$1000+ / S2000+ Tiller Pilots ___0-— Owner's handbookContents Chapter 1: Chapter 2: Chapter 3: Chapter 4: Contents Introduction 14 Overview: 12. Specifications 113. About this handbook Important Information Product disposal Using the Ti 21 Overview. 22. Using Automode .. Engaging the autopilot (Auto mode)... Disengaging the autopilot (Standby mode) Changing course Displaying navigation information pages... ‘Automatic deadband control (Auto Seastate) Operating hints ~ trim changes 23. Switching display iluination on and off 24 Using Trackmode. Selecting Track mode Returning to Auto from Track mode ross track error (XTE) ‘Tidal stream compensation Waypoint arival and advance Dodges in Track mode Safety in Track mode .. Warning messages in Track mode 25. Using Windlrim mode Selecting WindTrim mode Exiting WindTrim mode Retuming the previous apparent wind angle Maintenance & Fault Finding .. 3.41 General maintenance 3.2 Product support 33. Faultfinding It. Installing the Tiller Pilot .. 4.1 Planning the installation sen 42. Installing the tilerpin and mounting socket 3 Measuring the critical dimensions. 31 Basic installation43 Chapter 5: Commissioning the Tiller! 511000 Plus & $2000 Plus Tiller Pilots Installation accessories 34 Cabling and socket installation Mounting the socket Powersupply SeaTalk cabling NMEA cabling 5.1 Functional tests Switch on Operating sense Checking the navigation interface smn Checking the wind instrument interface 51 Checking the SeaTak interface 52 5.2. Initial sea tial 53 Calibrating the compass. snared 5.3. Adjusting autopilot performance 56 Chapter 6: Adjusting Tiller Pilot Settings 61 Introduction 62 Adjusting calibration values Calibration features Default calibration values . Calibrating the tl pilot Calibration Level 1: Rudder gain Calibration Level 5: ruse speed Calibration Level 6: offcourse alarm angle Calibration Level 9: magnetic variation Calibration Level 10: heading error correction Calibration Level 11: boat's curent latitude... Calibration Level 13: rudder damping Controlling access to calibrationChapter 1: Introduction 3 Chapter 1: Introduction 1.1 Overview Your Rayrarinetilerpilotisa totally self-contained autopilot designed for tiller steered sailboats. The autoplotis mounted between the tiller and asingle attachment point onthe boats structure. Iis designed for owner installation and isready for use after connection tothe boats 12 V electrical system. Operating modes Thetlle pilot has four basic operating modes: + Standby mode: autopilot off * Auto mode: autopilot engaged and locked onto aheading + Track mode: autopilot on and maintaining a track between two waypoints created on a navigation system + WindTrim mode: autopilot on and maintaining a course relative to an apparent wind angle ‘SeaTalk and NMEA compatibility ‘The tlle pilot is SeaTalk compatible, sot can share data transmitted from other Raymarine SeaTalk instruments + wind information from a wind instrument canbe used for wind vane steering without the need to installa separate vane + ‘trackinformation, from a navigator, enables the autopilot to provide way- point control + boat peed from speed instrument can provide optimum track keeping per- formance4 511000 Plus & $12000 Plus Tiller Pilots ‘+ SeaTalk compatibility also allows additional fixed and hand-held autopilot control units tobe easily connected at secondary steering and contro posi- tions ‘The ST1000 Plus and $T2000 Plstle pilots can also be used with any navigator ‘transmitting NMEA 0183 of NMEA 0180 data, Thetller pilot canbe calibrated to suit each installation to provide maximum performance with many types ofboat 1.2 Spe General specifications Powersupply: 1oVto 15 VDC Drive nit thrust torque: ST1000 Plus: 57 kg (1251) 12000 Plus: 7 kg(1701b) Maximum boat displace- $1100 Plus: 3 000 kg (6 600i) iment: ‘572000 Plus: 4500 kg (10 0b) Drive mechanism: ‘T1000 Plus: lead screw and nut drive 512000 Plus: re-ciculating all rive Helm peed lock olock): ST1000 Plus: & seconds 512000 Plus: 4.5 seconds Current consumption: «Standby. 40 ma (90 ma with lighting) + Auto:0.5 Ato1.5 A depending on boat rim, helmioad and ating conditions Operating temperature; O°Ct0-+70°C (32°F to 158°F) Main features + 6 button distal keypad ‘= Baclit LCD display of heading, locked course and navigational informacion * User calibration for optimum performance ‘= Windrim controin Wind Fim mode « SeaTalk compatible ‘ Automatic compass deviation corection « Northerty/Southely heading compensation ‘+ Automaticheading deadband—seastate control ‘= Automatictack ‘= Builtn navigator interface (NMEA and SeaTak) «Waypoint advance featureChapter 1: Introduction 5 EMC conformance Al Raymarine equipment and accessories are designed tothe best industry standards for use inthe recreational marine environment. The design and manufacture of Raymarine equipment and accessories conform to the appropriate Electromagnetic Compatibility (EMC) standards, but correct installation is required to ensure that performance s not compromised. 1.3 About this handbook ‘This handbook contains importantinformation about installing, using and maintaining your new Raymaine product. To get the best fom the product, please read tis handbook thoroughly. Important Information Warranty Toregister your new Raymarine produc, please take a few minutes to fil outthe warranty card, Itis important that you complete the owner information and return the card tous o receive full warranty benefits, Waste from Electrical and Electronic Equipment (WEEE) jirective ‘The Waste fom Electrical and Electronic Equipment (WEEE) Directive requires the reqjling of waste electrical and electronic equipment, Whilst the WEEE Directive ‘does not apply to some of Raymarine's products, we upportitspolicyand ask you tobe aware of how to dispose ofthis product. ‘The crossed out wheelie bin symbol illustrated above, and found on our products signifies that this product should not be disposed ofn general waste or landfil Please contact your local dealer, national distributor or Raymarine Technical Services for information on product disposal. Handbook information Tothe best of our knowledge, the information in thishandbook was correct when itwent to press, However, Raymarine cannot accept ability for any inaccuracies ‘oromissions it ay contain. n addition, our policy of continuous product improvement may change specifications without notice. As result, Raymarine 68 ~ Waypoint 2 1) Partno. Type Length D187 Flat mouided plugtomaleround pkg 0.15. in) D183 Flat moulded plug to female round plug 0.15. (in) Extension cables-round plugs at enchend Partno. Type Length D124 Male ound plugto female ound plug 1m (339) D125 Male ourd plug to female ound plug 3.m(9f¢ 10) D126 Male round plugto female ound plug &m (198i) D154 Male ound lug to female ound plug 91m (29 i) Interface ca lat mouldedround pl to bare ends ——= = Partno. Type Length 0223 Flat moulded lug to bare ends mG R3i9 D173 Male ound plug to bare ends 3m(Sht0in) D181 Female round plug to bare ends Imorion | 45‘$T1000 Plus & 12000 Plus Tiller Pilots Remote control cabling Ifrequired, you can operate the tiller pilot using: a full-function ST6OOR remote control unt (partno: A12016), or a SeaTalk hand-held remote control (part no:Z101) ‘The following illustration shows how to connect a remote control Yeon eta a) 1aAfue Seren esTak OV) Red seal 12¥) with S a fe Sestak Seatakcabe sestal “aoe seatChapter 4: Installing the Tiller Pilot 41 NMEA cabling Ifrequired, you can connect a NMEA navigator or wind instrument to the tiller pilot fecan then use tis information for Track and Windlrim modes. Recognized NMEA data ‘The following table lists the recognized NMEA sentences. Information NMEA 0183 data ooss Track Error ‘APB, APARMB, XTE,XTR Bearing to Waypoint ‘APB BPI BWR, BWC, BER, BEC, RMB Distance to Waypoint WOR, WO, BP, BWR, BWC BER, BEC, RMB. Waypoint Number ‘APA, APB,BP, BWR, WDR, BWC, WDC, RMB, BOD, WCV, BER, BEC Speed Through Water vaw ‘Apparent Wind Angle and Speed VWR of ~~ ‘orwind si Es511000 Plus & $2000 Plus Tiller Pilots Connecting NMEA and SeaTalk Spo seen ov redinew wwih3 Ale ‘low (seat | Novi a | en wae SestakChapter 5: Commissioning the Tiller Pilot 49 Chapter 5: Commissioning the Tiller Pilot This chapter explains how to commission your tll pilot after installation. This consists of a number of simple functional tests followed by a short sea til 5.1 Functional tests ‘Switch on 1. Switch onthe main power breaker, 2. The autopilot should beep and display the pilot number (511000 or $T2000), 3. Within 2 seconds, the display should showa flashing’ fllowedby the com- ass heading (for example, C234), This shows the autoplotis active Note: //the tile plot does not beep or espay the compass heading please refer tothe Fault indlng section (see page 26) Operating sense ‘The operating sense defines the dtection the tiller pilot wll apply helm when a course change key is pressed or the boat goes offcourse. To check the operating 1. Place the pushrod end over the tilerpin, 2. Press +10. 3. Thehelm should move to produce a tum to starboard 4, ‘Ifthe helm produces a turn to por. refer tothe following instructions on reversing the operating sense. Reversing the operating sense iFecessary, reverse the operating sense canbe reversed as fallow511000 Plus & $12000 Plus Tiller Pilots 1, Press-1 and 44 together fo 5 seconds 2. The display shows the new operating sens (porto starboard) fo 5 seconds, and then the autopilot reverts to normal operation Checking the navigation interface If youhave connected the tlle plot to a navigator, check the interfaces follows: 1. Setupa track on the navigator to give a Cross Track rrorbetween Onm and 03nm, 2, Enter Auto mode by pressing auto. 3. Enter Track mode by pressing -10 and +10 together. 4, Analarm will sound andthe display will alternate between the bearing to ‘waypoint and the direction the boat will tum to acquire it BSB% 5. Make sure thatitis safe to turn onto the new course then press-10 and +10 again 6. Ifthe navigatoris connected correctly the display will begin to cycle through ‘the available navigation data EBSA? | vmsrnsn £35 =] see cP [GBS pane ADDF _| covmine Navigation error screens Ifthe display shows either of the following error displays, the causes ether: + awiting error or + thenavigator isnot configured to transmit the required data formatChapter 5: Commissioning the Tiller Pilot 3 Track data not received ‘This error message indicates that data has not been received. The most likely reasonis.a cabling error—either open circuit, short circuit or wies reversed, Track data error This error message indicates that the navigator has lost ts fix. Refer tothe navigator handbook fr further action. Checking the wind instrument interface Ifyou have connected the tile pilot to a wind instrument, check the data link as follows: 1. Press standby and auto together, 2. Thetiler pilot should display a 'W followed by the locked heading,52 511000 Plus & $2000 Plus Tiller Pilots Ifthe display continues to show a flashing’ and the current heading, thetiller pilots not receiving any wind data. The most likely reason i a cabling error — either open circuit, short circuit or wires reversed, Checking the SeaTalk interface you have linked the tler pilot to other instruments or control units viaSeaTalk, check the lnk as follows: 1. Press standby. 2._ Select display illumination level 0 (LAMP 0) on any other Seaak instrument or autopilot contol unit.Chapter 5: Commissioning the Tiller Pilot 3 3. Thettller pilot should immediately respond by switching ofits display illum: nation. Ifthe illumination does not switch of thereis a cabling fault between ‘the tlle plot andthe instruments or contral unit 5.2 Initial sea trial CAUTION: Failure to carry out the sea trial may result in impaired autopilot performance on some compass headings. When you have checked thatthe systems operating correctly youmust complete a shor sea tral to calibrate the compass. ‘The tiller pilot has a built-in calibration capability so you can fine-tune it to suit your boat its steering system and its dynamic steering characteristics. ‘As supplied from the factory, the autopilot calibrated to provide safe stable control for mostboats = Donotattempt to make any permanent changes tothe recommended cai bration values until you have completed the se trial + You must carry outthe intial sea tral in conditions of ight wind and calm water—so you can assess the autopilot’ performance without te influence of strong winds or large waves, Before starting the sea trial Before carrying out the sa tral, you should: + check the calibration settings and, if necessary reset them tothe default val- ues Gee page 67) + check the installation to make sue tat its not affected by radio transmis sions, engine starting, et. Calibrat 1g the compass ‘Automatic compass deviation correction By completing the folowing compass correction procedure, the tilr pilot can corrects owninternal fuxgate compass for most deviating magnetic fields. You should complete the Compass Deviation Correction at the beginning of yoursea trial. To complete the compass correction:34 511000 Plus & $2000 Plus Tiller Pilots 1. Extend or retract the pushrod so you can place the pushrod end onto thetller pin 2. Press and hold standby for 1 second —a series of dashes will cle thedlsply. ~~ cal ~~ ca som Lt a cal u around 3. Keeping boat speed below 2 knots use the -10 and +10 keys to turn the boat inslow circles. You should take atleast 3 minutes to complete each: 360°. ea speed eu 2 aot eae compete cde sul eS mus NY 4. Keep turning your boat unt the display changes to show the amount of devi ation the autopilothas detected this should take between 1, to2. complete circles) The deviation alternates with the autopilot’ currentheading every second, Devinlot 55 Chapter 5: Commissioning the Tiller Heading alignment 1. Usethe 1 and +1 keys to increase or decrease the displayed heading untiit agrees withthe heading onthe boat's steering compass, oa known transit bearing 2, Exitcompass linearization and heading alignment andstoe the compass cr- redtion/alignment values a follows: + pressand hold standby fort second until the pilotbeeps + of toexitwithout saving any new settings press standby momentarily Note: For installations were an S750. S130 tering Compass instruments connected ‘othe SeaTalk bus and the Steering Compass has a fluxgat transducer connected itis only necessary to cary out the auto deviation correction on the Steering Compass instu- ‘ment (refer to Stering Compass handbook instructions Further adjustments to heading alignment ifthe heading alignment requires futher adjustment, enter Compass Deviation Correction again by pressing standby for 1 second, 1. Press auto to skip Deviation Corection and proceed to Heading Alignment, 2, Adjust the heading as described above. Autopilot operation Having calibrated the compass, the following procedure s recommended to familiarize yourself with autopilot operation Steet ontoa compass heading and hold the course steady. 2. lace the pushrod end over the tlle pin, 3. Press auto tolock onto the curentheading, Thetilr pilot should achieve constant heading in calm sea conditions. 4. Alter course to portor starboard in multiples of 1° and 10°56 511000 Plus & $2000 Plus Tiller Pilots 5. Press standby and remove the pilot to return to hand steering 5.3 Adjusting autopilot performance ‘The factory setting for rudder gain provides stable control for initia sea trials However dtferentboats can vary widely in theirresponseto the helm and further adjustment to the rudder gain may improve the autopilot’ steering characters, The following test will determine whether the rudder gain is set too high or too low, 1. Inclearwater and with the autopilotin Auto mode, alter course to starboard by 40° by pressing +10 four times. Atcruising speeds, a course change of 40° should result ina cisp turn fl- lowed by an overshoot of no more than 5°. ‘this occurs the rudder gan is set corecty. ‘= Hrudder gains too high, the 40° course change willresutin a distinct overshoot of more than 5° (A) Correct ths overster by reducing the rudder gain setting + Hfrudder gains too ow the boat's steering performance will be sluggish twill 1ake a longtime to make the 40° tur and there willbe no over- shoot) Correct this understeer by increasing the rudder gan setting.Chapter 5: Commissioning the Tiller Pilot , 37 New \ heating Note: itis easier to recognize these actions in calm sea conditions whore wave action doesnot mask basic tering performance, 2,_Referto the calibration menu diagram in Chapter 6 Adjusting Tiler Plot Set tings, for instructions on how to adjust the rudder gain setting, 3, Repeatthe test until you achieve crisp course changes with no more than 5° of overshoot. ‘You should set the rudder gain to the lowest setting consistent with accurate ‘course keeping, This will minimize drive movements and reduce power ‘consumption and wear and tear.58 511000 Plus & $2000 Plus Tiller PilotsChapter 6: Adjusting Tiller Pilot Settings 59 Chapter 6: Adjusting Tiller Pilot Settings 6.1 Introduction ‘The tlle pilots calibrated at the factory to provide stable performance for most boats. However, you can fine tune many of the calibration features to match your personal preferences, and the type of boat and steering system. Note: You should any outan intial sea tial before adjusting any of the calibration fea tres, You might need to adjust the ter pilot calibration settings if + the pilot does not maintain a selected heading + therudder activity is too high or the course keeping isnt tight enough. ‘+ theboat appears tobe unstable on Northerly headings (orSoutherlyheadings in the southern hemisphere) ‘you operate in Track Control mode without a speed instrument + youwish o change the Off Course alarm angle ‘The calibration menu allows you to adjust the following parameters from their factory default settings: = rudder gain + average cruise speed + offcourse alarm limit + variation ‘+ Northerty/Southerly turning error compensation + boat’ curentlattude + rudder damping Adjusting calibration values ‘The flow chart on the next page shows how to: + enterthecalitration menu + scolthrough the calibration menu ‘© adjust the calibration values + auitcaliration60 511000 Plus & $2000 Plus Tiller Pilots Calibration menu ® seconns ch 1 102 Norerisutey ‘no err conecion 11 = Grertbont atte sous cALBRATTON & ‘UII canarion aN ‘UII CALBRATION \WMTHOUT sau chancesChapter 6: Ad justing Tiller Pilot Settings 61 Calibration features Calta ete Vale “The number on the left identifies the calration feature andthe number on the right the currently selected value. You can enter the calibration menu to view the existing values without alter- ing them, After viewing the value, amomentary press of standby returns the pilottoitsnormel operating mode without affecting the previous settings. Ifthe display shows CAL OFF when you tr to enter calibration, refer to page [oR “| Default calibration values The following table shows the default calibration values. These will provide safe performance for initial sea trial No. Feature Defaultsetting Adjusted values Rudder gan 5 ‘Averagecrusespeed 8 Offcoursealarmangle 20 Local magneticvariation Off NortiSouth turning error Off (0) correction Boat'scurentiatitude 0 Rudder damping 3a 511000 Plus & $12000 Plus Tiller Pilots Note: Calibration Levels23.4,7.8and 12arenot available. Calibration Level 10issetto 0. leve! 1 wil aso be omitted. 6.2. Calibrating the tiller pilot Calibration Level 1: Rudder gain Use Calibration Level to adjust the rudder gain. This must be set when your boat isunder way, as described on page 53. Calibration Level 5: cruise speed Use Calibration Level Sto set the boat's normal cruising speed for operation in Trackmode, When intertacing witha navigation system teil plotuses the boat saverge rising peed to perform rack calculations Note: /fa SeaVak speed instumentis connected, boat speed dat willbe transmiteda- rectly tothe autopilot Calibration Level 6: off course alarm angle Use Calibration Level 6 to se the off course alarm angle. Tis alarm wars youit the autoplotis unable to maintain ts set couse. ‘The offcourse alarm operatesf the autopilot strays off couse, by more than the set value, for more than 20 seconds. You can setthelimitin 1 increments between 15° and 40°, Locked heading BostheadngChapter 6: Adjusting Tiller Pilot Settings 8 Calibration Level 9: magnetic variation Use Calibration Level 9 to input the level of magnetic variation present tthe boat's curent postion + -vevariation =west + sve variation =east ‘The tile pilot transmits this value onto the SeaTak bus soit canbe picked up by other SeaTalk instruments Calibration Level 10: heading error correction Use Calibration Level 10 to switch on Northerly or Southerly heading error correction: + 0-08 +11 =Northern Hemisphere, 2 = Southern Hemisphere You might notice that the autopilot tends tobe alittle less stable on Northerly headings inthe higher latitudes of the Northern hemisphere or Southerly headings inthe Souther hemisphere). This is causedby the increasing angle of dip ofthe earth’s magnetic field at higher latitudes, which has the effect of amplifying rudder response on Northerly (Southerly headings. This err affects all magnetic compasses and gets worse further away from the equator. With heading error correction switched on thet plot can compensate fr this error by automatically adjusting the autopilot gain (depending on heading). This vill provide precise course keeping on all headings - sano oe operation wh511000 Plus & $12000 Plus Tiller Pilots Calibration Level 11: boat's current latitude ‘When you have switched on heading error correction (Level 10), ou need to use Calibration Level 11 to input the boat’ current latitude (tothe nearest degre). Set the latitude using the 4, +4, 10 and +10 keys Note: ifthe comection issuitchedoffin Caltration eve 10 Le. setto 0 Level 11 will ‘eomitted. When youpresstheautto key in Calibration Level f0you willadvance to Level 2 Calibration Level 13: rudder damping ‘Adjust the value in Calibration Level 13ifthe tiller dive “hunts' when tying to Position the rudder. ‘+ you canselect9 stages of rudder damping initially this option should be set 103 + ifthe autopilotisover-active in calm conditions, increase the damping + ifthe course kepingis not tight enough, decrease the damping ‘+ agjustthe damping one stage ata time Controlling access to calibration You can prevent unauthorized access to callbration as follows: 1. Press and hold and standby together for 10 seconds until the display shows CAL OFF CRU | OGFF 2. ‘Toggle the calibration access between On and OFF using the 1 and +1 keys 3. Store the setting by pressing-1 and standby for 10 seconds until the tiller Arve returns to normal operation65 ‘1000+ and st2000+ tiller drives socket template il 21 men S64 ink) anette UL Da25 mr 328) 8 Slr pet le i pesiers)66 511000 Plus & $2000 Plus Tiller PilotsA Adjusting autopilot performance 56 Adjusting tlle plot settings 59-64 Alarms and warnings Large XTE 17,21 Off course alarm 11 Trackdataeror21 Track data not received 20 Waypoint advance 19,21 Wind sift23 ‘Auto made 8-13 ‘Automatic deadband 12 ‘AutoTack Changing couse Dodging obstacles 10 Entering Auto mode 8 Exiting Auto mode 8 Navigation information pages 11 Off course alarm 11 Return to previous heading 10 ‘Auto Seastate 12 ‘Automatic deviation correction 53 8 Boat’ curentlatitude 64 c Cabling NMEA47 Power 43 Remote control optional) 46 SeaTalk a4 Calibration 59-64 ‘Access 64 Default values 61 Level 01 -Rudder gain 56,62 Level 05 -Cruse speed 62 Level 06-Off course alarm angle 62 Level 09-Magnetic variation 63 Level 10-Heading eror 63, Level 1 -Boat'curentatitude 64 Level 13 -Rudder damping 64 Cantilever mounting 37 Changing course, 13 Commissioning te tier pilot 4-57 ‘Ajsting rudder gain 56 a Functional tests 49-52 Inti sea tal53-56 Compas calibration 53-55 Deviation correction 53, Heading alignment 55 Cross trackertor 17 Cruse speed 62 Crentbatitude 64 D Display illumination 14 Dodging obstaces 10, 19 E eMc Installation guidelines 30 Servicing andsaety guidelines 25, F Fault finding 26 Functional test Navigation interface 50, Operating sense 49 SeaTalk interface 52 Switch on 49 Wind instrument interface 51 4 Heading alignment 55, Heading eror correction 63, Il umination 1 Initial se trial Checking autopilot operation 55 Compass deviation correction 53 Heading alignment 55 Installation 23-48 Cabling NMEA7 Power 43 Seatak ae EMC guidelines 30 Parts supplied 29 Socket at Tiller drve31—4068 L Lighting 14 ™ ‘Magnetic variation 63 Maintenance 25 ‘Mounting socket 33, N "Navigation information pages 11 NMEA, Cabling 47 Recognized data 47 Northerly heading ero correction 63, ° Off course ala 11 Off course alarm angle 62 Operating modes 7-24 Auto made 8-13 Track mode 14-21 Windttim made 22-24 Operating sense reversing 49 Pp Parts supplied 29 Pedestal sacket mounting 39 Power Cabling 43 Socket installation 41 Product support 26 Pustvad extensions 34 R Recognized NMEA data 47 Remote contol cabling 46 Return to previous heading 10 udder damping 64 Rudder gain56, 62 s SeaTalk Accessory cables 44 Cabling 4 Servicing 25, Socketinsalation 41 Southetlyheading enor correction 63 511000 Plus & $12000 Plus Tiller Pilots Specifications T “il deive installation 31-40 Cantilever mounting 37 Mounting socket 33 Pedestal socket mounting 39 Pusivod extensions 34 Tiler brackets 35 Tiler pin 33 Tiler pin Non-standard) 40 Trackmode 14-21 Crosstrackerror 17 Dodging obstacles 19 Entering Trackmode 14 ‘Automatic acquisition 15, Manual acquisition 16, Baiting Track mode 17 Safety 19 Tidal stream compensation 18 Warning messages 20, Waypoint arrvaadvance 18 w Windim mode 22-24 Entering WindTtim mode 22 baiting Windltim mode 23, Returto previous wind 23, Wind shit alarm 23, x XTE (Cross tracker) 17Raymarine www.raymarine.com ce