Simrad | Navico WP10 | Instruction manual | Simrad Navico WP10 Instruction manual

M A X I M I S I N G
Y O U R
P E R F O R M A N C E
A T
S E A
Instruction manual
M
A
N
U
A
L
Simrad WP32
Wheelpilot
III
WP32 Wheelpilot
© 2004 Simrad Ltd
The technical data, information and illustrations contained in this publication were to the best of our knowledge correct at the time of going to print. We reserve the right to change specifications, equipment, installation and maintenance instructions without notice as part of our policy of continuous development and improvement.
No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form, electronic or
otherwise without prior permission from Simrad Ltd.
No liability can be accepted for any inaccuracies or omissions in the publication, although every care has been taken to
make it as complete and accurate as possible.
IV
Part No. E04596 Issue 1.0 05/03/04 MDL
Instruction manual
CONTENTS
1 GENERAL
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
1.2 The SimNet network system . . . . . . . . . . . . . . . . . . . . . . . . . .7
2 OPERATION
2.1
2.2
2.3
2.4
2.5
3
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Engaging the clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Autopilot mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Adjusting course . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Autotack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
2.5.1 Autotacking in Compass mode . . . . . . . . . . . . . . . . .10
2.5.2 Autotacking in Wind mode . . . . . . . . . . . . . . . . . . . . .10
2.5.3 Autotacking in Nav mode . . . . . . . . . . . . . . . . . . . . . .11
ADVANCED FEATURES
3.1 Nav mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
3.2 Steer To Wind . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
3.3 Using an external compass . . . . . . . . . . . . . . . . . . . . . . . . . . .14
4
CONFIGURATION
4.1
4.2
4.3
4.4
4.5
5
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Calibration mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Adjusting Seastate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Autotrim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
INSTALLATION
5.1
5.2
5.3
5.4
5.5
5.6
5.7
Fitting the Wheelpilot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
Interfacing via SimNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Interfacing via NMEA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
Electronic interference suppression . . . . . . . . . . . . . . . . . . . .26
Auto compass calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Configuring the Wheelpilot on the SimNet bus . . . . . . . . . .27
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
Advice on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
Fault finding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
NMEA sentences received . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Adjusting belt tension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Spares and accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
6 APPENDIX
E04596
V
WP32 Wheelpilot
1 GENERAL
1.1 Introduction
The Simrad Wheelpilot WP32 is a self-contained automatic
pilot suitable for a wide variety of wheel steered sailing yachts
up to 12m (39 ft) overall length.
Combining highly sophisticated electronics with advanced software and a powerful mechanical drive, they are capable of providing reliable and accurate steering performance under a variety of different conditions with minimal current consumption.
0
P3
W
The Wheelpilot has been designed so that, while it represents
the state-of-the-art in marine autopilots with many advanced
features, it remains very simple to operate, using only five
keys to access all functions.
Fig 1.1 - Wheelpilot WP32
Sophisticated functions available include Steer To Wind mode
and Nav mode (Steer To GPS), which use external equipment
linked directly to the Wheelpilot via the SimNet high-speed
bus, or through the inbuilt NMEA0183 interface.
There is also the option to operate the Wheelpilot remotely
using the HR22 Hand Remote. For more details, please refer to
the separate instruction card supplied with the HR22.
To ensure the best results from your Wheelpilot, it is essential
that the unit is installed correctly. Please read this manual
thoroughly before installation.
Thank you for choosing Simrad.
If you are pleased with your Wheelpilot, we hope you will be
interested in our range of marine electronic equipment, which
is manufactured to the same high standards as the Wheelpilot.
Please contact your nearest Simrad agent for a catalogue showing our increasing range of high-tech navigational instruments,
GPS, Chartplotters, Autopilots, Radars, Fishfinders and VHF
radio sets.
Simrad operate a policy of continual development and reserve
the right to alter and improve the specification of their products without notice.
Wheelpilot® is a registered trademark of Simrad Ltd.
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Instruction manual
1.2 The SimNet network system
The SimNet system is built around a high-speed bus networking system, that allows Simrad instruments, navigation equipment and autopilots to be easily interconnected and share data.
All units are interconnected and powered using a standard single cable (Fig 1.2) WIND Tx
SPEED/LOG
WIND
COMPASS
GPS/CHARTPLOTTER
COMPASS Tx
Junction
box
2
P3
W
WHEELPILOT WP32
Fig 1.2 - Typical SimNet system
The Wheelpilot can receive navigational information from the
Chartplotter for Steer To GPS (Nav mode).
It will also accept wind angle data from the wind transducer
for Steer To Wind mode, boat speed data from the speed
instrument and heading data from the compass transducer.
Additionally, heading data from the Wheelpilot can be displayed on any instrument displays capable of showing compass information.
NOTE
E04596
Heading data from the Wheelpilot will only be shown on
instrument displays, if there is no compass transducer present
on the network (priority is always given to SimNet compass
transducers for heading data).
7
WP32 Wheelpilot
2 OPERATION
2.1 General
The WP32 powers up in Standby mode, indicated by a flashing
LED next to the STBY/AUTO key. The two direction LEDs
above the Port and Starboard keys are always dimly lit, which
provides night illumination for the keypad. All functions are
confirmed audibly by a “beep” and visually by the LEDs, so
the status of the unit can always be confirmed at a glance.
2.2 Engaging the clutch
The Wheelpilot will not drive in any mode unless the drive
clutch is engaged first. The clutch is controlled by the lever on
the left side of the unit (Fig 2.1) -
Clutch off
Clutch on
Fig 2.1 - Engaging clutch
With the lever in the upward position the clutch is disengaged,
and the wheel is free to turn by hand. Push the lever down
fully, until it is flush with the motor housing, to engage the
clutch. The wheel will then be held firmly by the Wheelpilot –
hand steering is not possible with the the clutch engaged.
2.3 Autopilot mode
To engage Autopilot mode, press the STBY/AUTO key, and
the Wheelpilot will lock onto the current course. The LED next
to this key will stop flashing and remain permanently lit, as
long as the pilot is in Autopilot mode (Fig 2.2) -
TACK
STBY
STBY
AUTO
Fig 2.2 - Engaging autopilot mode
8
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Instruction manual
To lock the pilot onto the desired course, either steer the correct course and then engage the autopilot, or engage the
autopilot and then adjust the heading until the correct course
is being sailed (see section 2.4 below). If the STBY/AUTO key
is pressed and held, the pilot will beep a second time and lock
onto the previously used heading (note that this feature will
not be available if the unit has just been switched on).
To disengage the pilot, press the STBY/AUTO key and lift the
clutch lever. Always switch the pilot to Standby mode when
disengaging the clutch.
2.4 Adjusting course
In Autopilot mode, precise course adjustments can be easily
made – press the Port ( ) or Starboard ( ) key once and a 1º
course adjustment will be made in the specified direction. This
is confirmed by a single beep, and the Port or Starboard LED
will flash once. Press and hold the key, and a 10º course adjustment will be made, confirmed by a double beep and a double
flash of the Port or Starboard LED (Fig 2.3) -
TACK
STBY
STBY
AUTO
NAV
Fig 2.3 - Course adjustment to Port
NOTE
E04596
Following any course adjustment in Nav mode (see section
3.1), the Wheelpilot will gradually return to the navigational
track.
9
WP32 Wheelpilot
2.5 Autotack
The Wheelpilot has a built-in autotack facility, allowing easy
tacking of the vessel when single or short handed. An autotack
is only possible when in autopilot mode.
To initiate autotack, press and hold the TACK key, followed by
either the Port ( ) or Starboard ( ) key, depending on which
direction you wish to tack (Fig 2.4) -
TACK
STBY
STBY
AUTO
TACK
TACK
STBY
STBY
AUTO
Fig 2.4 - Initiating Starboard autotack
The operation of the Wheelpilot will differ during an autotack
depending on whether the pilot is in Sail To Compass or Steer
To Wind mode:
2.5.1 Autotacking in Compass mode
If in Compass mode (default), the Wheelpilot will then tack the
vessel in the selected direction. The Wheelpilot has a factory
preset autotack angle of 100º.
2.5.2 Autotacking in Wind mode
The Wheelpilot will tack the vessel through to the same apparent wind angle, but on the opposite tack.
NOTE
As a safety feature, the Wheelpilot will only allow an autotack,
if the apparent wind is less than 90º – i.e. autotack is disabled
when sailing downwind.
NOTE
In this mode, the Wheelpilot automatically prevents tacking in
the wrong direction – if on Port tack, only an autotack onto
Starboard tack will be possible.
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Instruction manual
In all cases, the autotack is confirmed by a long beep, with the
relevant Port or Starboard LED flashing during the course
change.
2.5.3 Autotacking in Nav mode
As the Wheelpilot will be steering directly to a waypoint, the
autotack facility is disabled while in Nav mode.
If it is necessary to perform an autotack, disengage Nav mode
by pressing the NAV key, then perform the autotack.
WARNING
E04596
Ensure that the boat is on the correct tack before re-engaging
Nav mode.
11
WP32 Wheelpilot
3
ADVANCED FEATURES
The WP32 Wheelpilot contains many advanced features, one of
which is the ability to accept course data from a variety of
sources apart from the internal fluxgate compass, including
SimNet and NMEA compatible navigational receivers (GPS/
chartplotters, etc) and windvanes. An external SimNet compass can also be used.
3.1 Nav mode
The Wheelpilot can interface directly with compatible Simrad
Chartplotters via the SimNet high-speed data bus. It also has
an inbuilt NMEA interface, which allows connection to
NMEA0183-compatible GPS and chartplotters.
Once interfaced with a GPS or chartplotter, the Wheelpilot can
steer using data from this source in addition to the internal
compass, allowing it to steer to a waypoint with great accuracy.
To activate Nav mode, the unit must be in Auto mode (press
STBY/AUTO). Simply activate a waypoint or route programmed into the GPS/chartplotter, and press the NAV key.
The LED next to the NAV key will light, and the Wheelpilot
will steer to the first waypoint using Cross Track Error and
Bearing To Waypoint information from the navigational receiver to maintain an accurate course (Fig 3.1) -
TACK
STBY
STBY
AUTO
NAV
Fig 3.1 - Activating Nav mode
On arrival at the target waypoint an intermittent alarm will
sound. As a safety feature to avoid an unexpected course
change, the next waypoint will not be automatically loaded
until the NAV key is pressed. When the vessel reaches the final
waypoint, the Wheelpilot will continue its current course
under Compass (Auto) mode.
NOTE
12
Some of the standard keystroke functions may have a different
effect in Nav mode than in Compass mode. Please refer to sections 2.4 and 2.5.3.
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Instruction manual
3.2 Steer To Wind
The Wheelpilot can sail to the apparent wind angle, rather
than a compass course, using wind data via the SimNet or
NMEA interfaces. Due to the faster data rate, the use of a
SimNet windvane such as the Simrad IS12 Wind is recommended – priority will be given to SimNet wind data over
NMEA wind data received by the Wheelpilot.
NOTE
If no wind information is present, the Wheelpilot will not enter
Steer To Wind mode.
To select Steer To Wind mode, the unit must be in Auto mode
(press STBY/AUTO).
Press and hold the Port ( ) and Starboard ( ) keys together
until a double beep is heard (Fig 3.2) -
TACK
STBY
STBY
AUTO
NAV
Fig 3.2 - Selecting Steer To Wind mode
Both the Port and Starboard LEDs will flash simultaneously
while the pilot is in Steer To Wind Mode.
To switch back to Compass mode, again simply press and hold
the and keys together, until a double beep is heard.
While in Steer To Wind mode, the Wheelpilot will lock onto
the current apparent wind angle being sailed. Any course
adjustments made will be relative to the apparent wind angle,
rather than the compass heading, as when in Compass (Auto)
mode.
Initiating an autotack will turn the boat onto the same apparent wind angle on the opposite tack. As a safety feature, autotack is disabled when sailing downwind.
NOTE
E04596
Nav mode cannot be selected while in Steer To Wind Mode –
to activate, return to Compass (Auto) mode first.
13
WP32 Wheelpilot
3.3 Using an external compass
Normally, the accurate operation of a self-contained autopilot
is very difficult on a ferrous hulled boat (steel, ferro cement,
etc), as the hull will affect the bearing read by the internal fluxgate compass.
Although the Wheelpilot operates using its inbuilt fluxgate
compass, it will give priority to an external SimNet compass if
detected on the network bus.
On a steel or ferro hulled boat, the correct location for the
external compass would be on the mast, between 1 and 2
metres above the deck (Fig 3.3). On a non-ferrous hulled boat,
the compass should be situated low down, as near the centre
point of the boat as possible. but away from any sources of
magnetic interference such as speakers, etc.
Fig 3.3 - Using Wheelpilot with an external compass
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Instruction manual
4
CONFIGURATION
4.1 Scaling
Setting
(Beeps/flashes)
Turns lockto-lock
2
3
4
5
6
7
8
9
10
1
11⁄2
2
21⁄2
3
31⁄2
4
41⁄2
5
Fig 4.1 - Scaling factors
Before using the Wheelpilot, it is necessary to program the
steering sensitivity, which is related to the number of turns
that the wheel makes between end stops. This will determine
the amount of steering correction the Wheelpilot applies.
With the power off, press and hold TACK and NAV, then
switch on the power. Both Port and Starboard LEDs will illuminate, the Nav LED will flash, and a repeated sequence of
beeps will be heard. The number of flashes and beeps in the
sequence indicates the current scaling factor (Fig 4.1).
The scaling factor is the total number of half turns from lock to
lock. For example, if the wheel has 11⁄2 turns from lock to lock,
the scaling factor will be 3.
Press the Starboard ( ) key to increase the scaling factor by
one, to a maximum value of 10 (= 5 turns lock-to-lock). Press
the Port ( ) key to decrease the scaling factor by one, to a minimum value of 2 (Fig 4.2) -
TACK
TACK
STBY
STBY
AUTO
NAV
POWER
ON
TACK
STBY
STBY
AUTO
NAV
Fig 4.2 - Reducing scaling factor by one
To confirm the setting and return to Standby mode, press NAV.
E04596
15
WP32 Wheelpilot
4.2 Calibration mode
The Gain and Seastate settings can be adjusted while the
Wheelpilot is in either Standby or Autopilot mode.
Press and hold the TACK key, then press NAV (Fig 4.3) -
TACK
TACK
TACK
STBY
STBY
AUTO
NAV
NAV
Fig 4.3 - Entering Calibration mode
The Starboard LED will illuminate to indicate that Gain adjustment is selected. To toggle between Gain and Seastate adjustment, press TACK – the Port LED will illuminate for Seastate.
4.3 Adjusting Gain
The Wheelpilot will apply adjustments to the helm in order to
compensate for heading variations, the amount of movement
being proportional to the heading error detected by the compass unit. The amount of movement is set by the Gain (sometimes referred to as the rudder ratio).
The Gain setting can be likened to driving a motor vehicle – at
high speeds, very little wheel movement is necessary to steer
the vehicle (LOW Gain). When driving at slow speeds, more
wheel movement is necessary (HIGH Gain).
A
B
C
D
Fig 4.4 - Effects of Gain setting
16
Fig 4.4 shows the effect of setting the Gain too low (A) – the
vessel takes a long time to return to the correct heading.
B shows the ideal setting, where errors are quickly corrected.
C illustrates the effects of setting the Gain too high, which
causes the vessel to oscillate around the correct heading.
Excessive Gain (D) creates a tendency to instability of course,
leading to increasing error.
E04596
Instruction manual
When Gain is selected, the Nav LED will flash and a repeated
sequence of beeps will be heard. The number of flashes and
beeps in the sequence indicates the level of the Gain setting.
Use the Port ( ) and Starboard ( ) keys to adjust the Gain setting between 1 and 9 (Fig 4.5) -
TACK
STBY
STBY
AUTO
NAV
Fig 4.5 - Increasing Gain level
Press NAV to confirm settings and return to normal operation,
or press TACK to switch to Seastate adjustment.
4.4 Adjusting Seastate
In heavy seas, more variations in heading will be detected, and
if the Wheelpilot tried to respond to all of these errors, it would
be overworked, causing unnecessary strain to the unit and
excessive drain on the batteries. Instead, it continuously monitors the corrections applied over the course of a voyage and
allows a “dead band”, within which the boat can go off course
without constant corrections being made (Fig 4.6). The size of
the dead band is normally automatically adjusted by the
Wheelpilot to give the best compromise between course holding and battery consumption, but it can be set manually if
desired:
Fig 4.6 - Seastate deadband
– In calibration mode, press TACK to toggle between Gain
and Seastate adjustment (indicated by the Port LED illuminated). The Seastate level is indicated by the number of
audible beeps and flashes of the Nav LED. No beeps or
flashes of the Nav LED indicates that the Wheelpilot is set
to Auto Seastate.
– Use the Port ( ) and Starboard ( ) keys to adjust the
Seastate setting between 0 and 9. Selecting 0 will switch the
Wheelpilot to Auto Seastate.
– Press NAV to confirm settings and return to normal operation.
E04596
17
WP32 Wheelpilot
C
t
ou
th
wi im
e
rs otr
ou ut
A
Ideal course
4.5 Autotrim
Wind &
Tide
Fig 4.7 - Effects of Autotrim
NOTE
18
Under differing conditions a helm bias (sometimes known as
standing helm or rudder trim) is applied, in order to steer a
straight course. An example is when sailing close hauled,
where the vessel will normally pull into the wind, and the
helmsman applies a standing helm to leeward, in order to
maintain course. The amount of this standing helm varies
according to factors such as strength of wind, boat speed, sail
trim and amount of sail set. If no account of these were taken,
the vessel would tend to veer off course, or pull around headto-wind when sailing close hauled.
The Wheelpilot continuously monitors the average course
error and applies a bias to the helm to compensate until the
optimum condition is reached (Fig 4.7). This bias, or standing
helm, is applied gradually, so as not to upset the normal performance of the Wheelpilot. Thus, it may take up to a minute
or so to fully compensate after changing tack. Once optimum
trim is reached, the pilot will still monitor for changes in the
prevailing conditions and update the trim accordingly.
Autotrim is applied automatically and cannot be manually
adjusted.
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Instruction manual
5
INSTALLATION
5.1 Fitting the Wheelpilot
With correct preparation, the Wheelpilot can be installed in
under an hour. However, it is important that it is fitted correctly to operate to its maximum efficiency. Please read this section thoroughly before attempting installation.
The pedestal mount is fixed to the pedestal using two band
clamps. The Wheelpilot’s two metal guide rods slide into slots
on either side of the mount. No holes need to be drilled for
installation, and it can be easily and quickly removed.
Packing pieces
Fig 5.1 - Fitting to 100mm
(4.0 in) pedestal
Slots for band clamps
Fig 5.2 - Rear view of
pedestal mount
The pedestal mount will fit most pedestals 100–140mm (4.0–
5.5in) diameter. Two packing pieces are supplied for use with a
standard 100mm (4.0in) pedestal (Fig 5.1). The pedestal mount
has three sets of band clamp slots to suit the pedestal size (Fig
5.2). For pedestals over 140mm (5.5in), a larger mount is available as a separate accessory (part PED200:BK).
The two guide rods are not fitted to the Wheelpilot itself when
supplied and will need to be attached. As these will support
any loads the Wheelpilot is subjected to, it is important that
they are securely fitted. The ends of the rods have flats on
them, which will allow a 12mm spanner to be used to tighten
them (Fig 5.3).
1. Remove the wheel.
2. Position the pedestal mount on the front of the pedestal.
The vertical distance between the circular slot centres and the
wheel shaft should be 125mm (5.0in) and the clamp should be
exactly parallel with the wheel in both planes (Fig 5.4).
125mm (5.0 in)
Fig 5.3 - Attaching guide
rods
Band clamps
Sleeving
Pedestal
Mount
Fig 5.4 - Correct positioning of pedestal mount
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19
WP32 Wheelpilot
3. The exposed section of the band clamps are slotted through
the sleeving provided, which covers the clip and also prevents
it from scratching the pedestal when tightened. It is recommended that the sleeving length is reduced to approx. 25mm
(1.0in) shorter than the length of the band clamps when tightened around the pedestal, to avoid fouling the slots in the
pedestal mount. Note, that if the sleeving has already been fitted to the clamps, it will need to be removed to facilitate fitting.
4. The self-adhesive neoprene pad supplied should be
attached to the inside face of the pedestal mount. This not only
increases the grip of the pedestal mount, but also protects the
pedestal from being scratched by the mount.
5. Slide the sleeving over the band clamps and thread the first
clamp through the pedestal mount (using slots appropriate to
the pedestal), around the pedestal and back in through the corresponding slot on the other side of the mount (Fig 5.5) Front Plate
Pedestal Mount
Neoprene
Pad
Pedestal
Fig 5.5 - Attaching clamp using band clamps
Locate the clamp in the pedestal mount slots to ensure that
there is room to fit the second clamp.
6. Tighten the band clamp as far as possible, until the pedestal
mount is held firmly in place and cannot be moved. Fit the second clamp following the same procedure. Fit the front plate,
but do not tighten the four socket head bolts at this point.
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Instruction manual
7. Fit the Wheelpilot to the pedestal mount by inserting the
two guide rods into the slots on the pedestal mount. Check
that the Wheelpilot ring is centred on the wheel shaft (Fig 5.6) -
Fig 5.6 - Pilot should be central to wheel shaft
If necessary, reposition the pedestal mount by removing the
pilot and the front plate and loosening the band clamp.
8. With the clutch lever disengaged, rotate the Wheelpilot ring
until the two spoke pillars are at the top.
9. Refit the wheel, ensuring that the top spoke sits between the
two spoke clamps.
10. Two rubber clamps are supplied that fit over the toothed
spoke pillars. The holes in the clamps are offset, so that by
rotating them the gap between the pillars can be increased or
decreased until the wheel spoke is held securely (Fig 5.7) -
Fig 5.7 - Offset rubber spoke clamps
11. If necessary, move the Wheelpilot forward, or back along
the guide rods until the wheel spoke fits equally between the
clamps.
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21
WP32 Wheelpilot
12. Clip the badge to the spoke clamps (Fig 5.8).
Spoke
clamps
Badge
Wheel nut
Socket
head bolts
Attaching badge
Fig 5.8 - Fitting of Wheelpilot
13. Spin the wheel from lock to lock and check that the
Wheelpilot rotates freely and smoothly. If there is any oscillation at any point of rotation, this is due to the Wheelpilot being
mounted slightly off-centre. Check that the pedestal clamp is
not too low or too high, and that the pedestal mount and the
pilot are exactly parallel to the wheel.
14. Tighten the four socket head bolts on each side of the
pedestal mount, so that the guide rods are held firmly in place.
Do not overtighten.
The Wheelpilot is supplied with a clip-on sun cover (Fig 5.9) to
protect the keypad and control unit from the elements and the
effects of UV light while the pilot is not in use.
Fig 5.9 - Keypad sun cover
22
Apart from this cover, the Wheelpilot is fully protected from
the elements due to its weatherproof design, and can be left fitted to the pedestal without requiring any additional protection.
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Instruction manual
5.2 Electrical installation
The Wheelpilot operates from a 12v DC supply. The cable fitted
to the Wheelpilot is used to supply the power, SimNet and
NMEA data via the junction box supplied (Fig 5.10) Junction box
W
P3
12v DC
2
NMEA0183 In
SimNet
Fig 5.10 - Wheelpilot junction box wiring
Length of Cross Conductor AWG
cable run section
type
Under 4m 1.5mm2
(13ft)
4-8m
(27ft)
2.5mm2
30/0.25
16
50/0.25
14
Fig 5.11 - Power cable
selection table
Due to differing requirements from vessel to vessel, Simrad recommends that the appropriate cable is sourced to meet the vessel’s specific layout. The recommended power cable sizes are
given in Fig 5.11.
The junction box is supplied with the SimNet cable pre-wired.
All other cables should be routed through the grommets in the
junction box and wired as shown (Fig 5.12). For information on
wiring see the colour-coded inlay within the junction box.
Large Red (+12v) & Black (0v) wires
EXTERNAL
INPUTS
From WP32
NOTE
IMPORTANT
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Fig 5.12 - Junction box wiring
The large Red and Black wires from the WP32 must be connected to +12v and 0v, respectively (see Fig 5.12).
If the vessel has more than one separate battery bank, when
connecting the Wheelpilot to the power supply always ensure
that the pilot and all interfaced equipment – whether SimNet
or NMEA – are connected to the same battery bank, even if
they each have independent connections to the switch panel.
This is to avoid a possible voltage drop between the interfaced
equipment, which would render the equipment inoperative.
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WP32 Wheelpilot
Notes:
* Mount the junction box in a dry location.
* No power is supplied to or from the SimNet bus – the Wheelpilot must
always have its own dedicated power connection.
* Use a suitable gauge power cable to run from switch panel to the junction
box (see Fig 5.11, previous page).
* Connect to the vessel’s switch panel via a 10Amp fuse or breaker.
* Do not fit other electronic or electrical equipment to the supply cable, or
“tap into” the supply from a nearby cable – always wire each piece of
equipment to its own breaker in the switch panel.
* Ensure all wire ends are tinned, and any connections are well made. Poor
contact will result in loss of thrust from the Wheelpilot and slower speed
of response.
* If in any doubt, employ a qualified engineer to install the equipment.
5.3 Interfacing via SimNet
The Wheelpilot is linked to other SimNet compatible equipment via the SimNet cable and plug supplied pre-wired into
the junction box.
All SimNet units (Instruments, Chartplotters, Radars, Autopilots, etc) use the same single cable high-speed network bus
to share data. The system is plug-and-play: no setup is
required, simply plug the Wheelpilot into the nearest spare
SimNet port and it will automatically detect any data on the
network that it can use. If there are no spare SimNet ports convenient, a three-way cable joiner can be used to create an additional port (Fig 5.13) -
Speed
Wind
Compass
3-way
joiner
SimNet
Bus power
GPS/Chartplotter
NMEA0183
Wheelpilot power
W
2
P3
Fig 5.13 - Typical SimNet installation
NOTE
24
It is not necessary to plug the Wheelpilot directly into any
equipment that you wish it to share data with – all data is
transmitted across the whole bus network.
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Instruction manual
5.4 Interfacing via NMEA
The built-in NMEA processor allows NMEA0183-compatible
equipment to be connected directly to the Wheelpilot, without
any need for a separate interface unit (Fig 5.14) Wind
Speed
NMEA0183
or
GPS/Chartplotter
SimNet
Wheelpilot power
P32
W
Fig 5.14 - NMEA integration examples
If a GPS or Chartplotter is connected to the Wheelpilot, it can
extract the data necessary for Nav mode. Other functions such
as Steer To Wind may also be available if NMEA0183-compatible instruments are transmitting the correct NMEA sentences.
When connecting an external (“talker”) unit to the Wheelpilot,
two terminals are used – usually labelled DATA and COMMON
(or COM). These should be connected to the junction box
NMEA terminals as follows :
Junction box
NMEA
terminals
talker unit
NMEA Out
Data/+
NMEA In
Data (+)
NMEA Out
Common/-
NMEA In
Com (-)
NOTE
Some third party equipment does not have a dedicated
COMMON connection. In this case, the DATA connection will
usually be labelled NMEA OUT, and the junction box’s NMEA
Com (-) terminal should be connected directly to the Power 0v
terminal. If in doubt, refer to the manufacturer, or Simrad’s
Product Support department for advice.
NOTE
Due to the limitations of NMEA0183, it is recommended that
only one talker is transmitting to the Wheelpilot at any one
time – i.e instruments, or GPS/chartplotter, not both simultaneously! If more than one unit needs to be interfaced to the
Wheelpilot, these should be connected to the junction box’s
NMEA terminals via a changeover switch.
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25
WP32 Wheelpilot
Because of the vast number of different manufacturers and
models of navigational equipment, Simrad cannot guarantee
correct operation and installation of this equipment. Therefore,
before connecting any equipment to the Wheelpilot, it is
important that the unit’s manual is referred to with regard to
interfacing via NMEA.
5.5 Electronic interference suppression
The Wheelpilot has been designed to minimise the effects of
interference generated by the engine alternator. However, precautions should still be taken by routing the cables away from
the engine compartment. Do not run the cables down trunking
carrying high current or radio antenna cables.
Engines with spark ignition, also some refrigerators should be
fitted with suppressors. Your local agent should be able to
advise on this and supply suppression kits where necessary.
5.6 Auto compass calibration
Once the Wheelpilot is installed, it is necessary to calibrate the
internal compass to compensate for deviation caused by any
metallic or magnetic objects surrounding it on the vessel.
With the vessel motoring slowly (2–3 knots) in calm conditions
and the Wheelpilot in Standby mode, press the Starboard key a
number of times to induce a slow clockwise rotation of the vessel. Press and hold the TACK key, followed by the Port ( ) and
Starboard ( ) keys simultaneously (Fig 5.15) -
TACK
TACK
TACK
TACK
Fig 5.15 - Auto compass calibration
The Port and Starboard LEDs will both light. Allow the vessel
to turn through a minimum of 11/4 turns (450º) in approximately two minutes, during which time the fluxgate compass will
automatically calibrate itself.
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Instruction manual
If the rate of turn or boat speed is too fast, the Port LED will
flash (Fig 5.16). Either slow the boat or reduce the angle of turn.
TACK
Fig 5.16 - Rate of turn too fast
If the rate of turn or boat speed is too slow, the Starboard LED
will flash – either increase the boat speed, or increase the angle
of turn. A short beep will indicate that the calibration has been
successful, and the Wheelpilot will return to Standby mode. If
the calibration has been unsuccessful after a period of four
minutes, a long beep will sound.
NOTE
If the calibration routine keeps failing after repeated attempts,
this indicates that the Wheelpilot is experiencing excessive
magnetic deviation that it cannot compensate for. Check the
area within 1m of the Wheelpilot for likely sources, such as
cockpit speakers or large metallic objects - if these cannot be
relocated, it may be necessary to fit an external compass.
5.7 Configuring the Wheelpilot on the SimNet bus
Normally the Wheelpilot can be connected to the SimNet bus
and it will automatically detect the nav and instrument data
sources, with no user intervention necessary.
If the SimNet bus includes more than one data source, the
Wheelpilot will use the first source it detects (Fig 5.17) IS12 Compass
AP25 Autopilot
NMEA GPS
IS12 Mega
CP44 Chartplotter
2
P3
W
RFC35R Compass
Fig 5.17 - Examples of multiple data sources
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WP32 Wheelpilot
In the example shown, there are two nav data sources (the CP44
Chartplotter and the NMEA GPS via the IS12 Mega instrument)
and two external heading sources (the IS12 Compass and the
RFC35R Rate Compass via the AP25 Autopilot). The Wheelpilot
could be used as a backup pilot, while still using the RFC35R as
the heading data source. However, the Wheelpilot may automatically select the IS12 Compass as the heading data source
and it may select the Mega instrument as the nav data source
instead of the CP44.
If these are not the desired sources, they can be manually configured. Two operation modes are available:
System mode –
This is the default setting – the
Wheelpilot automatically selects its
own data sources, but it can be
reconfigured to use another source
by a remote device such as a SimNet
Chartplotter or other Command Unit.
StandAlone mode – The Wheelpilot automatically selects
its own data source (the first it detects),
but cannot be configured by a remote
device.
To select the operation mode, the Wheelpilot must first be
powered down.
To select StandAlone mode press and hold the TACK and
keys and turn the power on (Fig 5.18) -
TACK
TACK
POWER
ON
TACK
TACK
Fig 5.18 - Selecting StandAlone mode
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Instruction manual
To select System mode press and hold the TACK and
and turn the power on (Fig 5.19) -
keys
TACK
TACK
POWER
ON
TACK
TACK
Fig 5.19 - Selecting System mode
The Wheelpilot will beep and all the LEDs will light briefly to
confirm the new configuration.
Please refer to the instructions supplied with the relevant
Command Unit for details on the remote configuring of data
sources.
NOTE
If there is more than one data source on the SimNet bus, but
no Command Unit capable of reconfiguring the Wheelpilot
present, the required data source must be the only one present
on the bus when StandAlone mode is selected – power down
or disconnect any multiple sources until after the operation
mode selection process is complete.
NOTE
Changing the operation mode, or even reselecting the same
mode, will reset any data source selections that the Wheelpilot
was previously locked onto.
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WP32 Wheelpilot
6 APPENDIX
6.1 Advice on operation
When used correctly, your Wheelpilot can maintain as good a
course, on most points of sail, as a skilled helmsman, with the
advantage that it never gets distracted, whereas a human can
start showing lapses of concentration after as little as 10 mins.
However, there are certain circumstances where a human has
the advantage in being able to anticipate events, which no
autopilot can sense, typically in a heavy following sea. The
following advice should improve efficiency when sailing using
your Wheelpilot:
1. When sailing close to the wind, it is easy to forget to trim
the mainsail, allowing excessive weather helm to build up.
Where a human helmsman would quickly complain, the
autopilot will struggle on and the boat will be sailed less efficiently. Whereas a human normally likes to feel some weather
helm, this is not necessary for the functioning of the
Wheelpilot. Power consumption, wear and drag will be greatly reduced if the mainsail is freed or reefed a little sooner than
normal when sailing manually.
2. It is also advisable, when sailing close hauled, to set a
course a few degrees free of that normally sailed under manual
control, to avoid luffing into the wind.
3. When running dead downwind, a human pilot can see
visual signs warning him if the boat is about to gybe, which
the Wheelpilot cannot sense – it is advisable not to sail as close
to the gybe as you may do when sailing manually.
4. When broad reaching or running fast, particularly with
quartering waves, a helmsman will naturally apply periodic
larger angles of helm than when beating or sailing slowly.
This is the equivalent of increasing rudder Gain, and it may be
a good idea to adjust the Gain on the Wheelpilot. Many people
prefer to find a compromise setting which is used for all sailing, but with practice it can be optimised for different conditions, e.g. low for motoring in a calm sea or high for running
fast. If the Gain is set too low, the boat will go off course,
because insufficient rudder is applied in time; if the Gain is too
high, the boat will overcorrect, increasing power consumption.
5. The Wheelpilot is a highly advanced piece of equipment.
However, it would be a mistake to become complacent. As
with all electronic navigational equipment, it is an aid to navigation and should not be used as a substitute for conventional
navigational practice. Remember – Maritime Law requires that
you keep a good look out at all times.
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Instruction manual
6.2 Fault finding
Symptom
Probable Cause
Pilot consistently over or
under compensates when a
course error is detected
• Gain setting is respectively too high • Adjust Gain setting
or too low.
• Steering sensitivity scaling has been • Enter the correct scaling
for the vessel (section 4.1).
incorrectly set.
After functioning normally
course is suddenly lost and the
Wheelpilot goes into Standby
Mode.
• Power interrupted briefly, or low
voltage.
• Cable used to socket too small.
• Intermittent connection.
Helm is hard over and alarm is
continuously on.
• Steerage way insufficient to control • Reset the vessel on course
and re-engage pilot
course, or sails are aback. Pulsing is
a correct safety feature when tiller is
at full travel.
Power socket is live, but pilot
is not on.
• Junction box is wired incorrectly.
Loss of course under Steer To
Wind Mode.
• Apparent wind has become too light • Change to Compass
Mode.
to give a consistent direction.
Cannot select Steer To Wind
Mode.
• Check connections.
• Masthead unit is not connected.
• Check system is on.
• SimNet system is not switched on
or powered.
• Required NMEA sentence not being • See section 6.3 & check
NMEA connections.
transmitted.
Cannot select Nav Mode.
• Check connections.
• GPS/Chart Plotter not connected.
• Activate waypoint/route.
• Waypoint not active.
• Wrong NMEA format is being used. • Check NMEA0183 format
is being transmitted by
navigational receiver.
Autotack function not
working.
• Pilot is in Nav Mode.
• Pilot is in Steer To Wind Mode and
a) apparent wind is >90º
b) autotack being attempted is in
the wrong direction.
• Exit Nav Mode.
• Luff up until apparent
wind is less than 90º.
Pilot exits Nav Mode before
waypoint is reached.
• Cross Track Error has exceeded 1.2
Nm.
• Reset the vessel on course
and re-engage Nav Mode.
Pilot does not hold accurate
course in Auto Mode.
• Fluxgate compass is being affected
by interference from nearby
magnetic influences (binnacle
compass, speakers) or metallic
objects (winches, deck hardware etc).
• Check compass has been
calibrated (section 5.6).
• Fit external SimNet
compass.
• Replace binnacle compass
with bulkhead compass.
• Relocate objects that are
causing interference.
Remedy
•
•
•
•
Increase size of cable.
Check all connections.
Charge batteries.
Uprate batteries.
• Check wiring of junction
box (section 5.2).
These simple checks should be carried out before seeking technical assistance and may save time and expense. Before contacting your servicing agent, please note the Wheelpilot’s serial
number.
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WP32 Wheelpilot
6.3 NMEA sentences received
The NMEA0183 information required for full functionality
whilst in Nav Mode is as follows:
- Cross Track Error
- Bearing to destination waypoint
- Arrival at waypoint indication
- Magnetic Variation
- Boat Speed
This information is extracted from the following NMEA0183
sentences:
Received
Data
APA
APB
RMA
RMB
RMC
BWR
BWC
VHW
XTE
Cross Track Error, bearing to/arrival at waypoint
Cross Track Error, bearing to/arrival at waypoint
Speed & course over ground & magnetic variation
Cross Track Error, bearing to/arrival at waypoint (T)
Speed & course over ground & magnetic variation
Bearing to/arrival at waypoint (rhumb line)
Bearing to/arrival at waypoint (great circle)
Boat Speed
Cross Track Error
The Cross Track Error (XTE) information has a maximum
value of 1.2 Nautical Miles. If the XTE exceeds this while using
Nav Mode, the Wheelpilot will sound an alarm, exit Nav mode
and return to Compass Auto mode.
NOTE
The Wheelpilot also extracts the apparent wind angle from the
following NMEA0183 sentences:
Received
Data
VWR
MWV
Apparent Wind Speed & Angle
Apparent Wind Speed & Angle
6.4 Adjusting belt tension
Indicator pointer
Scale
Adjusting screw
Fig 6.1 - Belt tensioner
32
The belt tension is set when the Wheelpilot is assembled; however, it may be necessary to adjust this during the lifetime of
the pilot.
The tension is adjusted by means of a screw situated underneath the clutch lever (Fig 6.1). This screw is only accessible
when the lever is in the up (disengaged) position. To decrease
the clutch tension, turn the screw clockwise. To increase the
tension, turn the screw anticlockwise. The scale next to the
screw indicates the current tension setting. When the pointer is
at the top, the clutch is at maximum tension. Minimum tension
is indicated when the pointer is at the bottom.
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Instruction manual
6.5 Spares and accessories
The following spares and accessories are available from local
Simrad agents. Please quote the part number when ordering:
HR22
Hand Remote
IS12 Compass:S
SimNet Compass System
IS12 Wind:S
SimNet Wind System
PED200:BK
Large Pedestal Mount Kit
(175–200mm / 7–8in diameter)
E03235
Extra Long Guide Rods
WPPK12
Spare Keypad Protector
WPPK20
Spare Spoke Clamps & Badge
SPC:2M
SimNet Power Cable 2m
SDC:02M
SimNet Cable 2m
SDC:05M
SimNet Cable 5m
SDC:10M
SimNet Cable 10m
6.6 Servicing
Although your Wheelpilot should seldom need servicing, for
optimum performance we recommend that the belt is replaced
every three or four seasons. Replacement belts are available
from your local Simrad agent, and we recommend that the
belt is replaced professionally to ensure correct fitment and
calibration.
The Wheelpilot will also benefit from an application of silicone
or Teflon grease to the connectors each season, and by keeping
the control unit and the connector’s protective cover in place
when not in use.
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33
WP32 Wheelpilot
348mm (13.7 in)
388mm (15.25 in)
6.7 Dimensions
234mm (9.2 in)
165mm (6.5 in)
550mm (21.6 in)
6.8 Specification
Supply Voltage
12v (10-16v) DC
Current Consumption Standby - 60mA
(Typical)
Auto - 750mA
NMEA Format
Compliant with NMEA0183 versions
2.0, 2.3 & 3.0 (4800 baud, no parity, 8 bits,
1 stop bit)
Maximum torque
80Nm
No load speed
7.8rpm
Ambient Temp Range
-10ºC to +55ºC (14ºF to 140ºF)
6.9 Warranty
The unit is guaranteed for 2 years from date of retail sale. If it
is necessary to have the unit repaired, return it carriage prepaid to the agent in the country of purchase with a copy of the
receipted invoice showing the date of purchase. Where possible, return all the components unless you are certain that you
have located the source of the fault. If the original packaging is
not available, ensure that it is well cushioned in packing; the
rigours of freight handling can be very different from the loads
encountered in the marine environment for which the unit is
designed.
For Worldwide Warranty details, please refer to the Warranty
Card supplied with this unit. A list of official worldwide
Simrad distributors is included in the Warranty Card.
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M A X I M I S I N G
Y O U R
P E R F O R M A N C E
A T
S E A
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