B&G H2000 User Manual

h2000 Autopilot

User Manual

The use of solvent based or chemical cleaners on the Pilot Displays will result in damage and invalidate your warranty.

Abbey Park, Romsey

Hampshire, SO51 9DH, UK

www.BandG.com

The copyright of this manual is the property of B&G Ltd.

WARNING

Premier Way

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h2000 Autopilot User Manual

h2000 AUTOPILOT

USER MANUAL

CONTENTS

Product Liability and Safety Warnings PART 1 - INTRODUCTION PART 2 - OPERATING INFORMATION PART 3 - CALIBRATION PART 4 - INSTALLATION INFORMATION PART 5 - OPTIONS PART 6 - DIAGNOSTIC DATA

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h2000 Autopilot User Manual

PRODUCT LIABILITY AND SAFETY WARNINGS

PRODUCT LIABILITY: Brookes and Gatehouse Ltd. accept no responsibility for the use and/or operation of this equipment. It is the users’ responsibility to ensure that under all circumstances the equipment is used for the purposes for which it has been designed.

WARNING - ELECTRICAL HAZARD: This equipment uses high voltage electrical power. Contact with high voltages may result in injury and/or loss of life.

WARNING - CALIBRATION: The safe operation of this equipment is dependent on accurate and correct calibration. Incorrect calibration of this equipment may lead to false and inaccurate navigational readings placing the vessel into danger.

CAUTION: The system electronics are designed for use with a power supply source of 12V dc. The application of any other power supply may result in permanent damage to the equipment.

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h2000 Autopilot User Manual

Part 1 - Introduction

PART 1 - INTRODUCTION

CONTENTS

Para Page

1.1 SYSTEM OVERVIEW 1-3

1.2 AUTOPILOT OPERATION 1-4

1.3 CONTROLLING THE AUTOPILOT 1-4

1.4 AUTOPILOT DISPLAY 1-5

1.5 HAND-HELD CONTROLLER 1-6

1.6 JOYSTICK 1-7

1.7 MAN OVERBOARD BUTTON 1-8

ILLUSTRATIONS

Fig No Page

1.1 Autopilot Display 1-5

1.2 Hand-held Controller 1-6

1.3 Joystick 1-7

1.4 Man Overboard Button 1-8

1-1

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h2000 Autopilot User Manual

Part 1 - Introduction

PART 1 - INTRODUCTION

1.1 SYSTEM OVERVIEW

The h2000 Autopilot fully integrates with, and complements the Hydra 2000, Hercules 2000 and HS2000 instrument systems, both in terms of style and performance. The instrument system transmits sensor information via the B&G Fastnet Data cabling to the Autopilot Computer Unit.

The Autopilot Computer processes the sensor data and then sends signals to the rudder driving system (linear ram, rotary drive or hydraulic pump) to steer the vessel on the desired course. The complex learning algorithms (a form of artificial intelligence) used in the Autopilot Computer, ensure that the steering performance is optimised regardless of the weather conditions, and quickly responds to any changes that may occur.

Control of the Autopilot is via the keys on any one of the dedicated Autopilot displays. Each display acts as a master allowing control of the Autopilot from any station.

The h2000 Autopilots are available with a wide range of powerful and reliable 12V or 24V dc rudder drive units suitable for boats of over 7m (23ft). The control electronics (the Autopilot Computer) are supplied as ACP1 or ACP2 (Advanced Control Programming) depending on the size of vessel, power requirements and options that have been selected and fitted.

The h2000 Autopilot can be used for both sail and powerboats that have a Hydra 2000, Hercules 2000 or HS2000 System installed.

If the relevant sensor data is available, the Autopilot offers the following Steering Options:

(a) Steer to Compass - Uses data from the Autopilot Gyro or Instrument Compass to maintain the selected compass heading.

(b) Steer to Wind - Uses data from the Instrument Masthead Unit (not powerboats) to steer to the Apparent Wind Angle.

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h2000 Autopilot User Manual Part 1 - Introduction

(d) Power Steering - Allows the Autopilot direct control of the steering.

(e) Steering to Optimum Wind Angle - This option is only available when a Hercules Performance Processor is installed.

Other options for the h2000 Autopilot include the following:

(a) Hand-held Controller. (b) Joystick Steering. (c) Man Overboard (MOB) alarm and recovery

assistance.

1.2 AUTOPILOT OPERATION

Part 2 - Operating Information describes how to operate the h2000 Autopilot after it has been installed, commissioned and sea trials have been successfully completed. Information relating to calibration, commissioning, and installation are given in Parts 3 and 4 of this Manual, respectively.

WARNING - NAVIGATION HAZARD: The Autopilot must be fully commissioned and a satisfactory sea-trial completed before the Autopilot is used to steer the vessel. Failure to do so could endanger life and/or other vessels.

1.3 CONTROLLING THE AUTOPILOT

The Autopilot Display is the primary method of controlling the Autopilot. Several displays positioned around the vessel allow Autopilot control from any station. Each display acts as a Master providing readouts of autopilot course, actual heading and autopilot function. Operational control is via a keypad.

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1.4 AUTOPILOT DISPLAY

Fig 1.1 - Autopilot Display

h2000 Autopilot User Manual

Part 1 - Introduction

The backlit Liquid Crystal Display (LCD) shows the following information:

(a) Large Digits (top centre) - The current heading as provided by the Autopilot Compass or Instrumentation System.

(b) Rudder Legend (centre) - The mode selected for the analogue bar immediately below. This can be set to RUDDER or OFF COURSE.

(c) Rudder Bar Display (centre) - Analogue indication of Rudder Angle in increments of 5q up to r35q. This can be set to show either OFF COURSE or RUDDER ANGLE.

(d) Autopilot Legend - (bottom centre) - Indicates the Autopilot Operational Status. This can be set to either STANDBY or ON.

(e) Key Legends and Keypad (right top to bottom) - The legends change according to the operating mode selected, assigning different functions to each key as required. Pressing the key(s) adjacent to each legend will cause an action, e.g. Change of Course, or provide a list of options and selections. These lists are referred to as Menus and are fully described in Part 2 - Operating Information.

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h2000 Autopilot User Manual Part 1 - Introduction

(f) Red Off Key (top right of keypad) - This key disengages the Autopilot and returns the boat to Manual Steering. It has no other function.

(g) Lights Key (bottom right of keypad) - This key turns the LCD back lighting ON and OFF, and allows three levels of illumination to be selected for all displays (including Instrument System FFDs) under system control. It has no other function.

Note

The Autopilot can be disengaged at any time from any mode or menu by pressing the Red Off Key.

1.5 HAND-HELD CONTROLLER

56.5 24.0

auto/resume

off

128.0

Fig 1.2 - Hand-held Controller

The Hand-held Controller provides remote control of the h2000 Autopilot. The six keys used for dedicated functions are as follows:

(a) 10 degree course change (Port/Starboard). (b) 1 degree course change (Port/Starboard).

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1-6

1.6 JOYSTICK

36.0

dia 21.0 mm

h2000 Autopilot User Manual

Part 1 - Introduction

View from underside

48.0 mm Forward indicator marks

70. 0 mm

dia 40.0 mm

45.0 mm

4 holes

dia 3.0 mm

35.0 mm

Fig 1.3 - Joystick

The Joystick allows direct control of the rudder via the autopilot control electronics. The unit is deck-mountable, allowing it to be used inside or outside the steering positions. A 10m/30ft 6-core screened cable connects the unit directly into the ACP unit’s terminals. Joystick steering is engaged and disengaged with the separate red button. The lever can only be moved to port and starboard.

There are two modes of joystick operation available to the Helmsman, these are as follows:

(a) Normal Steering (Norm) - The rudder moves in the direction of the Joystick. When the Joystick is returned to the central position the rudder movement stops. The greater the movement of the Joystick the faster the response of the rudder.

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h2000 Autopilot User Manual Part 1 - Introduction

(b) Proportional Steering (Prop) - The position of the rudder follows the position of the Joystick. When the Joystick returns to the central position the rudder returns to its initial position.

1.7 MAN OVERBOARD BUTTON

Fig 1.4 - Man Overboard Button

The Man Overboard Button (MOB) is an optional extra that activates the Autopilot Man Overboard Alarm Procedure to assist in the recovery of the person, or persons, that may have been lost overboard. It may be used when the Autopilot is engaged or disengaged.

For this facility to operate, a speed sensor input must be available. It will not work with a user entered fixed speed or Speed Over Ground from a Position Fixer.

Sailboats, because of the need to tack or gybe, must use Manual recovery. The bearing and distance displays must be followed and the boat steered back, either manually or under Autopilot Control, to the person(s) in the water.

Powerboats can use the Autopilot for Automatic Recovery. When the MOB is operated the Autopilot will control the steering to execute a ‘Williamson Turn’ and return the boat on a reciprocal course.

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h2000 Autopilot User Manual

Part 2 - Operating Information

PART 2 - OPERATING INFORMATION

CONTENTS

Para Page

2.1 SWITCHING ON 2-3

2.2 MODE SELECTION 2-4

2.2.1 Introduction 2-4

2.2.2 Mode Selection 2-4

2.3 STEER TO COMPASS 2-4

2.3.1 Introduction 2-4

2.3.2 Selecting Compass Mode 2-5

2.3.3 Engaging the Autopilot 2-5

2.3.4 Dis-engaging the Autopilot 2-5

2.3.5 Changing the Autopilot Course 2-6

2.3.6 Pre-setting the Autopilot Course 2-7

2.3.7 Pre-setting the Next Leg 2-7

2.4 STEER TO WIND INTRODUCTION 2-8

2.4.1 Hydra 2000 and Hydra Autopilot 2-8

2.4.2 Hercules and Hercules Autopilot 2-8

2.4.3 Selecting Wind Mode 2-9

2.4.4 Engaging the Autopilot 2-9

2.4.5 Dis-engaging the Autopilot 2-10

2.4.6 Steer to Wind Adjustments 2-10

2.4.7 Pre-setting the Target AWA 2-11

2.4.8 Auto Tack 2-12

2.4.9 Auto Gybe 2-13

2.4.10 Gybe Zone 2-13

2.4.11 Using the Gybe Key 2-14

2.5 STEER TO WAYPOINT 2-13

2.5.1 Steer to Waypoint Introduction 2-14

2.5.2 Selecting the Waypoint Mode 2-15

2.5.3 Engaging the Autopilot 2-15

2.5.4 Dis-engaging the Autopilot 2-16

2.5.5 Changing the Autopilot Course 2-16

2.5.6 Returning to Original Course 2-17

2.5.7 Waypoint Arrival Next Leg 2-17

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h2000 Autopilot User Manual Part 2 - Operating Information

CONTENTS (Contd.)

Para Page

2.6 POWER STEER 2-18

2.6.1 Introduction 2-18

2.6.2 Selecting Power Steer Mode 2-18

2.6.3 Engaging the Autopilot 2-19

2.6.4 Dis-engaging the Autopilot 2-19

2.6.5 Fine Rudder Adjustments 2-19

2.6.6 Coarse Rudder Changes 2-20

2.6.7 Mid Key 2-20

2.7 JOYSTICK STEERING 2-20

2.7.1 Introduction to Joystick Steering 2-20

2.7.2 Engaging the Autopilot 2-21

2.7.3 Dis-engaging the Autopilot 2-22

2.7.4 Normal Steering 2-22

2.7.5 Proportional Steering 2-22

2.8 SET-UP OPTIONS 2-23

2.8.1 Manual Response Set-Up (RESP) 2-24

2.8.2 Mode Set-Up (MODE) 2-25

2.8.3 Automatic Response Set-Up (ARESP) 2-26

2.8.4 Recovery Mode Sensitivity (RECOV) 2-28

2.8.5 Speed Set-Up (SPEED) 2-29

2.8.6 Off Course Set-Up (Off-C) 2-30

2.8.7 Compass Damping Set-Up (C DMP) 2-31

2.8.8 NMEA Source Set-Up (N SRC) 2-32

2.8.9 Course Alarm Set-Up (CRS A) 2-34

2.8.10 Watch Alarm Set-Up (WATCH) 2-35

2.8.11 Back Lighting Set-Up (LIGHT) 2-36

2.8.12 Joystick Set-Up (JYSTK) 2-37

2.9 AUTOPILOT INFORMATION ON FFD 2-38

2.9.1 Autopilot Course (PLT CRSE °M) 2-38

2.9.2 Rudder Angle (RUDDER °) 2-38

2.9.3 Off Course Error (OFF CRSE °) 2-38

2.9.4 Man Overboard Facility (MAN OVER) 2-38

2.9.5 Autopilot Faults and Errors (PLT ERR) 2-38

2.10 MAN OVERBOARD FACILITY 2-39

2.10.1 Man Overboard Procedure 2-39

2.10.2 Manual Recovery (All Boats) 2-40

2.10.3 Automatic Recovery (Power Only) 2-40

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Part 2 - Operating Information

PART 2 - OPERATING INFORMATION

2.1 SWITCHING ON

The h2000 Autopilot has two power supplies (instrument and heavy duty) connected via circuit breakers and/or fuses. The Autopilot Computer and Autopilot Displays are powered via the Fastnet data cable and share the same source of supply as the Hydra, Hercules or HS2000 Instrument System.

The hydraulic ram, rotary drive or hydraulic pump supplies are routed via the Autopilot Computer. The heavy-duty supply is dedicated to the rudder drive unit and is connected via a separate heavy-duty fuse or circuit breaker.

To switch the Autopilot ON, proceed as follows:

(1) Switch ON the heavy-duty power supply for the rudder drive unit.

(2) Switch ON the instrument supplies.

The Autopilot will only operate if both the heavy duty and instrument supplies are switched ON.

Notes

1. If the Autopilot Display indicates Fault 103 when engaged for the first time, check that the heavy-duty drive supply is switched ON.

2. If the Autopilot Display indicates the Fault Message above, switch ON the heavy-duty supply and clear the fault message.

3. If the Autopilot Display shows Fault 104 when engaged, this indicates that there is no boat speed input from the sensor. For example, this would occur if the Autopilot were switched on at the dockside.

4. To clear the Fault Message, press the key next to the FAULT legend on any Autopilot Display twice. Alternatively, press the

Enter Key on any FFD twice.

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h2000 Autopilot User Manual Part 2 - Operating Information

2.2 MODE SELECTION

2.2.1 Introduction

The Autopilot software automatically determines which modes of operation are available depending on whether the vessel is a powerboat or a sailboat. The Autopilot also receives Waypoint or Wind data via the Fastnet databus from either a compatible position fixer or the Masthead Unit.

At initial switch ON the Autopilot will be in Standby and Steer to Compass (COMPS) mode.

2.2.2 Mode Selection

The mode is changed by pressing the key next to the MODE legend on the FFD.

Each mode of steering is described in the following sections.

2.3 STEER TO COMPASS

2.3.1 Introduction

Steer to Compass is available with all Autopilot configurations for sailboats and powerboats and is the basic method of Autopilot steering. The boat is steered on the desired compass heading and the Autopilot is engaged with a single key press. The Autopilot will steer using heading data either from a Halcyon 2000 Compass connected to the Fastnet databus, a Gyro sensor connected directly to the Autopilot processor, or from the B&G Halcyon Gyro Processor.

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2.3.2 Selecting Compass Mode

Press the < Key next to the MODE legend until COMPS appears on the top line.

2.3.3 Engaging the Autopilot

(1) From the Autopilot Display and with the boat steered on the desired course, press the Key next to the COMPS legend.

h2000 Autopilot User Manual

Part 2 - Operating Information

(2) From the Hand-held Controller steer the boat onto the desired course, press the Auto/Resume Key to engage the Autopilot.

2.3.4 Dis-engaging the Autopilot Note

When the Autopilot is engaged, the Instrument System FFDs Power-Off Key is disabled, preventing accidental switching OFF of the Autopilot and Instrument System.

(1) At any Autopilot Display press the Red Off Key. The Autopilot immediately disengages and returns the boat to manual steering.

(2) From the Hand-held Controller press the Red Off Key. The Autopilot immediately disengages and returns the boat to manual steering.

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2.3.5 Changing the Autopilot Course

Note

The Autopilot can be immediately disengaged and the steering returned to manual control by pressing the Red Off Key on any Autopilot Display or Hand-held Controller.

(1) Fine Adjustments - Multiple key operations are added together to give the required course change, e.g.

for a 5

course change press the 1o button 5 times.

(2) Coarse Adjustments - Multiple key operations are added together to give the required course change, e.g.

for an 11

course change press the 10o+ 1o button.

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(3) Temporary Changes (Dodging) - At any Autopilot

display press the > Key next to the 10 the Autopilot course to starboard by 10

legend to change

. When the key is pressed, the last course is stored in the Autopilot Computer course memory. The Autopilot course digits alternate between current and last course: Press the <

Key next to the 10 to port by 10

legend to change the Autopilot course

. The last course memory works as

described above. At the Hand-held Controller press the Auto/Resume Key

to return to the original course.

USER TIP

The 10

and Last Keys can be used to "dodge" around obstacles in the Autopilot’s course. Multiple key operations are added together to give the required course

change, e.g. for a 20

course change press the 10oKey

twice.

Note

If the 1

Key, the course memory is cleared and the last

Key is pressed immediately after pressing the

course cannot be recalled. To return to the original course use the Reciprocal Key.

2.3.6 Pre-Setting the Autopilot Course

(1) At any Autopilot Display, with the Autopilot System in Standby, press the key next to the COURS legend to display the Course Pre-setting Menu.

(2) Press the < Key (Decrease) and > Key (Increase) next to the < < > > legend to alter the Autopilot course. This is displayed on the LCD lower digits.

(3) Press the key next to the COMPS legend to engage the Autopilot on the new pre-set course.

2.3.7 Pre-Setting the Next Leg

(1) At any Autopilot Display and with the Autopilot engaged, press the key next to the N LEG legend to display the Next Leg Pre-Setting Menu.

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(2) Press the < Key (Decrease) and > Key (Increase) next to the < < > > legend to alter the Autopilot legend to pre-set the Autopilot course, displayed on the lower digits.

The keys next to the 10 required.

(3) When the course change is required, press the key next to the ENTER legend.

The Autopilot will then steer the boat on to the pre-set next course.

The course change can be abandoned at any time by pressing the key next to the QUIT legend.

legend allow course dodges if

USER TIP

The Next Leg facility can be used to pre-set the next course change before arriving at a Waypoint, point of interest or navigational mark. It allows you to plan ahead.

2.4 STEER TO WIND INTRODUCTION

This mode of steering is only available to sailing boats that have a Hydra or Hercules System fitted with a Masthead Unit.

2.4.1 Hydra Autopilot

When WIND is selected with a Hydra Autopilot System, the Autopilot will steer a course that maintains a pre-defined Wind Angle. If the Apparent Wind Angle (AWA) shifts, the Autopilot will alter course so that the actual wind angle remains the same.

2.4.2 Hercules Autopilot

The Hercules Autopilot System has the additional feature of Steer to Optimum Wind Angle. Data from the Hercules System's polar tables, stored in the Performance Processor, allow the boat to sail at the Optimum Wind Angle and is particularly useful for achieving maximum VMG (Velocity Made Good) to windward.

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2.4.3 Selecting Wind Mode

(1) At the Autopilot Display press the key next to the MODE legend until WIND appears on the top line.

The Apparent Wind Angle (AWA) displayed on the bottom digits is the same as the displayed APP W/A on the Instrument System. The position of the bar indicates the direction of AWA:

h2000 Autopilot User Manual

Part 2 - Operating Information

Bar to the right of the digits, wind angle to starboard. Bar to the left of the digits, wind angle to port.

2.4.4 Engaging the Autopilot

(1) At any Autopilot Display steer the boat until the desired wind angle is displayed. Press the key next to the WIND legend to engage the Autopilot.

(2) From any Hand-held Controller steer the boat until the desired wind angle is displayed. Press the Auto/Resume Key to engage the Autopilot with the Hand-held Controller.

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2.4.5 Dis-engaging the Autopilot

(1) At any Autopilot Display press the Red Off Key. The Autopilot disengages and returns to manual steering.

(2) At the Hand-held Controller press the Red Off Key. The Autopilot disengages and returns to manual steering.

Notes

1. When the Autopilot System is steering to wind, course changes are effected by changing the ‘target’ wind angle using the

and 1oKeys. The Autopilot calculates the course required to

maintain the new ‘target’ wind angle.

2. The Autopilot Wind mode does not have a course memory so temporary course changes (dodges) are not possible. To return to a previous course the reciprocal course changes must be entered.

2.4.6 Steer to Wind Adjustments

(a) Fine Adjustments - At any Autopilot Display press

the < Key next to the 1 ‘target’ wind angle by 1

to starboard.

legend to change the Autopilot

to port, and the > Key to change

At the Hand-held Controller, press the 1 right to change the Autopilot ‘target’ wind angle to port or starboard by 1

Keys left and

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USER TIPS

Multiple key operations are added together to give the

required course change, e.g. for a 1

press the 1

button.

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course change

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Multiple key operations are added together to give the required wind angle change, e.g. for a 5

angle change press the 1

button 5 times.

‘target’ wind

(b) Coarse Adjustments - At any Autopilot Display

press the < Key next to the 10 the Autopilot ‘target’ wind angle by 11

Key to change 11 Controller press the 10

to starboard. At the Hand-held

Autopilot ‘target’ wind angle to port or starboard by 11

and 1olegends to change

to port and the >

and 1oKeys to change the

USER TIP

Multiple key operations are added together to give the required course change, e.g. for an 11

press the 10

+ 1obutton.

course change

2.4.7 Pre-Setting the Wind Angle

When the boat is steered to a course and the Autopilot is then engaged, the Wind Angle is approximate. When a specific Wind Angle is required, this angle can be set up before engaging the Autopilot.

(1) At the Autopilot Display and with Autopilot in Standby press the key next to the ANGLE legend to display the Wind Angle Pre-setting Menu.

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(2) Press the <> Keys next to the <<>> legend to alter the wind angle displayed on the lower digits.

(3) Press the key next to the WIND legend to engage the Autopilot on the User Defined Wind Angle. The boat will now steer to the User pre-set wind angle.

2.4.8 Auto Tack

When engaged in the Wind mode the Autopilot Computer calculates the True Wind Angle (TWA), thus enabling the Autopilot to indicate when it is possible to execute a Autopilot controlled tack. When the Tack Key is pressed the boat will be steered on the same User Defined Wind Angle but on the opposite tack.

The Autopilot software steers the boat through the wind, calculates a new ‘target’ wind angle and adds 5

to force the boat to bear away to ensure a fast pick up of speed. When the boat approaches the modified wind angle, the Autopilot alters course to sail to the original wind angle.

When the TWA is in the range of -90

to +90o, the boat is sailing in

the tack zone. When TACK is indicated on any Autopilot Display:

(1) Press the key next to the TACK legend to execute an auto tack.

(2) At the Hand-held Controller press both the 10oKeys simultaneously to execute an auto tack when the boat is in the tack zone.

The boat will tack as described previously on the opposite tack.

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2.4.9 Auto Gybe

The Autopilot is also able to indicate when it is possible to execute a Autopilot controlled gybe. When the Gybe Key is pressed the boat will be steered on to exactly the same Target AWA, but on the opposite tack.

The Autopilot software controls the steering so that the wind slowly passes astern of the boat. This ensures the boom and sails are safely transferred to the opposite tack.

2.4.10 Gybe Zone

When the TWA is in the range -120

to +120othe boat is sailing in

the gybe zone.

2.4.11 Using the Gybe Key

At any Autopilot Display, when in the gybe zone, the Autopilot Display will show GYBE. Press the key next to the GYBE legend to execute an auto gybe sequence.

2.5 STEER TO WAYPOINT

Notes

Before using Steer to Waypoint, check the following points:

(1) The position fixer has a compatible NMEA 0183 interface set-up in accordance with the manufacturer’s instructions.

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h2000 Autopilot User Manual Part 2 - Operating Information

(2) The appropriate NMEA sentences are selected and set to be transmitted. The minimum data requirement is XTE (cross track error); however, XTE and Bearing to Waypoint give the best steering performance. For Autopilot operation select any of the following: RMB (best option), XTE, APA, or APB together with BWR or BWC.

(3) The position fixer is switched ON and has the correct current position.

(4) The signal and noise levels are within the manufacturer's recommended limits.

(5) The Waypoints have been entered correctly, and the Waypoint arrival alarm is switched ON.

(6) If using Waypoints in a route or sail plan (cruise plan), the Waypoints have been entered correctly and in the correct order, the direction of the route has been selected and the route is enabled.

2.5.1 Steer to Waypoint Introduction

This mode of steering is available to both sail and powerboats. It is also available for Autopilot Systems that are using either a Hydra or Hercules Instrument System, interfaced with a compatible position-fixing device using NMEA 0183 protocols.

The position fixer can be a GPS (Global Positioning System) or Loran-C receiver; which in turn could be interfaced with a chart plotter.

When engaged in WAYPT mode the Autopilot will steer a course using Waypoint data from the position fixer or plotter programmed with the Waypoint positions.

It is important to remember that when the Autopilot is steering to a Waypoint using NMEA data, any erratic data or positional errors generated by the position fixer will be transferred to the Autopilot via the NMEA interface and the Instrument System. Position fixer errors can be due to many causes including: poor reception, bad satellite constellation, radio beacon chain transitions, local geography (e.g. in a marina) and high power transmitters.

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USER TIP

Position fixer errors can cause steering inaccuracy. Always maintain a log and position plot on an up-to-date chart. Also, remember to check that the Autopilot course (Waypoint to Waypoint) will steer the boat clear of any obstacles, taking into account the effects of tide.

2.5.2 Selecting the Waypoint Mode

At the Autopilot Display, press the key next to the MODE legend until WAYPT appears on the top line.

2.5.3 Engaging the Autopilot

Note

Before pressing the Waypoint Key steer the boat manually until the XTE distance is less than 0.03 NM and the heading is close to the Waypoint Bearing (Waypt Course) as shown on the Autopilot Display.

(1) At any Autopilot Display, press the key next to the WAYPT legend to engage the Autopilot.

(2) Press the Auto/Resume Key to engage the Autopilot from the Hand-held Controller.

Note

If XTE is more than 0.03 NM when the Autopilot is engaged in

Steer to Waypoint mode, the course will be altered by up to 30

bring the boat back onto track.

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2.5.4 Dis-engaging the Autopilot

(1) At the Autopilot Display press the Red Off Key. The Autopilot immediately disengages and returns to manual steering.

(2) At the Hand-held Controller press the Red Off Key. The Autopilot immediately disengages and returns to manual steering.

2.5.5 Changing the Autopilot Course

(1) At the Autopilot Display press the > Key next to the 10° legend to change the Autopilot course to starboard by

10°. The Autopilot previous course is stored in the course memory and the LAST legend is displayed.

(2) Press the < Key next to the 10° legend to change the Autopilot course to port. The Autopilot previous course is stored in the course memory and the LAST legend is displayed.

(3) At the Hand-held Controller, press the 10° Keys to change the Autopilot course to port or starboard 10°.

Note The 1° Keys do not function in the Waypoint mode.

USER TIP

Multiple key operations are added together to give the required

course change, e.g. for a 20

course change press the 10o Keys

twice.

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2.5.6 Returning to Original Course

(1) At the Autopilot Display, press the key next to the

LAST legend to resume the last course.

h2000 Autopilot User Manual

Part 2 - Operating Information

(2) At the Hand-held Controller press the Auto/Resume Key to return to the original course.

2.5.7 Waypoint Arrival Next Leg

Many position fixers automatically switch to the next leg of a sail plan when a programmed Waypoint is reached. The Autopilot will not steer the boat to the next leg but displays a prompt to the helmsman when the Waypoint is reached. The display shows NEXT legend next to the top key.

At any Autopilot display, press the key next to the NEXT legend to instruct the Autopilot to steer on the next leg of the sail plan.

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h2000 Autopilot User Manual Part 2 - Operating Information

USER TIP

Allow a time margin for the next Waypoint bearing to stabilise before pressing the next key.

Note

The Bearing to Waypoint must be supplied via the NMEA interface for this function to operate; i.e. use one of the following NMEA sentences: APB, BWC, BWR, and RMB.

2.6 POWER STEER

2.6.1 Introduction

Power steer is available with all Autopilot configurations for sailboats and powerboats, and allows the helmsman to directly control the boat’s rudder by either the Autopilot Display Unit keys or the Hand-held Controller. When in Power Steer mode, the Autopilot control software is by-passed and the key operations directly control the rudder drive unit.

USER TIP

Power steer can be used in an emergency if the normal manual steering became defective.

2.6.2 Selecting Power Steer Mode

At any Autopilot Display, press the key next to the MODE legend until POWER appears on the top line.

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