.

• No corrosion on any connection points.

• No loose ends in the wires, causing short cuts to adjacent wires.

• Cables for damage and that none are squeezed or worn.

• Battery voltage is sufficient, should be at least 11 V DC.

• The fuse is not blown and that the circuit-breaker has not opened.

• The fuse is of the right type.

• Two instruments do not have the same ID number.

8.2 Symptom - Cause - Action

In the table below, causes marked [ * ] are more likely to occur during installation or

when rewiring has taken place.

Symptom Cause Action

Autopilot turns off * Voltage below

minimum. Make sure 12/24 V is applied to battery

terminals at Servo Unit.

Autopilot does not

turn on * Voltage not

applied. Make sure 12/24 V is applied to battery

terminals at Servo Unit.

* Voltage polarity is

reversed. Make sure + and - is applied to correct

terminals

* Boats safety switch

is open. Close the safety switch.

* Fuse burned out. Check and replace fuse as necessary,

located in the Servo Unit.

Autopilot turns on,

but the pumpset

does not run

Slow blow (high

current) fuse in

Servo Unit is blown.

Replace fuse. If fuse regularly blows,

check for excessive rudder load or

mechanical defects in steering system

Pumpset drive

section in Servo Unit

may have failed to

open.

Replace transistors, integrated circuits

or entire circuit board.

Pumpset motor turns

but the rudder does not

move

Broken or loose motor

coupling. Replace or tighten coupling as necessary.

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AUTOPILOT

Pumpset contamination Clean or replace pumpset

Symptom Cause Action

Blinking [Low Bat] on

bottom line of display Low battery voltage. Automatic

shut-off in case of voltage lower

than 10.5 V (12 V battery) and

21.5 V (24 V battery).

Turn Autopilot off and charge batteries, or

correct voltage loss. When proper voltage

restores, restart Autopilot.

Poor wiring connection. Check for voltage drop and repair.

Power wiring is undersized. Replace wiring with correct diameter wire.

When Autopilot

engaged, rudder goes

harddover.

APC routine not performed. Perform APC routine.

Power transistors in Servo Unit

may be shorted. Replace transistors or entire circuit board.

Rudder transmitter linkage

disconnected. Re-connect and align as per installation

instructions.

Rudder transmitter wiring

shorted or open circuit. Check and repair wiring as necessary.

Autopilot wanders on

some headings Magnetic interference is

present. The worst steering is

usually on northerly headings in

the northern hemisphere and

southerly headings in the

southern hemisphere.

Perform Auto-Deviation-Clear [CLR] and

Auto-Deviation [DEV] again, or try another

compass location. Investigate for

magnetic disturbances around compass,

e.g. masses of steel, motors,

loudspeakers etc.

Autopilot wanders on

all headings Severe magnetic interference. Choose another compass location.

Air in hydraulics. Fill and purge the steering system.

Slack in the steering system. Repair any loose or worn parts.

Rudder transmitter

potentiometer is "noisy" or

intermittent.

Replace rudder potentiometer.

Compass damaged;

intermittent wiring connection Repair any loose or worn parts; recheck

and connect wiring.

Slow wander means rudder

control is set too low

(understeering).

Increase Autopilot setting [P1] [RUD]

Fast wander means rudder

control is set too high

(oversteering).

Decrease Autopilot setting [P1] [RUD]

Autopilot wanders on

all headings. Excess rudder load. Reduce rudder friction, increase steering

cylinder size, increase power of the

pumpset.

Rudder movement is

erratic Air in system. Check for leaks and bleed the system.

Rudder angle indicator

is displaying erratic

values.

Rudder transmitter is defective

(noisy). Replace rudder transmitter or

potentiometer within.

Check for loose or broken wires

in terminal strips. Reconnect tightly.

Check for broken wires in

cables. If wiggling of cable where it flexes causes

rudder activity, replace cable.

Boat overshoots on

large course changes. Rudder control set too high. Decrease Autopilot setting [P1] [RUD]

Counter rudder set too low. Increase Autopilot setting [P3] [CRD]

Symptom Cause Action

Course as set on If constant error, Autopilot Use Compass setting [C6] [ADJ] to adjust

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AUTOPILOT

Autopilot instrument is

different from ship’s

steering compass.

compass is not aligned with for-

aft line of boat. alignment of compass.

Variable error in heading

caused by magnetic

interference.

Verify that the steering compass is

accurately corrected and then correct the

Autopilot compass as per installation

instructions.

Large errors not corrected by

above remedies or lack of

change in course set point with

different headings indicate a

defective compass.

1. Run Auto-Deviation-Clear [C5] [CLR].

2. Run Auto-Deviation [C3] [DEV]

3. Recheck compass again.

Ships compass is not correct. Compensate ships compass.

Compass: no reading or wrong

heading. Check that the local magnetic variation

[C2] [VAR] is set properly.

Irregular values. Check the Sea Damping [P2] [SEA].

NMEA does not

engage, NAV arrow

does not come on.

NMEA receiver not installed

correctly. Check receiver settings for proper output.

No NMEA 0183 data received. Check Nav cable for connection. to the

correct port.

Unreliable NMEA data detected

upon engagement. Check connections and setup in

transmitting instrument

No active waypoint. Activate a waypoint.

After some use, NAV

arrow does not come

on.

Poor NMEA data detected. Last

"good" NMEA heading is used

until good data restored.

Check for poor navigator installation

causing bad signal to noise ration. Check

for erroneous data as detected by

navigator. Revert to magnetic course only,

if situation cannot be corrected.

Course under NAV

steering is erratic. May appear when close to

waypoint due to GPS-S/A.

error.

Accept situation or revert to compass

course steering only.

Compass heading information

is not consistent with navigator. Set heading in pilot i.e. true to true or

magnetic to magnetic so course is

consistent with navigator.

Check NMEA wiring termination.

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AUTOPILOT

8.3 Nexus Network error messages with cause and remedy

If an error message [Err #] is displayed, an error has been detected by the Nexus

Network.

The message can assist you to diagnose the cause and remedy the error.

To escape from an error message, press any push-button. If not possible to escape,

reset power (turn off and on again), then make the remedy if suggested below.

Note! For errors marked with [*], contact your national distributor to return the unit for

rectification.

No. Message and cause Remedy *

01 Activated watchdog timeout. Reset power. *

02 Nexus Network data frames are missing. Check connections and setup.

03 No data received within approx. 10 sec. Check connections.

04 EEPROM read. Reset power. *

05 EEPROM write. Reset power. *

06 RAM memory error. Reset power. *

07 Auto-log full, in GPS Compass. Clear Auto-log memory.

08 Break reset. Reset power. *

09 EEPROM auto initiation, or NMEA

transmit fail. (Nexus Server only). Reset power. *

10 Range error, depending on wrong input

e.g. 17° 70' = too many minutes. Correct input format..

11 Remote control setup error. Command

can not be executed. Check connections and settings.

12 No response from navigator. Check navigator connection and

settings.

13 Waypoint not defined. Define a waypoint.

14 Impossible command when used with an

external NMEA navigator. Use only possible command.

15 Impossible command when in Autopilot

mode. Use only possible commands.

16 Auto-deviation is not possible. Check for extreme magnetic field,

upside down mounting of transducer

or wrong transducer type setting.

17 Auto-deviation check failed. 1¼ turn not completed or extreme

magnetic disturbance.

18 Auto-deviation. Function denied. Function denied since compass is

busy with the auto-deviation routine.

19 Auto-deviation failure. Error larger than 1.5°. The boat

probably hit a wave during the turn.

20 GPS to CPU communication error. Reset power. *

21 GPS acquisition failure (time out). Maximum allowed time for searching

satellites. E.g. when try to navigate

indoors. Check GPS antenna

location.

22 CPU to GPS communication error. Reset power. *

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AUTOPILOT

23 DGPS (RTCM) data ignored. Change the DGPS (RTCM) setting.

24 GPS bad fix, no fix position (time expired

at one-fix). Check GPS antenna location.

25 No Autopilot response. Object is not

connected. Check wiring connections and fuse.

26 The unit is not allowed to power up

because there is too high input voltage. Check input voltage. *

27 Extended object server busy or error. Set one GPS Navigator instrument to

master.

28 Route command error. The waypoint

bank memory is full. Clear waypoint bank to make space.

29 DGPS mode is interrupted. Check the DGPS receiver.

30-

41 Reserved for Nexus Autopilot Servo

Unit. See Nexus Autopilot manual.

42 Bad transducer input / bad

measurement. Reset power. *

Reserved for Nexus Autopilot Servo

Unit.

30 General Autopilot failure Reset power. *

31 Autopilot compass input failure in

Autopilot standalone connection. Check compass connection at

Autopilot Servo Unit.

32 Autopilot compass input failure in

Autopilot Nexus Network connection. Check compass connection at Nexus

Server or at the Compass Data

instrument

33 Received wind data input failure. Check wind wire connection.

34 Autopilot calibration failure. Check for air in the system and make

APC routine again in calm water.

35 Navigation data not available in Autopilot

stand alone connection. Check NMEA input connections and

settings in the navigator.

36 Navigation data not available in Autopilot

Nexus Network connection. Check connections and navigator

settings.

37 Autopilot Network re-initialisation. Check connections and wire

dimensions.

41 Failure to initialise EEPROM. Reset power. *

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AUTOPILOT

9 Specifications

9.1 Technical Specifications

9.1.1 Autopilot instrument

Dimensions: 113 x 113 x 23 mm (4.3 x 4.3 x 0.9”)

Weight: 260 g (9.17 oz)

Enclosure: Water proof

Instrument cable: 0.4 m (16”)

Power supply: 12 V DC (10-16 V). The instrument is polarity protected.

Power consumption: 0,08 W. At max lighting 0.8 W.

Current consumption: 7 mA (at 12V). At max lighting 70 mA (at 12V).

9.1.2 Servo Unit A-1500

Dimensions: 220 x 145 x 55 mm (8.7 x 5.7 x 2.2”)

Weight: 800 g (28.2 oz)

Enclosure: Splash proof

Cable: 8m (26ft) Nexus cable

Power supply: 12 or 24 V DC (10-40 V)

Power consumption: 4 W, plus drive unit demand

Current consumption: 0,3A (at 12V)

Max. motor output drive: 25 A

Output: NMEA 0183 compass, RAI

9.1.3 Servo Unit A-1510

Dimensions: 160 x 110 x 38 mm (8.7 x 5.7 x 2.2”)

Weight: 420 g (14.8 oz)

Enclosure: Splash proof

Cable: 8m (26ft) Nexus cable

Power supply: 12 or 24 V DC (10-30 V)

Power consumption: 3 W, plus drive unit demand

Current consumption: 0,3A (at 12V)

Max. motor output drive: 15 A

Output: NMEA 0183 compass, RAI

9.1.4 Rudder Angle Transmitter

Dimensions: 70 x 70 x 75 mm (2.7 x 2.7 x 3.0”)

Transmitter arm: 120mm (4.7”) long

Ball joint linkage arm: 2 arms, each 320mm (12,6”) long

Weight: 170 g (6 oz) (without cable and linkage arm)

Enclosure: Water proof

Cable: 15m (50ft), 3-lead.

Power supply: From Servo Unit

Power consumption: 2,5mW

Current consumption: 0,5mA

Rudder angle: ± 55°

Resistance: 10kΩ

Life: 50 million cycles dither

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AUTOPILOT

Temperature range:

The above products have the same temperature range.

Storage: -30°C to +80°C.( -22°F to 176°F)

Operation: -10°C to +70°C. (14°F to 158°F)

Warranty period:

The above products have the same 2 year warranty period, see separate conditions.

CE approval:

The above products conforms to the EMC requirements for immunity and emission

according to

EN 5008-1 and EN 55022

9.2 Nexus Network specification

The Nexus Network is a high performance, non-collision multi-talker, multi-receiver

data bus, specially designed for marine navigation applications. The most important

features are the high update rate, fast response times, very low data latency (25ms)

and very high data security even at long distances. Another important feature is that

data transfer efficiency will not degrade even when used in large and complex systems.

It utilises the RS485 standard with up to 32 senders and/or receivers to form a Local

Area Network. Data is transmitted asynchronously with 1 start-bit, 8-data-bits, 1 parity-

bit, two stop-bits in 9600 baud.

The link between Nexus Network and your PC-application is the PC interface FD (Full

Duplex) / NMEA (Art. No. 21248-1). This is supplied with a 9-pole D-sub connector on

a 1m (3.3 ft) cable for the RS232 PC port. The PC interface is a useful tool to monitor

and log real time data, or when editing waypoints to/from PC-file or to/from Nexus

Network. For users who writes there own software, please see our web-site where you

find the Nexus application notes.

9.3 Accessories

9.3.1 Autopilot instrument

Additional Autopilot instruments (Art. No. 20445-5) may be added. They are connected

in a "daisy chain" fashion from one to the other, matching colours on terminals. Control

may be transferred from one instrument to another by simply pressing any pushbuttons

(except the OFF push-button) on the instrument where active control is desired. All

other inactive instruments will display the same information as the active instrument,

however in the lower display the text "passive" will blink once every seven seconds.

9.3.2 Nexus Remote Control instrument

The Remote Control instrument (Art. No. 21210) is an instrument in itself that can be

set in either Autopilot mode to be used as an Autopilot instrument, or Instrument mode

displaying all information on the Nexus Network. Further it can be used as a remote

control for all instruments connected to the Network. It is the ultimate Nexus

instrument!

39

AUTOPILOT

9.3.3 Nexus analog Rudder Angle instrument

The analog Rudder Angle instrument (Art. No. 20550-9) indicates the rudder angle (50°

- 0 - 50°). This instrument is connected on the Nexus data bus cable as per colour

codes.

9.3.4 Nexus Multi Control instrument with Server

The Nexus Server is the heart of the Nexus Network to which transducers for speed,

depth, wind, compass and navigators are connected. The Multi Control is a Multi

function instrument that displays a main and a sub-function, grouped into 4 pages for

speed, depth navigation and wind information. The Multi Control instrument and the

Server are the building components of the Nexus Network.

9.3.5 External alarm buzzer

An external alarm buzzer (Art. No. 20081) can be connected to the Server only. The

buzzer can be positioned where may be heard such as in the Captain's cabin, when

any alarm is activated.

9.3.6 NFU jog lever

Non-follow up (NFU), jog or time dependent lever power steering, may be connected

through the Autopilot Servo Unit to directly control the steering pumpset in any

Autopilot function. This is useful for docking or remote manoeuvring such as required

when picking up crab traps etc. In any Autopilot function, the jog steering can be used

as a dodge function and when the jog lever is let go, the boat will revert to the previous

course set by the Autopilot.

9.3.7 Other NX2 Accessories

Below find a selection of optional accessories available. Please contact your local NX2

dealer for more information.

NX2 Completes

22118-3 Multi Control instrument and Server, 8m cable

22118-2 Multi Control and Server with Speed Log and depth transducer, 8m cable

22118-1 Speed log with log transducer, 8m cable

22118-4 Wind Data, with transducer, 25m cable, mast bracket

22118-5 Compass Data, with transducer 35°, 8 m cable

22118-6 GPS Navigator, with GPS Antenna, 8+10m cable

NX2/Nexus Transducers

22120-1 Server compl with 3m power cables

20707 Log/Temp transducer, 8 m cable (for Nexus and Star)

19915-8 Depth transducer, 8m cable (for NX2 only)

21731 Compass transducer 35°, 8m cable

20860 Compass transducer 45°, 8m cable

20721 Wind transducer, 25m cable, mast bracket

20721-1 CF-wind transducer, Carbon Fibre, 1260mm long, 380g, no mast cable incl.

20594 Nexus mast cable 25m

21721 MTC (Mast Twist Compensation) box, 8m cable, for Wind Data instr.

69980 MRC (Mast Rotation Sensor Compensation) box

21970 GPS Antenna, with NMEA 0183 output

40

AUTOPILOT

21735 Bracket for GPS Antenna and 35° Compass transducer for bulkhead mount

NX2 Digital Instruments (all supplied with 0.2m cable)

22117-1 Speed log instrument

22117-3 Multi Control instrument

22117-4 Wind Data instrument

22117-5 Compass Data instrument

22117-6 GPS Navigator instrument

22117-7 Autopilot instrument

NX2 Analog Instruments (all supplied with 0.2m cable)

22115-01 NX2 Analog Wind Angle

22115-02 NX2 Analog Steer Pilot

22115-03 NX2 Analog Speed Trim

22115-05 NX2 Analog Speed 0-16kts

22115-06 NX2 Analog Speed 0-50kts

22115-07 NX2 Analog Depth 0-200m

22115-08 NX2 Analog Depth 0-600ft

22115-09 NX2 Analog Rudder angle

22115-10 NX2 Analog Compass

22115-11 NX2 Analog GPS Speed 0-16kts

22115-12 NX2 Analog GPS Speed 0-50kts

22115-13 NX2 Analog GPS Course

Nexus Remote Control Instrument

21210 Remote Control Instrument (RCI), with Autopilot control, 5m cable, bracket

21218-1 Bracket Remote Control instrument

20966 Connector 4-pole, NEW model (Allows cable - cable connection)

41

AUTOPILOT

Nexus Multi XL

21680-1 Multi XL instrument, 4m cable (RCI or Multi Center needed to control Multi XL)

21684-1 Multi XL Set, Multi XL instrument and Remote Control instrument

69995 Mast bracket XL, in aluminium for Multi XL and Nexus / Star 110x110mm instr.

NX2 GPS

22118-6 GPS Navigator, with GPS Antenna, 8+10m cable

22117-6 GPS Navigator instrument

21970 GPS Antenna, with NMEA 0183 output

20992-2 Bracket GPS Antenna, plastic with female thread 1" x 14 tpi

21735 Bracket for GPS Antenna and 35° Compass transducer for bulkhead mount

Nexus Autopilot components

22117-7 Autopilot instrument

21210 Remote Control instrument, with Autopilot control, 5m cable, bracket

22115-09 NX2 Analog Rudder angle

21035-2 Servo Unit A-1510, 8m cable

20860 Compass transducer 45°, 8m cable

21731 Compass transducer 35°, 8m cable

21036 Rudder Angle Transmitter RFU-25, 15m cable, ball joint linkage 230mm x 2

69981 Linear Rudder Angle Transmitter

21134 Pumpset PF-0.3 12V

21134-24 Pumpset PF-0.3 24V

21341 Pumpset PF-0.3S 12V, with solenoid

21341-24 Pumpset PF-0.3S 24V, with solenoid

21136 Linear Drive AN-23, stroke 229mm, peak thrust 680kg

69991-12 Integrated Linear Drive HP-40, stroke 254mm, peak thrust 500kg

42

AUTOPILOT

9.4 Abbreviations

Abbr. Description

ADJ ADJust

ALM ALarM

APC Automatic Pilot Calibration

ATC Automatic Trim Control

AWA Apparent Wind Angle

BAT BATtery

BOD Bearing Original Destination

BRG BeaRinG

BSP Boat SPeed

BTW Bearing To Waypoint

C10 Calibrate 10

CAL CALibrate

CDI Course Deviation Indicator

CE Communaute Europèenne

CHK CHecK

CLR CLeaR

COG Course Over Ground

CTS Course To Steer

d differential

DEV DEViation

DGPS Differential GPS

dGPS differential GPS

DTW Distance To Waypoint

E East

Edit Edit

EEPROM Electroniically Erasable Programmable Read Only Memory

EMC Electro Magnetic Compatibility

EN European Norm

GPS Global Positioning Network

HDC HeaDing Compass

HDM HeaDing Magnetic

HDT HeaDing True

HM Heading Magnetic

HT Heading True

id identity

INI INItiation

Init Initiation

43

AUTOPILOT

KT KnoTs

KTS KnoTS

LCD Liquid Crystal Display

LOW LOW

m metre

m/s metres per second

MAG Magnetic North

MAX MAX

MEM MEMory

MID MID

MIN MINimum

MN Magnetic North

MOB Man Over Board

N North

NAV NAVigate

NM Nautical Mile

NMEA National Marine Electronic Associa

t

OCA Off Course Alarm

PCA Pilot Course Alarm

PWR PoWeR

RAM Random Access Memory

RET RETurn

RRS RuddeR Speed

RUD RUDder

S South

S/A Selective Availability

SAT SATellite

SEA SEA

SEC SEConds

SOG Speed Over Ground

STR STeeR

tru true

USR USeR

VAR VARiation

VER VERsion

W West

WP WayPoint

XTE Cross Track error

The boat is left of the desired track

44

AUTOPILOT

The boat is right of the desired trac

k

Apparent wind angle from port

Apparent wind angle from starboar

d

Rudder angle port

Rudder angle starboard

Minus

_

Plus

45

AUTOPILOT

10 Warranty

WARRANTY

GENERAL

All our products are designed and built to comply to the highest class industry standards. If the

products are correctly installed, maintained and operated, as described in the installation and

operation manual, they will provide long and reliable service. Our international Network of

distributors can provide you with the information and assistance you may require virtually anywhere

in the world.

Please read through and fill in this warranty card and send it to your national distributor for

product registration.

LIMITED WARRANTY

The warranty covers repair of defective parts due to faulty Manufacturing and includes labour when

repaired in the country of purchase. The warranty period is stated in the product manual, and

commences from the date of purchase. The above warranty is the Manufacturer’s only warranty

and no other terms, expressed or implied, will apply. The Manufacturer specifically excludes the

implied warranty of merchantability and fitness for a particular purpose.

CONDITIONS

• The supplied warranty card and receipt with proof of purchase date, must be shown to validate

any warranty claim. Claims are to be made in accordance with the claims procedure outlined

below.

• The warranty is non-transferrable and extends only to the original purchaser.

• The warranty does not apply to Products from which serial numbers have been removed,

faulty installation or incorrect fusing, to conditions resulting from improper use, external

causes, including service or modifications not performed by the Manufacturer or by its national

distributors, or operation outside the environmental parameters specified for the Product.

• The Manufacturer will not compensate for consequential damage caused directly or indirectly

by the malfunction of its equipment. The Manufacturer is not liable for any personal damage

caused as a consequence of using its equipment.

• The Manufacturer, its national distributors or dealers are not liable for charges arising from

sea trials, installation surveys or visits to the boat to attend to the equipment, whether under

warranty or not. The right is reserved to charge for such services at an appropriate rate.

• The Manufacturer reserves the right to replace any products returned for repair, within the

warranty period, with the nearest equivalent, if repair within a reasonable time period should

not be possible.

• The terms and conditions of the warranty as described do not affect your statutory rights.

CLAIMS PROCEDURE

Equipment should be returned to the national distributor, or one of its appointed dealers, in the

country where it was originally purchased. Valid claims will then be serviced and returned to the

sender free of charge.

Alternatively, if the equipment is being used away from the country of purchase, it may be returned

to the national distributor, or one of its appointed dealers, in the country where it is being used. In

this case valid claims will cover parts only. Labour and return postage will be invoiced to the sender

at an appropriate rate.

DISCLAIMER

Common sense must be used at all times when navigating and the Manufacturer’s navigation

equipment should only be considered as aids to navigation.

The Manufacturers policy of continuous improvement may result in changes to product

specification without prior notice.

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AUTOPILOT

File id:

WARRANTY CARD

TO BE RETURNED TO YOUR NATIONAL DISTRIBUTOR

OWNER:

Name:

Street :

City/Zip Code :

Country:

Product name: Serial number:

A B C 1 2 3 4 5 6 7

Date of purchase: _______________ Date installed ________________

Dealers stamp:

Tick here if you do not wish to receive news about future products

47

AUTOPILOT

11 Installation

11.1 Installation general

Reliable and accurate operation of an Autopilot depends more on correct installation

than any other piece of marine electronics. Please read and fully understand the

installation requirements before attempting installation.

Note! If in doubt, obtain the services of an experienced Autopilot installation

technician.

• The installation includes 8 major steps:

1. Read the installation and operation manual.

2. Plan where to install the different parts.

3. Make the attachments needed for Pumpset and Cylinder and install them.

4. Run the cables.

5. Install the transducers and instruments.

6. Take a break and admire your installation.

7. Learn the functions and calibrate your systems.

8. Make the Dockside Testing before the Sea Trials.

Before you begin drilling ... think about how you can make the installation as neat

and simple as your boat will allow. Plan where to position the transducer and the

instrument. Think about leaving space for additional instruments to be fitted in the

future.

A few "do nots" you should consider:

• Do not cut the cables too short. Allow extra cable length at the instrument so it can

be disconnected for inspection without having to disconnect all attached cables.

• Do not place sealant behind the instrument. The gasket eliminates the need for

sealant.

• Do not run cables in the bilge, where water may accumulate.

• Do not run cables close to fluorescent light sources, engine or radio transmitting

equipment, in order to avoid possible electrical disturbances.

• Do not rush, take your time. A neat installation is easy to do.

The following material is needed:

• Wire cutters and strippers

• A pair of flat pliers

• Small and large Philips and flat head screw driver

• Hole saw for the instrument clearance hole 50 mm (2”)

• Drill for the mounting holes (2,8 mm 0,11” for the instrument)

• Cable ties

48

AUTOPILOT

Additional parts for installation: All parts needed for installation are included, for the

Autopilot instrument and compass. For the Servo Unit, Rudder Angle Transmitter,

Pumpset and Linear Drive, the following material is not supplied and need to be

sourced or made locally: safety switch, power cables, screws / bolts / nuts and support

bracket for mounting, hydraulic fittings, piping and oil. This is because most installations

differ.

11.2 Installation alternatives

This section covers installation of Autopilot instrument, Servo Unit and Rudder Angle

Transmitter. For the installation of compass transducer, pumpset, linear drive, see

separate instructions supplied with each product.

You can install the Nexus Autopilot for two different applications:

• Stand alone Autopilot application.

• Nexus Network application, by connecting it to the Nexus Network.

11.3 Wire thickness

Important! Use the following table to determine wire thickness. Total distance from

battery to Servo Unit and distance from Servo Unit to pumpset must be used to

determine the wire thickness from the table.

Cable Length

Max m (ft) Wire Size

(mm²) Wire Size

(AWG)

3 (10) 2.5 14

5 (16) 4 12

7.5 (25) 6 10

12 (40) 8 8

Make sure, that the wire size between the battery and the point where you will connect

the wire to the Servo Unit is big enough to secure power supply to all other connected

electrical units on board. If you are in doubt, ask your local electrician.

11.4 Servo Unit

11.4.1 Location of Servo Unit

The Servo Unit must be mounted on a dry, flat and vertical surface below deck, at least

500 mm (20") from radio receiving equipment. Since all wiring originates at the Servo

Unit, it should be centrally located to minimise lengths of wiring. It is most important to

minimise the runs of power and motor leads since voltage drop in these cables will

reduce steering capacity.

11.4.2 Installing Servo Unit

To mount the Servo Unit, remove its cover screws. The 4 inner mounting holes are now

exposed. Mount the Servo Unit with 4 screws (not supplied).

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AUTOPILOT

11.4.3 Connecting Servo Unit

Servo Unit connections should be according to below drawing.

Note! If any waterproof cable glands do not have cables inserted, install the short

rubber plug provided in order to maintain water tightness. If many options are

connected and not enough glands are available, use a separate junction box and route

the excess wires through one large cable in one of the large glands.

Note! Autopilot instrument / Nexus Network connection. If you want to run the Nexus

Network instruments separate from the Autopilot, do not connect green wire to (pin 1)

to the left in Servo Unit. Instead insulate the green wire.

A-1510

Rudder angle

transmitter

Safty

Rudder

an

swich

Battery Pumpset Jog

Compass

Instrument

g

le

12/24V

DIP

Pumpset/sol

enoid DIP

VR

VR

VR

50

DIP switches:

12/24V DIP:

Right position: 12V

Left position 24V

Pumpset /Solenoid DIP:

Down position: Pumpset or integrated linear drive

Up position: Relay or solenoid system

AUTOPILOT

A-1500

51

AUTOPILOT

11.4.4 Safety switch

Important! An external safety switch or circuit breaker (relay) (not supplied) should be

installed in line with power input. Make sure it is rated greater than or equal to 25

Amps.

This switch will serve as your Autopilot ultimate safety OFF switch.

11.4.5 Dip switches

The main circuit board has 2 dip switches which must be pre-set during installation to

suit the installed configuration.

Important! With power turned off to the system, do the following:

a) Locate dip switch for 12 or 24/32 VDC voltage and make sure it is set to the voltage

supply connected. Right position for 12V and Left position for 24V

b) Locate dip switch for ”solenoid valve” or ”pumpset” and make sure it is set to the

type of drive you have installed. Down position for pumpset or integrated linear drive

and up position for Relay or Solenoid systems.

11.4.6 Trim potentiometers

If a non-Nexus brand rudder angle indicator is fitted, it can be calibrated with the 2 trim

potentiometers as indicated on drawing. Adjust VR3 labelled offset, for rudder centre

and VR2 labelled gain, for maximum deflection.

Note! This is just to calibrate any non-Nexus rudder angle instrument. The Nexus

instruments must be calibrated by changing the rudder angle transmitter arm length.

11.4.7 NMEA connections

NMEA input from GPS Navigators etc. can be connected to Servo Unit terminals 12

(data) and 13 (ground). For NMEA input, the overall shield should be terminated at the

external unit, and not at the Servo Unit.

NMEA output from Compass transducer can be taken from Servo Unit terminals 14

(data) and 15 (ground). For NMEA output, the overall shield should be terminated at

the Servo Unit, and not at the external unit.

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AUTOPILOT

11.5 Rudder angle transmitter

The rudder angle transmitter should be mounted close to the rudder stock and driven

by its ball joint linkage according to the drawing shown below. The linkage should be

linear, such that 35° of rudder movement drives the arm 35°.

Small errors will not affect Autopilot operation but will cause inaccurate indication on the

rudder angle indicator. If possible, the linkage on the rudder transmitter should be

adjusted so that the digital rudder angle indicator on the Instrument display is consistent

with the rudder angle. The cable should be connected to Servo Unit terminals marked

"RFU" according to colours indicated.

The rudder transmitter unit must be securely mounted to a vertical surface and

connected by the adjusting tie rod linkage to the tiller, maintaining the geometry as

detailed in the diagram shown. The rudder transmitter arm must always swing in the

same plane as the tiller. Make sure all fasteners are well tightened and locked. For

maximum watertight integrity it is recommended that the unit is mounted with its rotary

shaft facing downward.

11.6 Pumpset

For installation and specification, see separate manual.

11.7 Linear drive

For installation and specification, see separate manual.

53

AUTOPILOT

Figure 1: Typical installation on a boat with mechanical steering, including Pumpset PF-

0,3S with solenoid.

Figure 2: Typical installation on a boat with hydraulic steering, including Pumpset PF-

0,3.

Solenoid

Solenoid or

block valve

54

AUTOPILOT

11.8 Solenoid valve controlled pumpset

If the boat is already fitted with a hydraulic steering with a solenoid valve controlled

pumpset for 12 or 24 VDC, connect one solenoid coil to Servo Unit terminal ”Common”

(-) and terminal ”Motor 1” (+) and the other to terminal ”Common” (-) and terminal

”Motor 2” (+).

Make sure that the Servo Unit dip switch ”solenoid valve” (change all switches on the

DIP) has been selected.

Solenoid valve controlled pumpset should be adjusted to speeds of 14 seconds hard

over to hard over or slower for maximum accuracy. Higher rudder speeds will require

increased anti-hunt settings to prevent hunting (overshoot of the rudder).

To adjust anti-hunt setting, first complete procedures in described in sections Setup,

Dockside Testing and Sea Trials. Activate the Autopilot and with the pumpset running,

make 10° course changes to port and starboard.

If the rudder hunts (i.e. oscillates rapidly back and forth during these course changes,

gradually increase the anti-hunt control (i.e. adjust VR1 trim potentiometer) until the

rudder remains stable. Do not increase the anti-hunt control any more than necessary,

as this can begin to degrade course accuracy.

11.9 Other Accessories

Install any accessories as per their instructions and connect them according to wiring as

shown in Servo Unit wiring drawing.

When you finished the installation, perform the Dockside Testing routine.

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AUTOPILOT

12 Dockside Testing

12.1 Preparations

Start checking the following:

• Familiarise yourself with the operating procedures by reading sections Operation,

Function and Setup.

• Double check all wiring connections and dip switch settings prior to connecting

power to the system.

• Make sure rudder angle limit [LIM] is set to 99° (OFF).

• Ensure that the oil reservoir is 3/4 full and maintain that level throughout the test

procedure.

Warning! Do not activate any of the 3 Autopilot functions Compass, Nav or Wind at

dock as the rudder may go hard over, since the APC routine has not been carried out

yet. It will be done as explained in Sea Trials.

12.2 Dockside First Start

Run the procedure as described in First Start.

12.3 How to remove air from system

Select PWR ST function by pressing MODE until the page-arrow appears under PWR

ST.

To activate the Autopilot, press SET.

Press and hold LEFT or RIGHT until the pumpset begin to run and the rudder moves.

If port rudder is given when you press starboard (RIGHT) push-button, and vice versa,

ignore the reversal. It will be corrected automatically when doing the APC routine at

Sea Trials.

It may take time before the steering begins to move due to air in the system. Continue

to press and hold the push-button until the steering reaches its stops. Then reverse

direction with the opposite push-button. Repeat this procedure 10 times or more until

the system appears to move smoothly.

After 5 or 10 minutes of this purging, let the system rest so that entrained air can settle

out of the oil. After 5 minutes of rest, repeat the above procedure.

Air in the system may cause noisy pumpset operation. When the pumpset becomes

quieter and the steering moves smoothly and the linear drive responds instantly in both

directions, it may be assumed that most air is out of the system.

To check that all air is removed, select power steer function and try to turn the steering

wheel. In this function the steering wheel should be stiff. If you can turn the wheel a

certain amount with a increasing pressure as a result, there is still air in the system.

Continue to ventilate the system until the steering wheel is stiff before you proceed with

the sea trials.

Do not attempt to activate the Autopilot in other functions than power steer, until all air

is out of the system, as sloppy course holding will result. The very last air removal will

be done as the boat is tested underway.

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AUTOPILOT

When you finished the Dockside Testing, perform the Sea Trials routine.

13 Sea Trials

13.1 Preparations

Take your boat out in half speed to calm sea and away from other boats or obstructions

to run the sea trials. Then proceed as per below order.

Warning! Do not activate any of the 3 Autopilot functions Compass, Nav or Wind at

dock as the rudder may go hard over, since the APC routine has not been carried out

yet.

13.2 Compass calibration

Enter the compass calibration.

Note! If you are using an existing Nexus Compass transducer that already has been

compensated, it is not necessary to run the auto-deviation [Auto DEV] procedure again.

Local Magnetic Variation:

Run the calibration routine local variation [VAR].

Automatic Compass Compensation:

Run the calibration procedure auto-deviation [Auto DEV].

Automatic Compass Check

Run the calibration procedure auto-deviation-check [Auto CHK].

Misalignment correction

Run the calibration procedure compass alignment [ADJ].

13.3 Automatic Pilot Calibration [APC]

The Autopilot will not function unless the boat pass the APC routine. The APC will

automatically determine and correct how wires and pipes are connected. It will also

learn how the boat reacts on different rudder commands and automatically calibrate

itself.

The APC routine automatically sets: [RUD], [SEA], [CRD], [ATC] and [RRS].

Select P7 [APC]. To unlock, press SET. To change to [On], press LEFT or RIGHT.

To activate the APC, press SET.

All 4 page arrows at top of display will now be lit to confirm the APC procedure is in

action.

The boat should automatically turn slightly to port and starboard and return to original

course.

If the APC fails: Error message 34 (calibration failure) is displayed. This is most likely

caused by too much air still in the system. To escape the error message, press any

push-button. Revert to 10.3. ”How to remove air from the system”. Note! You can

”help” the APC process by manually pulling the steering wheel or tiller in same direction

as APC turns the boat to pass the APC.

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AUTOPILOT

If the APC is successful: All 4 page-arrows disappear, the instrument leaves the

setup mode and returns to standby mode automatically.

Note! You may interrupt the APC routine at any time by a press on SET.

Congratulations, your Autopilot calibration is done.Now go ahead and activate the

Autopilot and enjoy the Nexus performance.

58

AUTOPILOT

14 Fine tuning

The factory default settings and the APC routine will provide acceptable performance

for most boats, but each boat has different steering characteristics and some fine

tuning may be necessary for optimum performance.

For individual settings referred to below, see the setup section.

The tests should be performed under fairly calm sea conditions with minimal wind or

tide. If wind or tide are unavoidable, set a course for minimum effects from these

causes. It is recommended that these sea trials should not be done in restricted or

busy waters.

Step by step instructions how to fine tune the Autopilot:

1. Check that Dockside Testing, Sea Trials including the APC routine has been done. If

not, go back and make sure they are done.

2. Activate the Autopilot on a course and ensure that it holds without excessive

understeering or oversteering.

3. With the boat travelling in a straight line at its normal cruising speed in calm water,

activate the Autopilot compass function. Make a 40° course change using the LEFT or

RIGHT and the boat should not overshoot by more than 3° to 4°. Continue making 40°

course changes while adjusting the Rudder [RUD] setting until the boat overshoots the

correct course a few times prior to setting on the course. This is the optimal [RUD]

setting that can be used on the boat at the current cruising speed and load, in calm

waters.

4. Continue making 40° course changes while slowly increasing the Counter Rudder

[CRD] setting, until the boat settles onto course with only one overshoot of 2° to 3° or

less. On some boats, the [RUD] setting may have to be decreased by one position to

get the boat to control properly. The [RUD] and [CRD] settings are set to the maximum

combined settings that should be used on the boat at that speed and under the existing

sea conditions.

The [RUD] and [CRD] settings may need to be increased in rough weather. The higher

the [CRD] setting relative to the [RUD] setting for calm weather, the less it will need to

be increased in rough weather. As the boat's speed decreases, the rudder becomes

less effective.

The [RUD] and [CRD] settings may need to be increased as the speed decreases. The

higher the [CRD] setting relative to the [RUD] setting, the less it will need to be

increased at lower speeds.

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AUTOPILOT

To find the optimal [RUD] and [CRD] settings at different boat speeds, or when the boat

is towing, follow the procedures outlined in #3 and #4 above. Make a record of the

different settings needed to control the boat at all typical speeds, loads and weather

conditions normally experienced. Due to the wide dynamic control range and self tuning

features of the microprocessor control, settings determined for cruising speed in calm

seas may be found acceptable without further change at slower speeds and in heavier

seas.

5. The compass damping [SEA] setting is a combination of yaw dead-band (compass

sensitivity) and compass damping. The minimum setting may only be used under calm

sea conditions to avoid unnecessary rudder correction due to compass acceleration

errors.

Smaller boats and high speed boats which are subject to more acceleration in lighter

seas will have to use higher settings.

Larger and more stable boats can use lower settings since there is less compass

disturbance. Factory default setting should work on most boats in light to moderate sea

conditions.

Following seas, no matter how rough, may require lower settings to catch course error

trends quickly in order to minimise excessive yaw and steering activity.

6. Automatic Trim Calibration [ATC] adjustment is not critical. It constantly compares

the course set against the course steered. The automatic trim slowly applies more

rudder as necessary to reduce any persistant errors to zero. Such errors may exist due

to wind, waves or other unbalanced forces such as single screw operation of a twin

screw boat, an off centre tow or weather helm on a sailing boat. If the trim time is set

too high, it will take a long time to eliminate the course error. If it is set too low it can

start to degrade course stability.

In general, longer trim times (higher settings) should be set for large boats and sailing

boats and shorter trim times (lower settings) for small boats and high speed planning

boats. The factory default setting should be acceptable for all but extreme applications.

If after fine tuning all routines and auto-deviation routine has been done and poor

steering is noted only on some but not all headings, magnetic interference is present

which must either be compensated for by a compass adjuster and/or another compass

location must be found.

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AUTOPILOT

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Nexus Marine AB

Kuskvägen 4, 191 62 Sollentuna, Sweden

Tel: +46 -(0) 8 – 506 939 00. Fax: +46 -(0) 8 -506 939 01

www.nexusmarine.se

22137-1 Edition 1