h2000 Autopilot User Manual ! WARNING The use of solvent based or chemical cleaners on the Pilot Displays will result in damage and invalidate your warranty. Premier Way Abbey Park, Romsey Hampshire, SO51 9DH, UK www.BandG.com © B&G Ltd. 2004 The copyright of this manual is the property of B&G Ltd.
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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 HB-0842-04
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.
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 1.1 1.2 1.3 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.
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 assistance. 1.
h2000 Autopilot User Manual Part 1 - Introduction 1.4 AUTOPILOT DISPLAY Fig 1.1 - Autopilot Display 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.
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.
h2000 Autopilot User Manual Part 1 - Introduction (c) Auto/Resume - Autopilot engage and return to course. (d) Off - Autopilot disengage. 1.6 JOYSTICK o 36.0 View from underside dia 21.0 mm 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.
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.
h2000 Autopilot User Manual Part 2 - Operating Information PART 2 - OPERATING INFORMATION CONTENTS Para Page 2.1 SWITCHING ON 2-3 2.2 2.2.1 2.2.2 MODE SELECTION Introduction Mode Selection 2-4 2-4 2-4 2.3 2.3.1 2.3.2 2.3.3 2.3.4 2.3.5 2.3.6 2.3.7 STEER TO COMPASS Introduction Selecting Compass Mode Engaging the Autopilot Dis-engaging the Autopilot Changing the Autopilot Course Pre-setting the Autopilot Course Pre-setting the Next Leg 2-4 2-4 2-5 2-5 2-5 2-6 2-7 2-7 2.4 2.4.1 2.4.2 2.4.3 2.4.4 2.
h2000 Autopilot User Manual Part 2 - Operating Information CONTENTS (Contd.) Para Page 2.6 2.6.1 2.6.2 2.6.3 2.6.4 2.6.5 2.6.6 2.6.7 POWER STEER Introduction Selecting Power Steer Mode Engaging the Autopilot Dis-engaging the Autopilot Fine Rudder Adjustments Coarse Rudder Changes Mid Key 2-18 2-18 2-18 2-19 2-19 2-19 2-20 2-20 2.7 2.7.1 2.7.2 2.7.3 2.7.4 2.7.
h2000 Autopilot User Manual 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.
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.
h2000 Autopilot User Manual Part 2 - Operating Information 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. (2) From the Hand-held Controller steer the boat onto the desired course, press the Auto/Resume Key to engage the Autopilot. 2.3.
h2000 Autopilot User Manual Part 2 - Operating Information 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 5o course change press the 1o button 5 times.
h2000 Autopilot User Manual Part 2 - Operating Information (3) Temporary Changes (Dodging) - At any Autopilot display press the > Key next to the 10o legend to change the Autopilot course to starboard by 10o. 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 10o legend to change the Autopilot course to port by 10o. The last course memory works as described above.
h2000 Autopilot User Manual Part 2 - Operating Information (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 10o legend allow course dodges if 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.
h2000 Autopilot User Manual Part 2 - Operating Information 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: Bar to the right of the digits, wind angle to starboard. Bar to the left of the digits, wind angle to port. 2.4.
h2000 Autopilot User Manual Part 2 - Operating Information 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 10o and 1o Keys.
h2000 Autopilot User Manual Part 2 - Operating Information Multiple key operations are added together to give the required wind angle change, e.g. for a 5o ‘target’ wind angle change press the 1o button 5 times. (b) Coarse Adjustments - At any Autopilot Display press the < Key next to the 10o and 1o legends to change the Autopilot ‘target’ wind angle by 11o to port and the > Key to change 11o to starboard.
h2000 Autopilot User Manual Part 2 - Operating Information (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.
h2000 Autopilot User Manual Part 2 - Operating Information 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.
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.
h2000 Autopilot User Manual Part 2 - Operating Information 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.
h2000 Autopilot User Manual Part 2 - Operating Information 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°.
h2000 Autopilot User Manual Part 2 - Operating Information 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. (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.
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.
h2000 Autopilot User Manual Part 2 - Operating Information 2.6.3 Engaging the Autopilot Note The rudder should be in the amidships position (or the position at which the boat steers a straight course) before the Power Key is pressed. (1) At any Autopilot Display, press the key next to the POWER legend to engage the Autopilot. (2) At the Hand-held Controller press the Auto/Resume Key to engage the Autopilot with the Hand-held Controller. 2.6.
h2000 Autopilot User Manual Part 2 - Operating Information USER TIP Multiple operations of the keys are added together to give the required rudder change. 2.6.6 Coarse Rudder Changes (1) At the Autopilot Display press the < > Keys next to the << >> legend to move the rudder to port or starboard in steps of 3o. (2) At the Hand-held Controller press the 10o Keys to move the rudder to port or starboard by 3o. USER TIP Multiple operations of the keys are added together to give the required change 2.6.
h2000 Autopilot User Manual Part 2 - Operating Information There are two joystick steering options available to the helmsman: (a) Normal Steering (Norm) - The rudder moves in the direction of the joystick. When the joystick returns to the central position the rudder movement stops. The greater the movement of the joystick, the faster the response of the rudder. (b) Proportional Steering (Prop) - The position of the rudder follows the position of the joystick.
h2000 Autopilot User Manual Part 2 - Operating Information 2.7.3 Dis-engaging the Autopilot (1) To dis-engage the Autopilot when in Joystick mode press the Joystick Button and the boat will return to manual steering. (2) At the Autopilot Display press the Red Off Key. The Autopilot disengages and returns to manual steering. (3) At the Hand-held Controller press the Red Off Key. The Autopilot disengages and returns to manual steering.
h2000 Autopilot User Manual Part 2 - Operating Information 2.8 SET-UP OPTIONS The Hydra and Hercules Autopilots have eleven common set-up options, however if a Halcyon Gyro Stabilised Compass and its associated processor are installed into the Autopilot system, additional set-up options become available. All set-up options are used to change and select the operating modes, steering characteristics and alarms of the Autopilot System, whether it is fitted to a powerboat or a sailing boat.
h2000 Autopilot User Manual Part 2 - Operating Information 2.8.1 Manual Response Set-Up (RESP) The RESP set-up controls the response of the steering. Different selections are available dependent on whether the heading source is from the Halcyon 2000 Compass or a B&G Halcyon Gyro compass. Response Settings with Halcyon 2000 Compass (a) NORM - Normal course keeping and rudder response (default).
h2000 Autopilot User Manual Part 2 - Operating Information To set-up RESP: (1) Press the key shown until RESP is displayed. (2) Press the key shown to scroll through the list of RESP options. NORM ECON PERF 1 PERF 2 PERF 3 PERF 4 (3) When the required response is displayed press the key next to the ENTER legend. Continue with set-up or press the key next to the EXIT legend to return to the normal Autopilot display. 2.8.
h2000 Autopilot User Manual Part 2 - Operating Information To set-up MODE: (1) Press the key shown until desired MODE is displayed. (2) Press the key shown to scroll through the list of MODE options. (2) When the required mode is displayed press the key next to the ENTER legend. Continue with set-up or press the key next to the EXIT legend to return to the normal Autopilot display. 2.8.3 Automatic Response Set-Up (ARESP) This option is only available if a Halcyon Gyro Stabilised Compass is fitted.
h2000 Autopilot User Manual Part 2 - Operating Information (c) NORM – Normal: in this mode, the Autopilot will respond to moderate changes in environmental state before altering its response rate. (d) SPORT – in this mode, the Autopilot will be most sensitive to changing conditions and will automatically increase its response rate to counter environmental changes. The Automatic Response setting will not drop below the manual response setting discussed in section 2.8.1.
h2000 Autopilot User Manual Part 2 - Operating Information 2.8.4 Recovery Mode Sensitivity (RECOV) This function is only available when a Halcyon Gyro Stabilised Compass is connected to the system. Recovery Mode allows the user to select the sensitivity that allows the Autopilot to react to unexpected events, for example sudden wave or wind shifts. This function allows the Autopilot to instantaneously increase the steering response to its maximum setting (PERF 4), and make a rapid recovery.
h2000 Autopilot User Manual Part 2 - Operating Information 2.8.5 Speed Set-Up (SPEED) The SPEED set-up allows the source used for speed data to be selected. There are three options available: (a) B SPD - Boat speed from a speed sensor (default). (b) SOG - Speed Over Ground from NMEA device. (c) F SPD - Fixed speed entered by the user. To set-up SPEED: (1) Press the key shown until SPEED is displayed. (2) Press the key shown to scroll through the list of SPEED options.
h2000 Autopilot User Manual Part 2 - Operating Information (3) When B SPD or SOG are selected, press the key next to the ENTER legend. Continue with set-up or press the key next to the EXIT legend to return to the normal Autopilot display. (4) When F SPD is selected press the key next to the ENTER legend and proceed with steps (5) and (6) to set the fixed speed value. (5) Use the keys shown to adjust the value in increments of 0.5 to the desired fixed speed within the range 0.5 to 60.0.
h2000 Autopilot User Manual Part 2 - Operating Information (2) Press the key shown to select the display function of the bar display when the Autopilot is engaged. (3) When the required display function is displayed press the key next to the ENTER legend. Continue with set-up or press the key next to the EXIT legend to return to the normal Autopilot display. 2.8.
h2000 Autopilot User Manual Part 2 - Operating Information (2) Use the keys shown to adjust the value within the range 0 to 99 seconds. (3) When the required value is displayed press the key next to the ENTER legend. Continue with set-up or press the key next to the EXIT legend to return to the normal Autopilot display. 2.8.8 NMEA Source Set-Up (N SRC) The N SRC set-up selects the source of NMEA data when more than one NMEA position fixer is connected to the Hydra or Hercules Instrument System.
h2000 Autopilot User Manual Part 2 - Operating Information Note When more than one of the same type of NMEA position fixer is connected, i.e. two GPS receivers, then the number following the device identifier, e.g. GP 96, determines which GPS is supplying the NMEA data. To set-up N SRC: (1) Press the key shown until N SRC is displayed. (2) Press the key shown to scroll through the list of available N SRC options. (3) When the required setting is displayed press the key next to the ENTER legend.
h2000 Autopilot User Manual Part 2 - Operating Information 2.8.9 Course Alarm Set-Up (CRS A) The CRS A set-up enables the Course Alarm facility. The Autopilot will sound an alarm (if an audible alarm is fitted to the instrument system) and all the system displays flash a warning when the Autopilot off course error is greater than the value set. The alarm is temporarily disabled while the boat is turning. There are two selections: (a) OFF - The alarm is disabled (default).
h2000 Autopilot User Manual Part 2 - Operating Information 2.8.10 Watch Alarm Set-Up (WATCH) The WATCH set-up enables the watch alarm facility. The Autopilot will sound an alarm (if an audible alarm is fitted to the Instrument System) and cause all the system displays to flash a warning at a pre-set time interval to keep the helmsman and crew alert. There are two selections: (a) OFF - The alarm is disabled (default). (b) 1 to 360 - A number is set in minutes.
h2000 Autopilot User Manual Part 2 - Operating Information 2.8.11 Back Lighting Set-Up (LIGHT) The LIGHT set-up alters the LCD backlighting colour for all Autopilot Displays and FFDs connected to the system. There are two selections: (a) RED (default). (b) GREEN. To set-up LIGHT: (1) Press the key shown until LIGHT is displayed. (2) Press the key shown to select either RED or GREEN. (3) When the required setting is displayed press the key next to the ENTER legend.
h2000 Autopilot User Manual Part 2 - Operating Information 2.8.12 Joystick Set-Up (JYSTK) The JYSTK set-up selects the joystick steering, see the joystick section of this manual for details about the different steering modes. There are two selections: (a) NORM - Normal steering mode (default). (b) PROP - Proportional steering mode. To set-up JYSTK: (1) Press the key shown until JYSTK is displayed. (2) Press the key shown to select either NORM or PROP.
h2000 Autopilot User Manual Part 2 - Operating Information 2.9 AUTOPILOT INFORMATION ON FFD The Hydra or Hercules Instrument System FFD (full function display) can be configured to display a limited range of Autopilot information. This information is accessed via the Autopilot Menu that only appears when a Autopilot is connected. The following information is available on any system FFD. 2.9.1 Autopilot Course (PLT CRSE oM) The FFD can display the Autopilot course in degrees magnetic.
h2000 Autopilot User Manual Part 2 - Operating Information 2.10 MAN OVERBOARD FACILITY The Man Overboard Button (MOB) is an optional extra that activates the Autopilot's Man Overboard alarm procedure. The MOB can be used whether the Autopilot is engaged or disengaged. The purpose of this feature is to aid in the recovery of crew or passengers lost overboard. By sending the bearing and distance to the Autopilot, the execution of a “Williamson Turn” can be achieved automatically.
h2000 Autopilot User Manual Part 2 - Operating Information 2.10.2 Manual Recovery (All Boats) (1) Press the MOB as soon as the person is lost overboard. The alarm will sound (if fitted) and the display will show the Man Overboard message. The Autopilot display and the FFDs will now show the bearing and distance to the person overboard. The bearing will be flashed three times and then the distance (in Nautical Miles) once only.
h2000 Autopilot User Manual Part 2 - Operating Information (3) Maintain a lookout and keep visual contact with the person in the water. Reduce the boat speed to LESS THAN 8 knots. Ensure that the area is clear of other boats and obstacles. (4) Press the MOB three times in quick succession to initiate an automatic recovery. The Autopilot will control the steering and execute a “Williamson Turn”. Alternatively, press the Red Off Key to disengage the Autopilot and steer the boat manually.
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h2000 Autopilot User Manual Part 3 - Commissioning and Calibration PART 3 - COMMISSIONING AND CALIBRATION CONTENTS Para Page 3.1 3.1.1 3.1.2 3.1.3 INTRODUCTION TO PILOT COMMISSIONING h2000 Autopilot Commissioning Autopilot Installation Check List Parameters to be Set 3-3 3-3 3-3 3-6 3.2 3.2.1 COMMISSIONING MODE SELECTION Entering Commissioning Mode 3-7 3-7 3.3 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 3.3.6 3.3.7 3.3.8 3.3.9 3.3.10 3.3.11 3.3.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration CONTENTS (Contd.) Para 3.4.16 Page Setting the Boat Lag Value 3-24 ILLUSTRATIONS Fig No 3-1 3-2 Page Magnetic DIP Angle Corrections Boat Lag Response 3-11 3-23 TABLES Table No 3.1 3.2 3.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration PART 3 - COMMISSIONING AND CALIBRATION 3.1 INTRODUCTION TO AUTOPILOT COMMISSIONING 3.1.1 h2000 Autopilot Commissioning Before the h2000 Autopilot can be used, it is necessary to carry out commissioning tests. This encompasses the setting and calibration of various parameters, installation and functional checks of the autopilot System equipment. These items are listed below in Paragraph 3.1.2.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration (5) Ram free to move side to side and up and down. (6) Reservoir at highest point if ram split. For Size Three Rams only: (7) The reservoir has been fixed to a bulkhead above the ram and pump. (8) The sealed reservoir transit cap has been replaced with the breather cap supplied. (9) The reservoir has been filled with the oil supplied.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration (4) Linkage has not been over extended. (5) No slack or backlash in the linkage. (6) Linkage does not foul when rudder moved hard over to hard over. (7) Arm moves through at least 90° when rudder moved hard over to hard over (there must be at least a 1.0V difference between the end stops). (8) Ball joint securely fixed to quadrant/tiller. Compass Installation (1) Mount the unit upright on a flat, vertical bulkhead.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration 3.1.3 Parameters to be Set The following is a list of the parameters that have to be set during commissioning. They are selected by pressing the keys indicated on the diagrams while in commissioning mode.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration 3.2 COMMISSIONING MODE SELECTION 3.2.1 Entering Commissioning Mode Notes 1. The autopilot must be in STANDBY to carry out this operation. 2. If it is the first time the autopilot has been commissioned, SELCT will be displayed instead of SAIL, PWR P or PWR D. (1) To enter the commissioning mode simultaneously press the < > Keys next to the COURS legend.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration 3.3 COMMISSIONING/CALIBRATION ALONGSIDE The following parameters should be set before a sea trial: B TYPE H SRC H OFF DIP DRIVE RUD P RUD S RUD M RUD T B LEN 3.3.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration 3.3.3 Heading Source (Compass) H SRC The Heading Source setting defines the source for compass data. This setting is determined by the type of heading sensor connected to the system. Most systems will use the Halcyon 2000 compass unit. The compass sensor supplies heading data via the Fastnet cable to the autopilot and instruments. However, some systems may have a Halcyon Gyro Sensor fitted.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration 3.3.5 Heading Offset (Compass Alignment) H OFF The Compass Alignment electronically compensates for the misalignment between the autopilot’s fluxgate compass and the Earth’s magnetic field. The boat’s actual heading must be known; use a calibrated bowl compass or hand-held compass for reference. Enter the heading offset (in degrees) to correct the misalignment, in the range -180 to +180.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration (3) Press Enter to store the value. Fig 3.1 Magnetic DIP Angle Corrections 3.3.9 Rudder Drive Type (Drive) Note Depending upon the type of rudder drive unit fitted, the autopilot controls the rudder drive motor in different ways; this optimises the autopilot steering response. There are three selections for DRIVE: TYP-A TYP-B TYP-C 3.3.10 All Linear Rams, Hydraulic pumps and Rotary drives.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration 3.3.11 Setting the Rudder End Stops Before the autopilot can be used, the position of the rudder end stops must be entered. Notes 1. If the boat is equipped with hydraulically power assisted steering, the engines must be running whilst setting the end stops. 2. The rudder hard-over to hard-over time can only be calculated if the boat is stationary and there is no fixed speed entered.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration RUD S - Setting the Starboard End Stop (1) Select RUD S from the menu. (2) Turn the wheel until the rudder is hard over to Starboard. (3) Change the OFF legend to ON using the adjacent keys. (4) Press Enter to set the Starboard end stop position. The display reverts to OFF. RUD M - Setting the Midships Position (1) Select RUD M from the menu. (2) Turn the wheel until the rudder is amidships.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration RUD T - Rudder Hard-Over Time To finish the rudder end stop commissioning procedure the autopilot must calculate the rudder hardover Port to hardover Starboard time. The following points must be observed before carrying out the procedure: (a) If the boat is equipped with hydraulic power assisted steering, the engines must be running during the rudder hard-over time test.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration 3.3.12 Setting the Boat Length (B LEN) The boat’s waterline length in Metres must be entered into the autopilot for it to steer accurately. (1) Select B LEN from the menu. (2) Enter the correct waterline length in metres. (3) Press Enter to set the value. Caution Until all parameters have been set or checked, the autopilot should not be used to steer the boat. 3.4 SEA TRIAL COMMISSIONING/CALIBRATION 3.4.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration The commissioning sea trial should be carried out under power in open water on a calm day. The procedures for the remainder of the commissioning involve continual course and speed changes, it is therefore important that a constant look out is maintained. The autopilot will initially operate from the factory default values for Boat Lag (B LAG) and Rudder Gain (R GAN). These are different for sail or powerboats.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration This facility could be used in an emergency if the normal manual steering system became defective, e.g. a broken steering quadrant cable or control rod. It can also assist with diagnosis of faults in the ram drive unit, drive pump or the rudder reference unit and its linkage to the steering system since the autopilot normal course control software is by-passed. 3.4.3 Selecting Power Steer Mode Note The autopilot must be in STANDBY.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration (3) Use the << >> Keys to move the rudder, check that the autopilot can move the rudder by large amounts, verify by watching the rudder angle on the display, each press should give approximately 3o rudder movement. (4) Use the < > Keys to move the rudder, check that the autopilot can move the rudder by small amounts, verify by watching the rudder angle on the display, each press should give about 1o rudder movement. 3.4.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration (4) With the speed below 5 knots, turn the boat through 360o up to a maximum of 720q at a rate of turn not greater than 2o per second. The display will show the amount of turn completed so far in degrees. (5) Keep turning until PAS (PASS) or FAIL is displayed. PAS will alternately be displayed with a number that indicates the correction coefficient applied. The number is for reference only.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration All B&G paddle wheel type speed sensors are compatible. The Hertz/Knot value is entered into the system to ensure the autopilot steering response is controlled with reference to boat speed. The default Hertz/Knot value is 3.80; this is the default setting for B&G speed sensors.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration 3.4.11 Checking Rudder Gain Learning (1) Steer the boat onto a suitable heading, allow time for the boat to settle on this course. (2) Engage the autopilot in COMPS (compass) mode. (3) AT A SPEED NOT EXCEEDING 15 KNOTS, make at least 6 large course changes of at least 100o (ideally 170q) by multiple presses of the 10o course change buttons on any Autopilot Display or Hand-held Controller.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration (5) Observe the performance of the autopilot when changing course. The rudder gain value is inversely proportional, therefore, if the rate of turn is too SLOW, REDUCE the value of rudder gain and the autopilot will use more rudder. If the rate of turn is too FAST, INCREASE the value of rudder gain and the autopilot will use less rudder. (6) Adjust the Rudder Gain to give an average rate of turn of approximately 6o to 8o per second.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration 3.4.14 Boat Lag Value Boat Lag is the time taken for the boat to respond to changes in helm. For example, heavy displacement hulls require a larger value for boat lag. 3.4.15 Checking the Boat Lag (1) Engage the autopilot as previously explained in Initial Autopilot Sea Trial. (2) At a speed not exceeding 15 knots, change course by 90o in each direction. (3) Observe the autopilot steering performance.
h2000 Autopilot User Manual Part 3 - Commissioning and Calibration Boat Type Factory Set Value Typical Values Sail Boats 0.3 0.3 to 1.0 Power Boats 0.5 0.3 to 1.0 Table 3.3 Boat Lag Value Table Note The factory set value is selected by setting Boat Type and Rudder Drive Type during commissioning. 3.4.16 Setting the Boat Lag Value Note The autopilot must be disengaged and commissioning mode selected to adjust the Boat Lag value. (1) Select B LAG from the menu.
h2000 Autopilot User Manual Part 4 - Installation Information PART 4 - INSTALLATION INFORMATION CONTENTS Para Page 4.1 4.1.1 4.1.2 4.1.3 4.1.4 4.1.5 4.1.6 CABLE AND CONNECTION INFORMATION EMC Compliance General Wiring Notes Autopilot Drive Unit Cables ACP Unit Terminal Details Clutch Voltage Selection Dip Switch Location 4-3 4-3 4-3 4-4 4-5 4-6 4-7 4.2 4.2.1 4.2.2 4.2.
h2000 Autopilot User Manual Part 4 - Installation Information CONTENTS (Contd.) ILLUSTRATIONS Fig No 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 4.11 4.12 4.13 4.14 4.15 4.16 4.17 4.18 4.
h2000 Autopilot User Manual Part 4 - Installation Information PART 4 - INSTALLATION INFORMATION 4.1 CABLE AND CONNECTION INFORMATION 4.1.1 EMC Compliance B&G equipment is designed to be operated in leisure craft. Every care has been taken in the design and testing to ensure compliance with the European EMC Directive. Provided the equipment is installed and operated in accordance with the instructions supplied and the units and cables are used unmodified no problems should be encountered.
h2000 Autopilot User Manual Part 4 - Installation Information All cables should be routed at least 1m/3ft from cables or components that carry or generate high currents, e.g. alternators, starter motors and cabling, trim-tab cables, etc. To minimise interference avoid routing Network cables alongside high power radio or Radar cables, allow 3m/10ft spacing, or within 1m/3ft of engine starter motors and cables and other cables carrying heavy current.
h2000 Autopilot User Manual Part 4 - Installation Information 4.1.4 ACP Unit Terminal Details - + - BL R + IN OUT BL SLV BR SLV R BLK G V G BL W BL Y BLK Y SLV BLK SLV R G G SLV R BL SLV R R HANDHELD R W G W Y BR R BLK SLV RUDDER DRIVE SUPPLY PADDLE DRIVE SUPPLY SLV ALARM SLV R BL JOYSTICK R BL MOB SLV GYRO-STABILISED COMPASS BR BL CLUTCH 1A R G BL SLV Fig 4.
h2000 Autopilot User Manual Part 4 - Installation Information 4.1.5 Clutch Voltage Selection The ACP Computer Unit can output different clutch/solenoid voltages depending upon the size of the rudder drive unit fitted. The clutch/solenoid valve is only required for rams or rotary drive units. This is achieved by setting dipswitches on the Computer Drive PCB in the lid of the Computer Unit. Set the switches as per the table below.
h2000 Autopilot User Manual Part 4 - Installation Information 24V 18V Dip Switch Location 9V 12V 4.1.6 Fig 4.
h2000 Autopilot User Manual Part 4 - Installation Information 4.2 ACP WIRING CONNECTIONS 4.2.
h2000 Autopilot User Manual Part 4 - Installation Information 4.2.2 Autopilot Display Connections Junction Box 288-00-001 Connect like colours together To other units on the Fastnet Network. Network Cable 135-0A-130 (10m/33ft) Note: The extreme ends of the Fastnet Network should be terminated by connecting terminators between the white and green data wires. Maximum of two per system. Fig 4.
h2000 Autopilot User Manual Part 4 - Installation Information 4.2.
h2000 Autopilot User Manual Part 4 - Installation Information Hydraulic Ram Drive Connections IN OUT + - + BL SLV MOB R BL BL R - SLV ALARM SLV R GYRO-STABILISED COMPASS - 1A BR R W BL BR SLV R G BLK V G BL W Y BL BLK R Y SLV BLK SLV R SLV BLK G G SLV R BL SLV R G W Y BR R RUDDER PADDLE G BL SLV Red Heavy Duty Power Supply Black - R BL SLV HANDHELD DRIVE SUPPLY JOYSTICK DRIVE SUPPLY CLUTCH 4.2.
h2000 Autopilot User Manual Part 4 - Installation Information 4.2.5 Continuous Drive Connections These are general wiring instructions only, showing the implementation of the ACP outputs to drive a continuous drive pump solenoid valves. The continuous drive pump motor will also require a heavy-duty supply, which is not provided. However, suitable units can be obtained from your dealer. Clutch output is used to control the motor supply.
h2000 Autopilot User Manual Part 4 - Installation Information 4.2.
h2000 Autopilot User Manual Part 4 - Installation Information Linear Feedback Connections IN OUT + - + BL SLV MOB R BL BL R - ALARM SLV GYRO-STABILISED COMPASS - 1A BR SLV R R R BL W BL SLV BR SLV HANDHELD DRIVE SUPPLY G V G G BL W Y BL BLK R Y SLV BLK SLV R SLV BLK G R G SLV R BL SLV R W Y BR RUDDER PADDLE R BLK JOYSTICK DRIVE SUPPLY CLUTCH 4.2.
h2000 Autopilot User Manual Part 4 - Installation Information 4.2.
h2000 Autopilot User Manual Part 4 - Installation Information 4.3 4.3.1 ROTARY RUDDER REFERENCE SENSOR (RRF) Installation of RRF A number of key points must be considered for optimum performance of the unit: (1) Mount the unit on a flat surface next to the tiller arm or steering quadrant. Construct a small platform if necessary. (2) Do not lengthen the drag-link arm as this can transmit excessive vibration to the sensor. (3) The sensor operating arm can be rotated through 360º.
h2000 Autopilot User Manual Part 4 - Installation Information Fig 4.11 Plan View - Typical System with Tiller Arm and Quadrant The RRF can be mounted in many different positions and orientations depending on the layout of the steering system. Fig 4.
h2000 Autopilot User Manual Part 4 - Installation Information If the maximum rudder angle is less than 90º then the position of the RRF or the drag-link must be adjusted so that the operating arm of the RRF swings through a minimum of 90º and the output voltage difference is greater than 1 volt from port to starboard lock. Measure the output of the RRF between the green and blue wires. Note If there is less than 1V dc difference, the autopilot will not commission.
h2000 Autopilot User Manual Part 4 - Installation Information 4.4 LINEAR FEED BACK UNIT 4.4.1 Linear Feedback Unit Where installation of the conventional rudder reference unit is difficult or physically impossible, a linear feedback unit (SEN-RUDLFB) can be used. The linear feedback unit comprises of a tube approximately 23mm (7/8 inch) in diameter and 300mm (12 inch) long. This assembly is attached to the top of the B&G Blue Ram Types T1 or T2.
h2000 Autopilot User Manual Part 4 - Installation Information 4.5 RUDDER DRIVE UNIT 4.5.1 Description A compact dc driven reversible hydraulic pump cylinder assembly for boats without hydraulic steering systems. Five sizes of ram are available giving a wide thrust range to suit all sizes and types of vessel. Size 1 and Size 2 rams combine motor, pump and hydraulic cylinder as one unit referred to as an actuator.
h2000 Autopilot User Manual Part 4 - Installation Information Sterndrive Unit Connections + - + SLV R BL SLV RED BLACK R BL R W BL R SLV BR SLV R BLK G G V BL W BL Y BLK Y BR R G W Y SLV BLK SLV BLK R G SLV G SLV R BL SLV R RUDDER RED SLV PADDLE BLACK BL R GYRO-STABILISED COMPASS - 1A BR BL HANDHELD OUT JOYSTICK IN CLUTCH DRIVE SUPPLY MOB DRIVE SUPPLY ALARM 4.5.
h2000 Autopilot User Manual Part 4 - Installation Information Rotary Drive Connections DRIVE SUPPLY DRIVE SUPPLY IN OUT R BL SLV BL RED BLACK RED BL R SLV BR SLV R BLK G G V BL W Y BL BLK R Y SLV BLK SLV BLK R G SLV G SLV R BL SLV R G W Y BR RUDDER PADDLE BLACK R SLV R W HANDHELD SLV R BL JOYSTICK + CLUTCH - MOB + GYRO-STABILISED COMPASS - 1A BR BL ALARM 4.5.
h2000 Autopilot User Manual Part 4 - Installation Information 4.5.4 Proportional Solenoid Connections These are general wiring instructions only, showing the connection of the ACP Computer Unit outputs to drive proportional solenoid valves. The continuous drive pump motor will also require a heavyduty supply; this is not shown on this diagram. The clutch output could be used to control the motor supply; the clutch output is only active while the Autopilot is moving the rudder.
h2000 Autopilot User Manual Part 4 - Installation Information 4.6 USING A NON-B&G SPEED SENSOR The speed sensor must have a speed signal output from a Halleffect device giving positive pulses up to a maximum of 12V. (1) Locate the cable from the speed sensor to the instrument input. (2) Cut cable (if necessary) and insert a junction box (B&G Part No. 288-00-001). Connect like colour to like colour. (3) Use a length of 2-core screened cable (B&G Part No. 135-0B-098 9m/29.
h2000 Autopilot User Manual Part 4 - Installation Information Autopilot Computer Unit Boatspeed Terminals Function Cable 135-0B-098 Green Speed Signal Input Red Wire Red Not Used Not Used Black Ground Blue Wire Silver Screen Screen Table 4.
h2000 Autopilot User Manual Part 4 - Installation Information HB-0842-04 4-26
h2000 Autopilot User Manual Part 5 - Options PART 5 - OPTIONS CONTENTS Para Page 5.1 ADVANCED CONTROL PROCESSOR UNIT 5-2 5.2 5.2.1 5.2.2 5.2.3 5.2.4 5.2.5 5.2.6 5.2.7 5.2.8 RUDDER DRIVE DATA Ram Drives Type 0, 1 and 2 Ram Drives Type 3 Ram Drive Ram Drive Unit Installation Mounting a Ram on a vertical Bulkhead Splitting the Ram Drive Unit Hydraulic Drive Pumps Hydraulic Drive Pump Installation 5-3 5-4 5-6 5-8 5-10 5-14 5-14 5-15 5-17 ILLUSTRATIONS Fig No 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 5.10 5.
h2000 Autopilot User Manual Part 5 - Options PART 5 - OPTIONS 5.1 ADVANCED CONTROL PROCESSOR UNIT The Advanced Control Processor (ACP) Unit contains all the electronics for the autopilot operation and control of the rudder drive options. It is designed to be mounted on a vertical flat, smooth surface. The unit has a hinged lid to provide easy access to the electrical connections within. There are two sizes of ACP unit available dependent on drive option requirements.
h2000 Autopilot User Manual Part 5 - Options 5.2 RUDDER DRIVE DATA WARNING: Accurate performance of the yacht’s steering system is crucial to the safety of you and your crew. B&G always recommend that an Authorised B&G Dealer performs the installation of autopilot drive units. CAUTION: In line with B&G’s policy of continuous product improvement, drive units are regularly updated. Installation data included with your drive unit will replace installation data contained in this manual.
h2000 Autopilot User Manual Part 5 - Options 5.2.1 Ram Drives A compact DC driven reversible hydraulic pump and cylinder assembly for boats without hydraulic steering systems. Five sizes of drive are available giving a wide thrust range to suit all sizes and types of vessel. Type 0, 1 and 2 Rams combine the motor, pump and hydraulic cylinder into one unit referred to as an actuator. Type 3 and 4 rams are supplied split into a separate motor/pump unit, reservoir and hydraulic cylinder.
h2000 Autopilot User Manual Part 5 - Options The following tables may be used to determine the correct tiller arm length for a typical steering system with a maximum rudder angle of 70q. RAM T0 Hydraulic Linear Drive RAM–T0–12V Midstroke 429mm (16.9”) ½ Max. Rudder Angle Tiller Arm 35q 178mm (7.0”) RAM T1 and T2 Hydraulic Linear Drives RAM-T1-12V RAM-T2-12V RAM-T2-24V ½ Max. Rudder Angle 35q Midstroke 575mm (22.6”) Tiller Arm 214mm (8.4”) RAM T3 Split Hydraulic Linear Drive Midstroke 755mm (29.
h2000 Autopilot User Manual Part 5 - Options 5.2.2 Type 1 and 2 Ram Drives Dimensions Fig 5.
h2000 Autopilot User Manual Part 5 - Options ‘R’ CLIP ROD END WAS HE R TILLER BOLT R3773 16MM MAX LOCTITE 12MM MIN RECOMMENDED QUADRANT THICKNESS WAS HER NUT TORQUE - 27NM 20 Ft.Ib Fig 5.
h2000 Autopilot User Manual Part 5 - Options 5.2.3 Type 3 Ram Drive Fig 5.
h2000 Autopilot User Manual Part 5 - Options Fig 5.
h2000 Autopilot User Manual Part 5 - Options 5.2.4 Ram Drive Unit Installation General consideration must be given to the steering system and its geometry before starting the installation. Many factors must be contemplated for a practical solution. The information given here is for guidance only, although where a maximum or minimum value is given this must be adhered to. It is essential that the unit is only installed in a fully functional steering system, with no backlash or stiffness when operating.
h2000 Autopilot User Manual Part 5 - Options x The reservoir tap has been switched to the ON position allowing the oil to flow between the reservoir and the pipe. Note The tap ON position is in alignment with the pipe. Fig 5.
h2000 Autopilot User Manual Part 5 - Options Fig 5.6 Ram Mounted Parallel to Vessel’s Centre-line KEY POINTS ON INSTALLATION x Ensure that the rudder angle is limited by the rudder stops and not the limit of travel of the ram arm. Failure to do this will damage the unit and invalidate the warranty. x Ensure that there is sufficient space at each end for the ram arm to extend fully. x Check for full movement and security of the steering gear before applying any power to the autopilot system.
h2000 Autopilot User Manual Part 5 - Options b= tiller arm 5 5 =d a=half max rudder angle Fig 5.
h2000 Autopilot User Manual Part 5 - Options 5.2.5 Mounting a Ram on a Vertical Bulkhead Due to the restricted movement of the ram of +14o, -10o for the Type 0, 1 and 2 and +/- 5o for the Type 3, it is important that the maximum rudder angle is carefully measured and the positioning of the ram, tiller arm length and offset are carefully followed as shown in Figure 5.7.
h2000 Autopilot User Manual Part 5 - Options 5.2.7 Hydraulic Drive Pumps The Reversible Hydraulic Drive Pump has a small high speed pump driven by a 12V or 24V dc permanent magnet motor. The pump has autopilot check valves to prevent back driving and a pilot operated reservoir valve to enable the unit to drive balanced or unbalanced cylinders. The unit has Port and Starboard 1/4" BSP service ports and a 1/4" BSP reservoir port. Adapters for 1/4" BSP to NTP are available.
h2000 Autopilot User Manual Part 5 - Options 105mm (4.13) 4 holes I 7.0mm (0.28) 80mm (3.15) 240 mm (9.45) 88.9mm (3.5) centres 50.8mm (2.00) centres Fig 5.8 Type 1 and 2 Hydraulic Pump Dimensions Fig 5.
h2000 Autopilot User Manual Part 5 - Options 5.2.8 Hydraulic Drive Pump Installation Important Note When dealing with any hydraulic system great care must be taken to ensure that a high degree of cleanliness is observed and no dirt, moisture or foreign objects are allowed to enter the system. Only the recommended fluids must be used. Use Q8 DYNOBEAR or equivalent (10cSt at 40° C). (1) Drain the steering system from the lowest point, usually at a cylinder coupling.
h2000 Autopilot User Manual Part 5 - Options (12) Check the fluid level in the helm unit reservoir. (13) When the system appears to be fully functional, with the pump running and the helm hard over check for leaks. (14) Secure all hoses and cables to prevent damage. Fig 5.10 Single Station System Example Fig 5.
h2000 Autopilot User Manual Part 5 - Options Fig 5.12 Dual Station System with Bypass Example Fig 5.
h2000 Autopilot User Manual Part 5 - Options HB-0842-04 5-20
h2000 Autopilot User Manual Part 6 - Diagnostic Data PART 6 - DIAGNOSTIC DATA CONTENTS Para Page 6.1 6.1.1 DIAGNOSTIC DATA INTRODUCTION Error Messages 6-3 6-3 6.2 6.2.1 6.2.2 6.2.3 6.2.4 6.2.5 6.2.6 6.2.7 6.2.8 6.2.9 6.2.10 6.2.11 6.2.12 6.2.13 6.2.14 6.2.15 6.2.
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h2000 Autopilot User Manual Part 6 - Diagnostic Data PART 6 - DIAGNOSTIC DATA 6.1 DIAGNOSTIC DATA INTRODUCTION The Autopilot Computer is continually monitoring the autopilot and Hydra/Hercules System for correct operation. If an error is detected the Autopilot Display will show an error message. When an error occurs, the system audible alarm will sound. To silence the alarm press the key adjacent to the FAULT legend twice on any Autopilot Display. RUDDER PILOT STANDBY Fig 6.
h2000 Autopilot User Manual Part 6 - Diagnostic Data Fault FAULT 104 FAULT 105 FAULT 106 FAULT 108 FAULT 109 FAULT 110 FAULT 111 FAULT 112 FAULT 113 FAULT 114 FAULT 115 Cause Fault Description The boat is stationary or the No Boat Speed speed sensor has stopped transmitting data Heading data from Halcyon External Compass 2000 Compass or Gyro Sensor has stopped Navigational data from position No NMEA Data fixer has stopped The value of XTE data being Bad NMEA Data received has suddenly changed by m
h2000 Autopilot User Manual Part 6 - Diagnostic Data NO PILOT Autopilot Display Unit No regular messages being received by Autopilot Display from Autopilot Computer via Fastnet databus; i.e. either the display is not receiving or the autopilot computer is not transmitting Table 6.
h2000 Autopilot User Manual Part 6 - Diagnostic Data 6.2 FAULT DIAGNOSIS 6.2.1 Fault 100 - Uncommissioned Fault Description Rudder not commissioned or memory has been corrupted. Remedy (1) Has rudder ever been successfully commissioned? Yes - go to 4. No - go to 2. (2) Set rudder end and mid positions, move helm, does rudder indicator work? Yes - go to 4. No - go to 3. (3) Rudder indicator will not work until mid and end positions have been entered.
h2000 Autopilot User Manual Part 6 - Diagnostic Data 6.2.2 Fault 101 – Halcyon Gyro Stabilised Compass Fault Description The signal from the autopilot compass is too big or too small. Remedy (1) Check for magnetic interference near compass position. (2) Check all wiring connections to the compass unit. (3) Suspect a fault with compass electronics. If the unit is replaced, the autopilot commissioning must be reset as follows: - Make a note of all commissioning values.
h2000 Autopilot User Manual Part 6 - Diagnostic Data With someone moving the helm, the signal should change smoothly. If the signal is incorrect, suspect a faulty rudder reference unit. Note the difference between the signal voltages measured at the two end stops must be at least 1V dc. (3) Set display (Hydra or Hercules) to show digital rudder angle in degrees. Move helm to Port and Starboard end stops; check that the indicated rudder angle is 40 degrees (+/-2).
h2000 Autopilot User Manual Part 6 - Diagnostic Data (2) Check installation, look for any slack or loose fixings in the drive system or the rudder reference as the helm is moved. (3) Move the helm. Does the rudder indicator work, if not, check installation of rudder reference unit as detailed above. (4) Select "Power Steer" mode. If drive system includes a clutch or solenoid valve, engage the pilot and check the operation of the clutch or solenoid valve.
h2000 Autopilot User Manual Part 6 - Diagnostic Data 6.2.5 Fault 104 - No Boat Speed Fault Description The boat is stationary or the speed sensor is not working. Remedy (1) If boat speed for pilot comes from instrument system, check speed shown on instrument system display. (2) If boat speed connected directly to pilot, check connections. (3) Check boat speed sensor for correct operation. (4) Change the speed setup from B.SPD sensor to S.O.G. or F.SPD if the paddle wheel sensor is inoperative. 6.2.
h2000 Autopilot User Manual Part 6 - Diagnostic Data 6.2.8 Fault 108 - Bad NMEA Data Fault Description The value of XTE data being received has suddenly changed by more than 0.3 nautical miles. Remedy (1) Check XTE on display for stability. (2) Check operation of Position Fixer, especially signal and noise levels. Refer to Position Fixer Operation Manual. 6.2.
h2000 Autopilot User Manual Part 6 - Diagnostic Data 6.2.11 Fault 111 - Current Trip Fault Description The current limit circuit for the drive motor (25 Amps ACP1 or 40 Amps ACP2) or the clutch (2 Amps) has tripped. Remedy (1) Check installation and wiring for short circuits. (2) Check current to clutch, maximum available 2 Amps. (3) Check current to drive motor, maximum available 25 Amps (ACP1) or 40 Amps (ACP2). 6.2.
h2000 Autopilot User Manual Part 6 - Diagnostic Data 6.2.13 Fault 113 – Memory Card Changed Fault Description The memory card fitted is from another pilot and the rudder end-stops are no longer valid. All other information will remain intact. Remedy (1) A pilot reset is required to reset the characteristics. Please consult your local authorised B&G Dealer for assistance. 6.2.
h2000 Autopilot User Manual Part 6 - Diagnostic Data 6.2.16 Autopilot Display Shows "No Pilot" Fault Description No regular messages being received by autopilot FFD from autopilot computer via instrument system network, i.e. either the display is not receiving or the autopilot computer is not transmitting. Remedy (1) If other displays show autopilot data, check installation of autopilot display or suspect faulty autopilot display.
h2000 Autopilot User Manual Part 6 - Diagnostic Data 6.3 PILOT DOES NOT STEER IN A STRAIGHT LINE Fault Description The autopilot seems unable to steer straight, it continually overcorrects course errors; the wake has an "S" like appearance as the boat first steers several degrees off course to Port followed by several degrees off course to Starboard. Remedy (1) Drive unit. Check for any slack or backlash in the drive system, see earlier section.
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