Autohelm ST7000 User Manual

ST7000 Installation

Autohelm

AutohelmAutohelm

®®®®

Contents

1. System Description

1.1.1 Course Computer 3 4.1 Recommended Settings 34

1.1.2 Control Unit 3 4.2 Calibration Mode 34

1.1.3 Fluxgate Compass 3 4.3 Adjusting Calibrati on 35

1.1.4 Rudder Reference Transducer 4 4.4 Display Contrast Adjust m ent 37

1.1.5 Auxiliary Alarm 4 4.5 Permanent Watch Alarm 38

1.1.6 Masthead Transducer 4 4.6 Recorded Calibration Setti ngs 38

1.1.7 Type CR Interface Unit 5 4.7 Rudder and Rate Gain Tables 38

1.2 Drive Systems 6

1.2.1 Rotary Drive 6

1.2.2 Linear Drive 7 5.1 Automatic Deviat i on C orrection 39

1.2.3 Hydraulic Drive 8 5.2 First Sea Trials 39

1.2.4 Constant Running Power Pack 9 5.3 Response Control 39

1.2.5 Sterndrive 11 5.4 Automatic Trim Cont rol 40

5.5 Rudder Gain Adjustment

2. Installation

2.1.1 Course Computer 12 5.6 Rudder Gain adjustment

2.1.2 Control Unit 13 (High Speed Planing Craft ) 41

2.1.3 Fluxgate Compass 13 5.7 Manual overide

2.1.4 Rudder Reference Transducer 14 (Sterndrive Actuators only) 41

2.1.5 Auxiliary Alarm 15 5.8 Rate Gain Adjustment 41

2.1.6 Masthead Transducer 16 5.9 Compass Alignment 42

2.2 Drive Systems 16

2.2.1 Rotary Drive 16

2.2.2 Linear Drive 18 6.1 Functional Test 43

2.2.3 Hydraulic Drive 19 6.2 Operating Hints 43

2.2.4 Stern Drive 22

2.3 Cabling and Power Supplies 26

2.3.1 Signal Cabling 26

2.3.2 Connection to other SeaTalk Uni t s 27

2.3.3 NMEA Input 28

2.3.4 D.C. Power Supplies and Drive Uni t 28

2.3.5 Type CR Installat i ons 30

2.3.6 Stern Drive Actuator 31

3. Functional Test

3.1 Switch On 32

3.2 Rudder Angle Sense 32

3.3 Mechanical Test (Manual Steering) 32

3.4 Rudder Angle Alignment 32

3.5 Operating Sense 32

3.6 Rudder Deadband 32

3.7 Mechanical Test (Autopil ot St eering) 32

3.8 Mechanical Test – Sterndrive (Autopilot steering)

3.9 Rudder Angle Limit 33

4. Calibration

5. Initial Sea Trials

12 (Displacement craft) 40

6. Track Control

7. Windvane Control (Sail Only)

1. System Description

The ST7000 is a modular automatic pilot system that can be built up to match the individual requirements of all types of vessels. A range of high efficiency rotary, linear, and hydraulic rudder drive units are available to match all types of steering systems.

The ST7000 is SeaTalk compatible providing full data sharing with Autohelm range of SeaTalk instruments.

The contr ol unit has a built in interface which will accept navigation and wind angle data to 0180/0183 format.

fully comprehensive installation is shown below. The most basic installation would consist only of a central course computer, drive unit, fluxgate compass, rudder reference unit and a single control unit.

1.1.1 Course Computer

(Cat. No. Z083-12V Cat . No. Z084-24V) The course computer houses the microprocessor, electronic control circuitry and power amplifier for the drive unit. The course computer is splash proof only and must be mounted in a dry and protected position. The course computer is available for operation with 12V and 24V power supply.

1.1.2 Control Unit (Cat. No. Z082)

The control unit is designed for above or below deck mounting. The control unit accepts NMEA 0183 navigation and wind angle data input .

1.1.3 Fluxgate Compass (Cat. No. Z130)

The fluxgate compass has been especially developed for marine application. The compass contains a gimbal mechanism to permit accurate readings with pitch and roll movements up to +35 deg. The compass is bulkhead mounted below decks and connects directly to the course computer. The fluxgate compass may be mounted above deck on steel vessels however autopilot performance may be degraded due to the increased motion.

1.1.4 Rudder Reference Transducer

(Cat. No. Z131) The rudder reference transducer provides the course computer with a precise rudder position. It is mounted on a suitable base adjacent to the rudder stock. The interconnecting cable connects directly to the course computer connector unit.

1.1.5 Auxiliary Ala r m

The autopilot is provided with an automatic off course alarm system which sounds from all control units and provides sufficient audible warning under most conditions. In cases where a high pow er ala rm is n eces sar y, an au xiliary alar m can be fitted. The auxiliary alarm is connected to the main connector unit via a t wo core cable.

(Cat. No. Z035)

1.1.6 Masthead Transducer (Sail Only)

(Cat. No. Z080) If the installation does not include an Autohelm ST50 Wind Instrument the masthead transducer can be connected directly to the course computer to supply wind angle information.

1.1.7 Type CR Interface Unit

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

1.2 Drive Systems

The ST7000 offers a choice of Mechanical or Hydraulic Drive Units. All ves sels with hydraulic steering will require a hydraulic drive unit (see section 1.2.3). Mechanical steering systems may be driven with either a rotary or linear drive unit. If space permit s the linear drive unit provides the simplest installation by connecting directly to the rudder stock tiller arm. It may also be used to power steer the vessel if steering li nkage f ai l ure occurs.

1.2.1 Rotary Drive Units

The Autohelm Rotary Drive Units provide smooth powerful steering commands with virtually silent operation. A rugged electric motor drives a precision epicyclic gearbox v ia a high tensile belt drive. An electronic clutch is totally fail-safe yet transmits high torque loads with no slippage. The drive units can be mounted in any attitude simplifying installation.

1.2.2 Linear Drive Units

The Autohelm Linear Drive Units are of outstanding design which features powerful thrust, fast hard overtimes and near silent operation. When backdriven the movement is smooth with minimal backdrive force. Using a hi gh tensile belt

drive and epicyclic reduction gearbox the powerful electric motor is controlled by an electronic failsafe clutch. The design is highly efficient and provides high performance for minim um current consumpt i on.

Supply Voltage 12 volts 12 volts(24V opt i onal ) 12 volt s(24V opt i onal ) Peak Thrust 295Kg(650lb) 480Kg(1050lb) 480Kg(1050lb) Maximum Stroke Speed 28mm/sec(1.1

Maximum Stroke 300mm(12in) 300mm(12in) 400mm(16in) Overall length at Mid Stroke 'A' Tiller Arm Length 'B' (+35deg Rudder) Maximum Rudder Torque 735Nm(6500lb in) 1190Nm(10,500lb in) 1660Nm(14,700lb in) Power Consumption (typical average) Suitable for vessels up to 14m(45ft) LOA 17m(55ft)LOA 18m(60ft)LOA Maximum displacement 11800Kg(26000lbs) 20000Kg(44000lbs) 25000Kg(55000lbs)

Type 1 Type 2S Type 2L

in/sec) 700mm(27.5in) 700mm(27.5in) 850mm(33.5in) 250mm(10in) 250mm(10in) 350mm(14in)

1.5 - 3 amps 2.75 - 6 amps 2.75 - 6 amps

A tiller arm of adequate strength must be used to transfer drive from the drive unit to the rudder shaft. Both Edson and Whitlock Marine provide suitable standard tillers.

28mm/sec(1.1 in/sec) 28mm/sec(1.1 in/sec

1.2.3 Hydraulic Drive Units

Two reversing hydraulic drive units are available depending on the size of the vessel and the displacement of the ram. The vessel size and displacement recommendations given below apply to directly driven steering systems. When a power steering system is fitted the vessel size and displacement recommendations can be ignored.

Type 1 and Type 2 The hydraulic drive unit consists of a precision gear pump with integral check valve block driven by a continuously rated servo motor. The pump drive motor is connected directly to the course computer which also regulates peak pump pressure.

Supply Voltage 12 volts 12 volts (24V optional) Regulated Peak Pressure 50 bar (750 psi) 55 bar (900 psi) Flow Control Integral Pilot Check Valve Integral Pilot Check Val ve I ntegral Peak Flow Rate (unloaded) I 1 00cc/min (67in3/min) 1700cc/min (103in3/min) Minimum Ram Capacit y 100cc (6in3) 200cc (12in3) Maximum Ram Capacity 230cc (14in3) 400cc (24in3) Ram Type Single or Double Ended Single or Double Ended Power Consumption (typical average) Overall Length 'A' 190mm (7.5in) 216mm (8.5in) Maximum Vessel size 13m (42ft) 18m (60ft) Maximum Vessel Displacement 118OOKg (26000lbs) 24OOOKg (55000lbs)

Type 1 Type 2

2 - 4 amps 4 - 8 amps

1.2.4 Constant Running Power Pack

When steering loads require a ram capacity above 400cc (24in3) the Autohelm Constant Running Power pack provides the ideal autopilot drive system . Hydraulic fluid is provided from a self contained reservoir and flow to the steering ram is controlled by integral solenoid operated valves. For the most rugged and demanding steering applications the Autohelm Constant Running Power pack is the optimum solution. Used with a solenoid operated bypass valve and separate hydraulic ram this system is recommended for heavy duty applications on large mechanically steered vessels.

Supply Voltage 12 volts (24V opt i onal ) 12 volts (24V optional ) Regulated Peak Pressure 50 bar (750 psi) 50 bar (750 psi) Peak Flow Rate (unloaded) 3000cc/min (180in3/min) 4500cc/min (270in3/min) Minimum Ram Capacit y 400cc (24in3) 750cc (46in3) Maximum Ram Capacity 750cc (46in3) 1500cc (92in3) Ram Type Single or Double Ended Single or Double Ended

Type CR1 Type CR2

Power Pack Selection (Constant Running) Hydraulic power pack selection depends on the vessels overall length and the displacement of the steering cylinder. Using figure 2 establish the target hardover time for your vessel. This is combined with the steering cylinder displacement in figure 3 to select the appropriate hydraulic power pack.

Note: If power packs other than the Autohelm models are used with the ST7000 the following solenoid specifications must complyPull in Voltage - less than 8V (16v for 24v systems) Drop out Voltage - great er t han 2V Operating Current - less than 5A The Solenoid Voltage must be the same as the course computer.

1.2.5 Sterndrive

The Sterndrive Actuator must only be used on sterndrives with cable operated power assisted steering. The drive unit operates the power steering valve identically to the steering cable. A clutch disengages the drive unit to allow manual steering when the autopilot is di sengaged. Two installation kits are available to allow connection to different engine manufacturers equipment.

Specifications

Description Size

Hardover/Hardover time (unloaded) Stroke 190mm(7.5in)

Power Consumption(Typical average) Maximum Thrust 150 Kgf (330lbs)

8.8 secs

1.5 - 3 amps

Cat. No. Manufacturer

D129 V ol vo Penta D137 Mercruiser/OMC/Yamaha

2. Installation

2.1.1 Course Computer

Mounting Posit i on - B el ow Deck The course computer should be positioned in a dry protected area of the vessel free from high operating temperatures and excessive vibration. It can be mounted in any attitude. Care must be taken to allow at least 150mm (6in) clearance all round to aid heat dissipation from the power amplifier in the unit. Do not mount in the engine room. Do not position the course computer so that it will:

• Receive any direct water splash/spray (from

Bilge/Hatch et c). Be liable to physical damage from heavy

•

items.

• Be covered by other

equipment or onboard gear. Be close to major sources of

•

transmitted energy (Generators/SSB radios, Aerial Cables etc).

Mounting Instructions

• Remove Terminal box li d (Fi g. 4).

• Unscrew two internal thumb retaining nuts

(Fig. 4).

• Unplug termi nal box and mounting spine.

• Position terminal box and mounting spine in

correct location, mark off and pilot drill for the 5 self-tapping screws supplied (Fig. 5).

• Screw terminal box and mounting spine into place.

• Plug course computer unit to terminal box. Retighten thumb retaining screws.

The course computer is now ready for wiring (see 2.3).

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