Raymarine Marine Instruments 150 400 User Guide

Type 150/400  
Autopilot  
System  
Installation Guide  
Document number: 81173-3  
Date: June 2001  
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Preface  
iii  
Contents  
Safety notices .............................................................................vi  
EMC conformance ....................................................................vii  
Step 1: Check the Installation Kit ............................................1  
1.1 Read this handbook ................................................................... 1  
3.2 Secure the course computer .................................................... 12  
3.3 Remove the connector cover ................................................... 12  
Step 4: Install the Compass ....................................................17  
4.1 Select the location ................................................................... 18  
4.2 Mount the compass ................................................................. 20  
4.3 Connect to the course computer .............................................. 20  
4.4 Connecting SeaTalk or NMEA compasses ............................. 21  
Step 5: Install the Rudder Position Sensor ...........................22  
5.1 Rotary rudder position sensor - installation ............................ 22  
Introduction ............................................................................ 22  
Ensuring correct alignment ..................................................... 23  
Securing the sensor to the boat ................................................ 24  
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iv  
Attaching the sensor to the tiller arm ...................................... 24  
Checking alignment ................................................................ 25  
Other manufacturersdrive units ............................................ 41  
9.4 Setting-up the autopilot ........................................................... 42  
Regular checks ...........................................................................43  
Fault-finding ..............................................................................43  
Servicing ....................................................................................43  
EMC, servicing and safety guidelines .................................... 44  
Product support ..........................................................................44  
Specifications ...................................................................... 45  
Control unit functionality ..........................................................46  
Glossary ................................................................................ 47  
Index ..................................................................................... 49  
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Preface  
v
About this handbook  
Welcome to the installation guide for the Raymarine Type 150/400  
autopilot system. This autopilot system will steer your boat to a  
heading automatically, accurately and reliably.  
This handbook explains how to install the parts provided with  
Type 150, Type 150G, Type 400 and Type 400G autopilot system  
core packs. The installation process involves the following steps:  
Check the Installation Kit  
Check Locations  
page 1  
1
2
3
4
5
6
7
8
9
page 6  
Install the Course Computer  
Install the Compass  
page 9  
page 17  
page 22  
page 28  
page 29  
page 30  
page 31  
Install the Rudder Position Sensor  
Install the Drive Unit  
Install the Control Unit  
Clamp the Cables  
Integrate the System  
At the end of this handbook we have also included:  
maintenance information  
product specifications  
glossary and index  
installation template  
the warranty statement  
Note: This handbook contains important information about the  
installation and maintenance of yournew Raymarine product. Toget  
the best from the product, please read this handbook thoroughly.  
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vi  
Type 150/400 Autopilot System: Installation Guide  
Important Information  
Warranty  
To register your new product, please take a few minutes to fill out the  
warranty card. It is important that you return the card to the factory to  
receive full warranty benefits.  
Safety notices  
WARNING: Product installation  
This equipment must be installed and operated in accordance  
with the instructions contained in this handbook. Failure to do so  
could result in poor product performance, personal injury  
and/or damage to your boat.  
Because correct performance of the boat’s steering is critical for  
safety, we STRONGLY RECOMMEND that an Authorized  
Raymarine Service Representative fits this product. You will  
only receive full warranty benefits if you can show that an  
Authorized Raymarine Service Representative has installed or  
commissioned this product.  
WARNING: Electrical safety  
Make sure the power supply is switched off before you make any  
electrical connections.  
WARNING: Calibration  
We supply this product calibrated to default settings. To ensure  
optimum performance on your boat, this product MUST be  
calibrated before use. Do NOT use the product until it has been  
calibrated using the instructions supplied.  
WARNING: Navigation aid  
Although we have designed this product to be accurate and  
reliable, many factors can affect its performance. As a result, it  
should only be used as an aid to navigation and should never  
replace common sense and navigational judgement. Always  
maintain a permanent watch so you can respond to situations as  
they develop.  
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Preface  
vii  
Your Raymarine autopilot will add a new dimension to your boating  
enjoyment. However, it is the skippers responsibility to ensure the  
safety of the vessel at all times by following these basic rules:  
Ensure that someone is present at the helm AT ALL TIMES, to  
take manual control in an emergency.  
Make sure that all members of crew know how to disengage the  
autopilot.  
Regularly check for other boats and any obstacles to navigation –  
no matterhowclear thesea mayappear, a dangeroussituationcan  
develop rapidly.  
Maintain an accurate record of the boats position by using either  
a navigation aid or visual bearings.  
Maintain a continuous plot of your boats position on a current  
chart. Ensure that the locked autopilot heading will steer the boat  
clear of all obstacles. Make proper allowance for tidal set the  
autopilot cannot.  
Even when your autopilot is locked onto the desired track using a  
navigationaid, alwaysmaintainalogandmakeregularpositional  
plots. Navigation signals can produce significant errors under  
some circumstances and the autopilot will not be able to detect  
these errors.  
EMC conformance  
All Raymarine equipment and accessories are designed to the best  
industry standards for use in the recreational marine environment.  
The design and manufacture of Raymarine equipment and  
accessories conform to the appropriate Electromagnetic  
Compatibility (EMC)standards, but correctinstallationisrequired to  
ensure that performance is not compromised.  
Handbook information  
To the best of our knowledge, the information in this handbook was  
correct when it went to press. However, Raymarine cannot accept  
liability foranyinaccuracies oromissionsit maycontain. In addition,  
our policy of continuous product improvement may change  
specifications without notice. As a result, Raymarine cannot accept  
liability for any differences between the product and the handbook.  
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viii  
Type 150/400 Autopilot System: Installation Guide  
Type 150/400 autopilot system  
Key components  
Course  
computer  
Control  
unit  
Rudder  
position sensor  
Drive  
unit  
Standard  
fluxgate  
compass  
Typical  
drive units  
Other  
equipment  
Rotary  
drive  
SeaTalk  
equipment  
Hydraulic  
pump  
NMEA  
equipment  
Linear drive  
Options  
External  
alarm  
Active  
compass  
Wind  
vane  
External GyroPlus  
yaw sensor  
SeaTalk  
handheld remote  
D5191-2  
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Step 1: Check the Installation Kit  
1
Step 1: Check the Installation Kit  
The first step is to get ready for installation by:  
reading through all installation steps  
obtaining the necessary installation tools  
checking the parts supplied  
WARNING: Product installation  
This equipment must be installed and operated in accordance  
withtheinstructions containedinthishandbook. Failureto doso  
could result in poor product performance, personal injury  
and/or damage to your boat.  
Because correct performance of the boats steering is critical for  
safety, we STRONGLY RECOMMEND that an Authorized  
Raymarine Service Representative fits this product. You will  
only receive full warranty benefits if you can show that an  
Authorized Raymarine Service Representative has installed or  
commissioned this product.  
1.1 Read this handbook  
To prepare for the system installation, read through the following  
information and the rest of this handbook to familiarize yourself with  
the autopilot system and how to install it.  
The autopilot system – core pack contents  
Course computer  
The course computer lies at the heart of the autopilot system. It  
processes information from the sensors in the system (e.g. rudder  
position and compass) so it can steer the boat using the drive unit:  
it contains a microprocessor, electronic circuitry to control the  
drive unit and a power amplifier for the drive motor.  
it is the central distribution point for the autopilot system, with  
terminals to take power from the boats distribution panel and  
inputs/outputs for all other autopilot components  
ithasinputs/outputsforSeaTalkandNMEA soyoucanconnectit  
to Raymarine and other manufacturers equipment.  
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2
Type 150/400 Autopilot System: Installation Guide  
Course computer versions  
Built-in  
GyroPlus*?  
Version  
Supply voltage Drive unit compatibility  
All Raymarine Type 1 12 V drives and pumps  
No  
12 V  
12 V  
Type 150  
Type 150G  
(including 12 V Constant Running pump).  
All Raymarine Type 1 12 V drives and pumps  
Yes  
(including 12 V Constant Running pump).  
All Raymarine 12 V and 24 V Type 1, Type 2 and  
Type 3 drives and pumps. Drive voltage must be No  
matched to boats supply voltage.  
12 V or 24 V  
Type 400  
All Raymarine 12 V and 24 V Type 1, Type 2 and  
Type 3 drives and pumps. Drive voltage must be Yes  
matched to boats supply voltage.  
12 V or 24 V  
Type 400G  
*Note: The Raymarine GyroPlus yaw sensor measures the boat’s yaw (its rate of turn). The autopilot  
system uses thisinformation to enhance course keeping in adverse weather and sailingconditions(such  
as sailing downwind in following seas). The Type 150G and Type 400G course computers contain a  
built-in GyroPlus yaw sensor as standard. The Type 150 and Type 400 course computers do not contain  
a built-in GyroPlus, but have the option of an external GyroPlus or dealer-fitted internal GyroPlus.  
CAUTION:  
Before installing the course computer and drive unit, check that  
they are the correct voltage for your boats supply.  
For course computer installation information, see page 9  
For course computer specifications, see page 45  
Í
Compass  
The compass is the direction sensor for the autopilot system. It  
provides the course computer with precise information about the  
boats heading.  
Raymarine supplies a standard fluxgate compass for the autopilot  
system.  
For more information, see page 17  
Í
Rudder position sensor  
The rudder position sensor (or rudder reference transducer) provides  
the course computer with the exact position of the boats rudder.  
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Step 1: Check the Installation Kit  
Raymarine produces two alternative types of rudder sensor:  
3
the rotary rudder position sensor is suitable for all steering  
systems (apart from bullhornstyle hydraulic outboards)  
the linear rudder position sensor is specifically designed for  
bullhornstyle hydraulic outboard steering systems  
For more information, see page 22  
Í
The autopilot system other key components  
Drive unit  
The drive unit translates instructions from the course computer into  
rudder movement, so the course computer can steer the boat.  
Raymarine producesawiderangeofdrive unitstosuitdifferent types  
of steering systems.  
For more information, see page 28  
Í
Control unit  
The control unit is the your interface with the autopilot system. You  
can use it to:  
engage and disengage the autopilot  
adjust the boats course when the autopilot is engaged  
view information about the autopilot systems status and perform  
a range of other functions  
Raymarine produces a range of control units to suit different boats  
and user requirements.  
For more information, see page 29  
Í
The autopilot system extended systems  
Around these key components of the autopilot system, you can  
extend the system by adding options such as:  
connections to additional control units, SeaTalk equipment or  
other manufacturersequipment (via NMEA)  
a GyroPlus yaw sensor (if you have a Type 150 or Type 400  
course computer without a built-in GyroPlus)  
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4
Type 150/400 Autopilot System: Installation Guide  
handheld remotes (the ST600R full-function remote control or  
the SeaTalk handheld remote control)  
pushpit or masthead wind vanes (for sail boats without a suitable  
wind instrument)  
an external alarm (through an E85001 interface)  
For more information about extended systems, see page 31.  
Í
1.2 Obtain installation tools  
To install the core pack you will need the following items:  
tape measure (metric/imperial)  
screwdrivers:  
cross-head/pozi-drive  
flat-bladed (large and small)  
drill and 3 mm drill bit  
center punch, pencil and masking tape  
for the rudder position sensor:  
hacksaw  
small adjustable spanner  
bolts, nuts and lockwashers (if required for tiller pin)  
for the course computer power supply:  
suitable power cable (see page 16)  
suitable fuse/circuit breaker (see page 16)  
Note: You will also need the tools and equipment required to install  
the control unit and drive unit. For full details, refer the information  
supplied with control unit and drive unit.  
1.3 Check parts supplied  
Use the diagram on the following page to check the parts supplied.  
CAUTION:  
Before you start installing the course computer, check that it is  
the correct voltage for your boats power and your drive unit.  
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Step 1: Check the Installation Kit  
5
Core pack parts supplied  
Course computer components  
No8 x 3/4 inch pan-head  
self-tapping screws (x5):  
2 for course computer  
3 for cable clamp  
Ferrite  
(for power cable)  
Course computer  
Cable clamp  
Tie-wrap (for cable clamp)  
Compass components  
Rudder position sensor components  
Fluxgate compass  
with 8 m (26 ft) cable  
Rudder position sensor  
with 10 m (32 ft) cable  
Tiller pin  
Connecting rod (M6), nuts (M6 x2)  
and ball-pin sockets (x2)  
Compass  
warning label  
!
No8 x 3/4 inch pan-head self-tapping screws (x3)  
for rudder position sensor  
No8 x 3/4 inch pan-head  
self-tapping screws (x4)  
No8 x 3/4 inch countersunk self-tapping screws (x2)  
for tiller pin  
Installation Guide  
(includes warranty  
documents and  
Worldwide  
Distributor List  
Type 150/400  
Autopilot  
System  
Installation  
Guide  
Worldwide  
Distributors  
fitting templates)  
Note: This illustration shows the parts supplied with Type 150, 150G, 400 and 400G autopilot core packs.  
D5377-1  
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6
Type 150/400 Autopilot System: Installation Guide  
Step 2: Check Locations  
2.1 Identify suitable locations  
AfterreadingthefollowingEMCinstallationguidelines(seepage 7),  
identify suitable locations for each part of the system.  
Course computer location:  
mount vertically on a flat bulkhead below decks  
dry, protected and well-ventilated  
free from high operating temperatures and excessive vibration  
For more information, see page 10  
Í
Compass location:  
mount vertically, with cable exiting at the base  
as near as possible to the boats pitch and roll center  
at least 0.8 m (2 ft 6 in) away from the boats steering compass  
in the back two-thirds of the boat  
away from potential sources of magnetic interference  
For more information, see page 18  
Í
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Step 2: Check Locations  
Rotary rudder position sensor location:  
7
suitable base alongside the rudder stock and tiller arm.  
so the ball-joints at each end of the connecting rod are level  
so the sensor arm is between 75 mm (3 in) and 310 mm (12 in)  
from the tiller arm  
For more information, see page 23  
Í
Drive unit and control unit locations  
Refer to the information supplied with these units to identify suitable  
locations.  
Cabling:  
consider how you will run cables to and from each component  
avoid running cables through bilges where possible  
avoid running cables close to fluorescent lights, engines, radio  
transmitting equipment etc.  
Note: When cutting cables to length, we recommend that you include  
a loop of extra cable so you can cut and strip the cables a few times in  
the future (if necessary).  
2.2 EMC installation guidelines  
All Raymarine equipment and accessories are designed to the best  
industry standards for use in the recreational marine environment.  
Their design and manufacture conforms to the appropriate  
Electromagnetic Compatibility (EMC) standards, but correct  
installation is required to ensure that performance is not  
compromised. Although every effort has been taken to ensure that  
they will perform under all conditions, it is important to understand  
what factors could affect the operation of the product.  
The guidelines given here describe the conditions for optimum EMC  
performance, but it is recognized that it may not be possible to meet  
all of these conditions in all situations. To ensure the best possible  
conditions for EMC performance within the constraints imposed by  
any location, always ensure the maximum separation possible  
between different items of electrical equipment.  
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8
Type 150/400 Autopilot System: Installation Guide  
For optimum EMC performance, we recommend that wherever  
possible:  
Raymarine equipment and cables connected to it are:  
At least 3 ft (1 m) from any equipment transmitting or cables  
carrying radio signals e.g. VHF radios, cables and antennas.  
In the case of SSB radios, increases the distance to 7 ft (2 m).  
More than 7 ft (2 m) from the path of a radar beam. A radar  
beam can normally be assumed to spread 20 degrees above  
and below the radiating element.  
The equipment is supplied from a separate battery from that used  
for engine start. Voltage drops below 10 V, and starter motor  
transients, can cause the equipment to reset. This will not damage  
the equipment, but may cause the loss of some information and  
may change the operating mode.  
Raymarine specified cables are used. Cutting and rejoining these  
cables can compromise EMC performance and must be avoided  
unless doing so is detailed in the installation manual.  
Ifasuppressionferrite isattachedtoa cable, thisferriteshouldnot  
be removed. If the ferrite needs to be removed during installation  
it must be reassembled in the same position.  
Suppression ferrites  
This following illustration shows typical cable suppression ferrites  
used on Raymarine equipment. Always use the ferrites supplied by  
Raymarine.  
D3548-2  
Connections to other equipment  
If your Raymarine equipment is to be connected to other equipment  
usingacablenotsuppliedbyRaymarine,asuppressionferriteMUST  
always be attached to the cable near to the Raymarine unit.  
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Step 3: Install the Course Computer  
9
Step 3: Install the Course Computer  
Installing the course computer involves these tasks:  
Select the location  
page 10  
page 12  
page 12  
page 15  
3.1  
Secure the course computer  
3.2  
Remove the connector cover  
3.3  
Attach the power cables  
3.4  
Course computer - main parts  
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10  
Type 150/400 Autopilot System: Installation Guide  
3.1 Select the location  
Course computer installation dimensions  
307 mm (12.1 in)  
70 mm  
(2.8 in)  
288 mm (11.3 in)  
277 mm (10.9 in)  
Keyhole slots  
for No 8 screws  
(pan-head)  
min 50 mm (1.9 in)  
(recommended)  
133 mm (5.2 in)  
133 mm (5.2 in)  
cable clearance:  
min 50 mm (1.9 in)  
(recommended)  
D5260-1  
Suitable locations  
Thecoursecomputerisdesignedtobemountedonaverticalandflat  
bulkhead below decks. Select a location that is:  
dry, protected and well-ventilated  
free from high operating temperatures  
free from excessive vibration  
non-metallic  
accessible for cable routing and sufficiently large to secure the  
cable clamp under the computer  
On sailboats, we also recommend mounting the course computer  
across the boat on a transverse bulkhead.  
Notes:  
1. If the only possible location has a metallic surface, you must  
insulate the base of course computer so it is not earthed.  
2. When selecting the mounting location, also refer to the EMC  
installation guidelines (on page 7).  
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Step 3: Install the Course Computer  
11  
Unsuitable locations  
WARNING:  
The course computer is NOT designed to be mounted in engine  
compartments.  
Do NOT install the course computer:  
where there might be flammable vapors (such as in an engine  
room or compartment, or in a fuel tank bay)  
where there is water splash or spray from bilges or hatches  
where it is at risk from physical damage from heavy items (such  
as hatch covers, tool boxes, etc.)  
where it might be covered by other equipment  
Orientation  
CAUTION:  
You MUST mount the course computer so it is level and within  
+/- 10° of the vertical.  
The Type 150G and Type 400G course computers contain a built-in  
GyroPlus yaw sensor that will NOT work correctly if you mount the  
computer in any other orientation. This orientation also maximizes  
the air flow to cool the course computer and provides optimum  
resistance to dripping water.  
10˚  
level  
D5379-1  
Note:Type150GandType400Gcoursecomputersaresuppliedwith  
a temporary ‘Mount vertically’ label stuck to the case. Remove this  
label after installation.  
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12  
Type 150/400 Autopilot System: Installation Guide  
3.2 Secure the course computer  
Follow these steps to secure the course computer:  
1. Hold the course computer in place against the mounting location  
so you can mark the centre of the keyhole slots:  
these marks should be level and 288 mm (11.3 in) apart  
remove the course computer then drill the two pilot holes  
using a 3 mm (1/8 in) drill bit  
2. Screw the supplied self-tapping screws (No 8 x 3/4 in, pan-head)  
into the holes, so the head of each screw is at least 6 mm (1/4 in)  
from the surface.  
3. Place the keyhole slots over the screw heads, then move the  
course computer down, so the screw heads are at the top of the  
keyhole slots.  
4. Tighten the screws to hold the course computer securely against  
the mounting surface.  
3.3 Remove the connector cover  
To remove the connector cover:  
unlock the cover:  
use a flat-bladed screwdriver or small coin to rotate the catch  
1/4 turn (90°) in either direction until you hear a click and the  
slot is horizontal  
lift off the cover  
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Step 3: Install the Course Computer  
13  
Unlock  
Lock  
D5194-1  
Replacing the connector cover  
To replace the connector cover:  
fit the cover  
lock the cover:  
turn the catch so the slot is vertical  
push in the catch until you hear it click  
Course computer inputs, outputs and fuses  
When you have removed the connector cover, you will see the course  
computer inputs, outputs and fuses.  
Fuse puller  
Clutch fuse  
(4 A)  
Power fuse  
Type 150: 30 A  
Type 400: 40 A  
SeaTalk fuse  
(5 A)  
Spare fuses  
Spare connectors  
for future upgrades  
(Type 400 only)  
External  
NMEA 0183  
inputs/outputs  
Off switch  
inputs  
Drive  
motor  
outputs  
Drive clutch  
outputs  
GyroPlus  
yaw sensor  
inputs  
Type 400:  
selectable for  
12 V or 24 V  
Fluxgate  
compass  
inputs  
Rudder  
SeaTalk  
inputs/  
outputs  
Power inputs  
Drive solenoid  
position  
Type 150: 12 V  
Type 400:  
return inputs  
(for drives/pumps  
with solenoids)  
sensor inputs  
12 V or 24 V  
D5193-2  
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14  
Type 150/400 Autopilot System: Installation Guide  
Power and Motor terminals  
The POWER and MOTOR terminals on Type 150/150G course  
computers accept stranded cable up to 4mm2 (12 AWG).  
The POWER and MOTOR terminals on Type 400/400G course  
computers accept stranded cable up to 10 mm2 (8 AWG).  
To secure cables in these terminals:  
strip 810 mm (1/2 in) of insulation from the end of each cable  
use a small screwdriver to loosen the screw on the terminal block  
insert the stripped cable into the terminal  
tighten the screw  
Other terminals  
Note: All other terminals on the course computer will accept  
stranded cable up to 2.5 mm2 (14 AWG).  
To secure cables to the other terminals:  
strip at least 5 mm (1/4 in) of insulation from the end of each cable  
use a small screwdriver to push the small plastic lever on top of  
the terminal and release the cable clamp  
insert the stripped cable  
release the lever to grip the cable  
Using the fuses  
The POWER, MOTOR and SeaTalk terminals are fuse protected  
against short-circuits and misconnections. To change the fuses:  
use the fuse puller (supplied in the case) to remove the fuse  
replace the fuse with an appropriate spare fuse  
Note: Thecourse computer is supplied with three sparefuses fitted in  
the case. The fuses used in the course computer are standard  
automotive blade fuses, so you can easily obtain replacement fuses.  
Your Raymarine dealer can also provide a replacement fuse pack  
(part number: A18065).  
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Step 3: Install the Course Computer  
3.4 Attach the power cables  
WARNING: Electrical safety  
Make sure the power supply is switched off before you make any  
electrical connections.  
Follow these steps to provide power to the course computer:  
1. Measure the total length of cable run from the boats distribution  
panel to the course computer, then use Table 3-1 to identify the  
appropriate cable size.  
Note: When selecting power cable you must use the gauge specified  
in Table 3-1. If in doubt, use a heavier gauge cable than specified.  
A lighter gauge cable might cause a voltage drop between the supply  
and the course computer. This could cause the course computer to  
malfunction and will reduce the power supplied to the drive unit.  
2. Route the cables back to the course computer, taking into account  
the EMC installation guidelines (page 7).  
3. Install a circuit breaker or fuse on the power supply to suit the  
drive unit connected to your autopilot system (see Table 3-2).  
4. Connect the cables to the POWER inputs on the course computer.  
5. Attach the suppression ferrite (supplied) around both the positive  
and negative power cables, between the cable clamp and course  
computer. When you attach the ferrite, you must loop both power  
cables so that the ferrite encloses two passes of each cable.  
Secure the ferrite with the small tie-wrap (supplied).  
Course computer connecting power supply  
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16  
Type 150/400 Autopilot System: Installation Guide  
Table 3-1:Recommended power supply cable sizes (stranded cables)  
Cable length  
Cable gauge Copper area  
(distribution panel to course computer) (AWG)  
(mm2)  
Type 1 drive 12/24 V;  
I/O drive; CR pump solenoids*  
up to 3m (10ft)  
up to 5m (16ft)  
up to 7m (23ft)  
up to 10m (32ft)  
up to 16m (52ft)  
14 AWG  
12 AWG  
10 AWG  
8 AWG  
2.5 mm2  
4 mm2  
6 mm2  
10 mm2  
16 mm2  
6 AWG  
Type 2 drive 12 V  
up to 5m (16ft)  
up to 7m (23ft)  
up to 16m (52ft)  
10 AWG  
8 AWG  
6 AWG  
6 mm2  
10 mm2  
16 mm2  
Type 2 drive 24 V  
up to 3m (10ft)  
up to 5m (16ft)  
up to 10m (32ft)  
up to 16m (52ft)  
12 AWG  
10 AWG  
8 AWG  
6 AWG  
4 mm2  
6 mm2  
10 mm2  
16 mm2  
Type 3 drive 12 V  
up to 5m (16ft)  
up to 7m (23ft)  
up to 16m (52ft)  
8 AWG  
6 AWG  
4 AWG  
10 mm2  
16 mm2  
25 mm2  
Type 3 drive 24 V  
up to 5m (16ft)  
up to 7m (23ft)  
up to 16m (52ft)  
10 AWG  
8 AWG  
6 AWG  
6 mm2  
10 mm2  
16 mm2  
Table 3-2:Recommended power cable fuse and circuit breaker sizes  
Thermal over-current  
circuit breaker (Amps)  
Drive unit  
Fuse (Amps)  
Rotary, linear, hydraulic pump,  
hydraulic linear  
Type 1: 12 V and 24 V  
Type 2: 12 V  
25 A  
40 A  
30 A  
40 A  
20 A  
30 A  
30 A  
30 A  
Type 2: 24 V  
Type 3: 12 V and 24 V  
I/O drive  
15 A  
10 A  
10 A  
10 A  
CR pump solenoids*  
* These specifications apply to the cabling for CR pump solenoids. Power the  
CR pump motor separately, as specified in the CR pump installation guide.  
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Step 4: Install the Compass  
17  
Step 4: Install the Compass  
This section provides installation instructions for the standard  
Raymarine fluxgate compass (supplied in the core pack). This  
involves the following tasks:  
Select the location  
page 18  
page 20  
page 20  
4.1  
4.2  
4.3  
Mount the compass  
Connect to the course computer  
Note: This section also provides information about connecting other  
SeaTalk or NMEA compasses to the course computer (see page 21).  
Compass description and dimensions  
The compass contains a self-levelling mechanism. This enables the  
compass to provide accurate readings with pitch and roll movements  
up to +/- 35°.  
76 mm (3 in)  
76 mm (3 in)  
D5381-1  
Fluxgate compass dimensions  
Note: The rattle that the fluxgate compass makes when shaken is  
normal. It is caused by the pendulum weight hitting the inside of  
the case.  
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18  
Type 150/400 Autopilot System: Installation Guide  
4.1 Select the location  
The compass is primarily designed for mounting below deck on a  
bulkhead. On steel-hulled boats you must mount it above deck.  
Standard location  
To achieve the best performance from the compass, mount it:  
as near as possible to the boats pitch and roll center to minimize  
compass disturbance  
at least 0.8 m (2 ft 6 in) away from the boats steering compass to  
prevent deviation of either compass  
awayfromthefrontthirdoftheboat(otherwiseshockmotionwill  
affect compass performance)  
away from potential sources of magnetic interference, such as:  
motors, drive units, loudspeakers, alternators/starters, electric  
cables, large ferrous objects (such as engines, ballast, keel, gas  
bottles and tool boxes)  
Note: Because you align the compass after installation (see the  
control unit handbook), you can mount it so it faces in any direction.  
0.3L to 0.5L  
L
0.3L to 0.5L  
L
D5382-1  
Compass - recommended location for non-steel hulls  
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Step 4: Install the Compass  
19  
Finding the most suitable location  
To identify the best compass location on your boat, start at the pitch  
and roll center then move the compass up and/or aft until you find a  
location with minimal magnetic disturbance.  
Note: To check if the intended mounting location is free from  
magnetic influence, tape a handheld compass to the chosen location,  
then turn the boat through 360°. The readings on the handheld  
compass and your boats main steering compass (if accurately  
aligned) should not differ by more than10° at any heading.  
Steel-hulled boats  
On steel-hulled boats you must mount the compass at least 1 m (3 ft)  
above the main deck or wheelhouse. Otherwise the compass will not  
work correctly because the hull will prevent it from sensing the  
Earths magnetic field. The following diagram shows recommended  
mounting positions for steel-hulled boats.  
Note: The higher above the waterline you mount the compass, the  
more the boats pitch and roll will affect compass performance.  
6 ft (1.8 m)  
4 ft (1.2 m)  
4 ft (1.2 m)  
D5383-1  
Compass - recommended location for steel-hulled boats  
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20  
Type 150/400 Autopilot System: Installation Guide  
4.2 Mount the compass  
V
ertical  
D5384-1  
Fluxgate compass - orientation  
CAUTION:  
You must mount the fluxgate compass vertically, with the cables  
exiting at the base.  
1. Hold the compass against the mounting location.  
2. Mark the four mounting holes, then remove the compass.  
3. Drill four pilot holes using a 3 mm (1/8 in) drill bit.  
4. Making sure the cable exits at the bottom of the compass, secure  
the fluxgate compass using the self-tapping screws provided  
(No 8 x 3/4 in, pan-head).  
Note: Stick the supplied warning label near to the compass, where it  
is clearly visible.  
4.3 Connect to the course computer  
1. The compass is suppliedwith 8 m (26 ft) ofcable. Route the cable  
to the course computer, taking into account the EMC installation  
guidelines (page 7).  
Note:Make sureyouleavesomesparecableso, ifnecessary, youcan  
re-position the compass to reduce deviation. If the standard cable is  
not long enough, your Raymarine dealer can supply a 10 m (30 ft)  
extension cable (part number: D174)  
2. Connect thefivecoresofthecable tothe FLUXGATEterminals on  
the course computer (as shown).  
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Step 4: Install the Compass  
21  
Course  
computer  
terminals  
Red  
Yellow  
Green Blue  
Screen  
Compass cable  
D5385-1  
4.4 Connecting SeaTalk or NMEA compasses  
You can connect SeaTalk or NMEA compasses to the course  
computer, either to replace the fluxgate compass or provide  
supplementary compass signals.  
When you connect more than one compass to the autopilot system,  
the course computer processes their signals in this order of priority:  
1. Fluxgate compass  
2. NMEA compass  
3. SeaTalk compass  
This means that if you want to use a NMEA compass as the primary  
compass, you need to disconnect the fluxgate compass.  
To connect a SeaTalk or NMEA compass to the autopilot system:  
NMEA compass: connect it to one set of NMEA inputs on the  
course computer  
SeaTalk compass: connect it to the SeaTalk bus or the course  
computer SeaTalk terminals  
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22  
Note: Your autopilot system must include either a rotary or linear  
rudder position sensor, otherwise it will not function.  
Refer to the following installation instructions to fit either a rotary or  
linear rudder position sensor:  
Rotary rudder position sensor - installation  
page 22  
page 26  
5.1  
5.2  
Linear rudder position sensor - installation  
(on bullhornstyle hydraulic outboards only)  
5.1 Rotary rudder position sensor - installation  
Introduction  
The rotary rudder position sensor is suitable for all steering systems  
apart from bullhornstyle hydraulic outboards (which require a  
linear rudder position sensor - see page 26). The rotary rudder  
position sensor connects directly to the boats tiller arm or quadrant.  
Installing the sensor involves five main tasks:  
ensuring correct alignment  
securing the sensor to the boat  
attaching the sensor to the tiller arm  
checking alignment  
connecting to the course computer  
Rudder position sensor - dimensions  
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Step 5: Install the Rudder Position Sensor  
23  
Ensuring correct alignment  
CAUTION:  
Take care to ensure correct rudder sensor alignment. If the  
sensor is not correctly aligned, the autopilot system will not  
perform accurately.  
Vertical alignment  
When viewed from the front of the boat, the connecting rod should:  
be as level as possible, so the ball-joints at each end are level  
remain parallel to the tiller arms plane of rotation at all times  
Note: If misalignment exceeds +/-5° the ball-joints will bind or fail.  
Front view - rudder amidships  
Ball joints (level)  
Connecting rod  
Sensor arm  
Parallel  
Rudder position  
sensor  
Tiller arm  
or quadrant  
Mounting base  
Top view - rudder amidships  
Cable entry  
Parallel  
Aft  
60˚  
60˚  
Maximum  
90˚  
permitted  
travel: +/- 60˚  
Minimum: 75 mm (3 in)  
Maximum: 310 mm (12 in)  
D5387-1  
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24  
Type 150/400 Autopilot System: Installation Guide  
Horizontal alignment  
When viewed from above (as shown in the previous illustration):  
thesensorarmmustbebetween75 mm(3 in)and310 mm(12 in)  
from the tiller arm  
with the rudder amidships, the sensor arm should be at 90° to the  
connecting rod and directly opposite the cable entry point on the  
sensor body  
when the rudder moves from hardover to hardover:  
the sensor arm and the tiller arm must remain parallel to each  
other at all times  
sensor arm movement must not exceed +/- 60°: the rudder  
position sensor may be damaged if the steering system drives  
the sensor arm beyond these limits onto its end stops  
Securing the sensor to the boat  
Mount the rudder position sensor on a suitable base alongside the  
rudder stock and tiller arm:  
1. Hold the sensor in place, mark the mounting holes, then remove  
the sensor. (If required, use the template at the back of the book.)  
2. Drill the pilot holes using a 3 mm (1/8 in) drill bit.  
3. Attach the sensor to the mounting base using the self-tapping  
screws supplied (No 8 x 3/4 inch, pan-head).  
Note:Tomakeminoradjustmentstothesensoralignment, loosenthe  
screws, rotate the sensor body, then re-tighten the screws.  
Attaching the sensor to the tiller arm  
Attaching the tiller pin to the tiller arm  
1. For optimum performance, mount the tiller pin on the tiller arm  
140 mm (5.5 in) from the rudder stock.  
Note: If necessary, you can fit the tiller pin anywhere between  
101 mm (4 in) and 190 mm (7.5 in) from the rudder stock. This will  
not affect autopilot performance, but will slightly alter the scaling of  
the rudder angle display shown on the control unit.  
2. Hold the tiller pin in place on the tiller arm, mark the mounting  
holes then remove the tiller pin. You can mount the tiller pin so it  
is aligned either along or across the tiller arm.  
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Step 5: Install the Rudder Position Sensor  
3. Drill pilot holes using a 3 mm (1/8 in) drill bit.  
25  
4. Attach the tiller pin to the tiller arm using the two self-tapping  
screws supplied (No 8 x 3/4 inch, countersunk) or suitable bolts,  
nuts and lock washers.  
Attaching the connector rod  
1. Use a hacksaw to cut the threaded connector rod to length.  
2. Screw the lock nuts onto the rod and then the ball-pin sockets.  
3. Press the sockets onto the pins on the sensor arm and tiller pin.  
Note: To give the precise rudder position, the rudder sensor has a  
built-in spring to remove any free play in the linkage to the tiller.  
Checking alignment  
Move the rudder from hardover to hardover and check that at all  
rudder angles:  
all moving parts of the sensor remain free from any obstructions  
the sensor and connecting rod remain accurately aligned  
the ball joints do not bind  
Connecting to the course computer  
1. Theruddersensorissuppliedwith 10 m(32ft)of cable. Route the  
cable to the course computer, taking into account the EMC  
installation guidelines (see page 7).  
2. Connect to the RUDDER terminals on the course computer.  
Note: If you have mounted the rudder sensor upside down, you will  
need to swap the red and green connections at the course computer.  
Course  
computer  
terminals  
Red  
Blue  
Screen  
Green  
Rudder position sensor cable  
D5388-1  
Rudder position sensor - connecting to course computer  
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26  
Type 150/400 Autopilot System: Installation Guide  
5.2 Linear rudder position sensor - installation  
Introduction  
Thelinearrudderpositionsensor(partnumber:M81188)isdesigned  
for bullhornstyle hydraulic outboard steering systems. It is totally  
weatherproof and designed to be mounted on the bullhorn ram.  
Note:Youmustusethelinearrudderpositionsensoronallhydraulic  
outboard installations.  
425 mm (16.75 in)  
32 mm  
(1.3 in)  
D5389-1  
Linear rudder position sensor - dimensions  
Mounting  
1. Use the steering system to position the bullhorn ram amidships.  
2. If necessary, release the hydraulic pressure from the boats  
hydraulic steering system  
Note:Contactyoursteeringgearmanufactureforadviceonthisstep,  
and follow their instructions for releasing the hydraulic pressure.  
3. Loosen the starboard bolt that secures the bullhorn rams shaft to  
the end bracket.  
4. Fit the U-bracket (supplied)over the end bracket andthe bullhorn  
rams shaft.  
5. Hand tighten the starboard bolt to hold the U-bracket in place.  
6. Fully open the hose clamps (supplied) using a flat bladed  
screwdriver, then hang them over the bullhorn ram.  
7. Place the spacers(supplied) onthebullhorn ramand use adhesive  
tape to secure them temporarily.  
8. Pull out the rudder sensors shaft until its alignment mark is level  
with the end of the barrel.  
9. Position the rudder sensor against the spacers so the threaded rod  
end of its shaft passes through the U-bracket.  
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Step 5: Install the Rudder Position Sensor  
27  
10. Tighten the hose clamps around the bullhorn ram and the rudder  
sensors barrel.  
11. Tighten the starboard bullhorn bolt to secure the U-bracket.  
12. Fit and tighten the supplied nut and washer to secure the threaded  
rod end of the sensors shaft to the U-bracket.  
Note: We recommend installing the sensor with its shaft pointing to  
starboard. If you cannot install the unit in this orientation, you can fit  
itwiththeshaftpointingtoport. Ifyoudothis, swaptheredandgreen  
connections at the course computer.  
End  
bracket  
Starboard  
bolt  
Bullhorn  
ram shaft  
Nut and  
washer  
Threaded  
rod  
Sensor  
shaft  
U-bracket  
Sensor  
shaft  
Sensor  
barrel  
Cable  
Sensor  
Alignment mark barrel  
Bullhorn  
ram  
Hose clamp  
Spacer  
D5390-1  
Linear rudder position sensor - installation  
Connecting to the course computer  
1. Route the cable to the course computer, taking into account the  
EMC installation guidelines (page 7).  
2. Connect to the RUDDER terminals on the course computer (refer  
to the illustration on page 25).  
Note: To allow for the bullhorns movement, leave a loop of cable at  
the end of the linear rudder position sensor. If the standard cable is  
not long enough, your Raymarine dealer can supply a 10 m (30 ft)  
extension cable (part number: D173).  
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28  
Type 150/400 Autopilot System: Installation Guide  
Step 6: Install the Drive Unit  
Raymarineproducesa wide range ofdriveunitstosuit different types  
of steering systems:  
The rotary drive is designed for steering systems that can be  
driven from the helm position through a chain and sprockets.  
The linear and hydraulic linear drives are designed for boats  
with existing mechanical steering systems, and drive the rudder  
directly. The hydraulic linear drive is suitable for larger boats and  
heavier duty steering applications.  
rotary drive  
The hydraulic pump and constant running hydraulic pump  
(CR pump) are primarily designed for boats with existing  
hydraulic steering systems. Alternatively, you can use them in  
combination with a secondary steering ram on boats with  
mechanicalsteering. TheCRpumpissuitableforlargerboatsand  
heavier duty steering applications.  
linear drive  
pump  
The I/O drive (the Inboard/Outboard or stern drive) is designed  
todrivecableoperated,powerassistedoutboardsteeringsystems.  
To control a Raymarine drive or pump, connect it to the motor  
terminals on the course computer (and clutch terminals where  
necessary). For Raymarine CR pumps, connect the solenoids to the  
motor and solenoid terminals on the course computer.  
For full information, see the installation guide packed with the drive.  
Í
If you are connecting a non-Raymarine drive unit, see page 41.  
Í
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Step 7: Install the Control Unit  
29  
Step 7: Install the Control Unit  
Raymarine produce a range of control units to suit different boats and  
user requirements.  
ST7001+  
The ST6001+ and ST7001+ control units have been designed  
specifically to provide access to all advanced functions on the  
Type 150, 150G, 400 and 400G course computes.  
You can also use the following control units to operate the course  
computer autopilot system, but they do not enable access to some of  
its more advanced functions:  
ST6000+ control unit  
ST7000+ control unit  
ST600R remote control unit  
ST80 autopilot keypad (as part of an ST80 instrument system)  
RayPilot 650 control unit  
ST6001+  
ST6000 and ST7000 control units  
For full information about control unit functionality, see page 46.  
Í
Connecting to the course computer  
If your system onlyincludesa single control unit, connectit toone set  
of SeaTalk terminals on the course computer.  
For full information, refer to the control unit owners handbook.  
Í
Ifyouare connectingmorethanonecontrolunitoracombinationofcontrol  
units and SeaTalk instruments/equipment, see page 32 of this handbook.  
Í
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30  
Type 150/400 Autopilot System: Installation Guide  
Step 8: Clamp the Cables  
When you have connected all autopilot system components to the  
course computer, we recommend that you use the supplied cable  
clamp to relieve any strain on the cable connections.  
Secure the cables with the cable clamp as follows:  
1. Holdthecableclampinplacebelowthecoursecomputer, making  
sure:  
its center hole is below the center of the course computer (i.e.  
in line with the connector cover catch)  
it is between at least 50 mm (2 in) from the bottom of the  
course computer  
the hole locations are clear of any cables  
2. Markthe positionofthe threeholes, thenremovethecableclamp.  
3. Drill the three pilot holes using a 3 mm (1/8 in) drill bit.  
4. Secure the cable clamp using the self-tapping screws supplied  
(No 8 x 3/4 in, pan-head), making sure:  
the tie-wrap securing loops are on the right (below the  
POWER and MOTOR terminals on the course computer)  
the clamp securely holds all cables  
the legs on cable clamp do not pinch any of the cables  
Note: If the power and/or motor cables are larger than 5 mm (1/4 in)  
diameter, secure them on top of the cable clamp with the tie-wrap  
supplied. Make sure the tie-wrap sits above the cables (as shown  
below), so it pulls the cables against the clamp when tightened.  
1
2
D5224-1  
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Step 9: Integrate the System  
31  
Step 9: Integrate the System  
Thissectionexplainshowtoconnecttheautopilottootherequipment  
and integrate the system:  
Connecting SeaTalk equipment  
Connecting NMEA equipment  
Connecting optional components  
Setting-up the autopilot  
page 32  
page 36  
page 40  
page 42  
9.1  
9.2  
9.3  
9.4  
Note:Beforeconnectingotherequipment, readtheEMCinstallation  
guidelines (see page 7).  
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32  
Type 150/400 Autopilot System: Installation Guide  
9.1 Connecting SeaTalk equipment  
You can use SeaTalk to connect the autopilot system to:  
additional SeaTalk control units: you can use any control units  
to operate the autopilot and view autopilot information  
SeaTalk equipment (such as wind, navigation, radar and GPS):  
the autopilot system can use information from this equipment  
to enhance course keeping and provide additional features  
(such as waypoint navigation)  
youcanalsodisplayinformation from theSeaTalkequipment  
on the autopilot control unit  
Possible systems  
When connecting SeaTalk equipment, you have a range of options  
depending on whether you want to:  
provide an isolatedcontrol unit (forsystemswith more thanone  
control unit see next page)  
provide power separately to the course computer and main  
SeaTalk bus  
The following illustrations show some typical ways to connect  
simple SeaTalk systems.  
CAUTION:  
If your autopilot system includes more than one control unit,  
we strongly recommend connecting the main control unit to one  
course computer SeaTalk port and the additional control unit(s)  
to the other SeaTalk port. This will mean that if either SeaTalk  
system fails, you will still have one operational control unit.  
Single control unit, single power supply  
The simplest type of system has the course computer providing  
power to a single SeaTalk system that includes a single control unit  
and several instruments.  
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Step 9: Integrate the System  
33  
Single control unit, single power supply  
Course computer  
power supply  
(via breaker/fuse)  
ST60  
instruments  
Control unit  
SeaTalk bus  
Extra connection on larger SeaTalk systems*  
D5391-2  
Isolated control unit, single power supply  
If you have two control units, we recommend that you connect one to  
each SeaTalk terminal. In the following illustration:  
the course computer provides power to the SeaTalk system  
one control unit is connected on its own to SeaTalk A so it is  
isolated against any possible failure of SeaTalk B  
If the SeaTalk B line fails, the isolated control unit will switch to  
Standby mode as a safety measure. By pressing auto on the isolated  
control unit you can regain full autopilot control.  
Isolated control unit, single power supply  
Course computer  
power supply  
(via breaker/fuse)  
ST60  
instruments  
Isolated  
control unit  
Second  
control unit  
SeaTalk bus  
Extra connection on larger SeaTalk systems*  
D5392-2  
* Note: Depending on the number of SeaTalk units and the total length of SeaTalk  
cabling, you may need to provide power supply to each end of the SeaTalk bus  
(ring-mainstyle). Refer to the instrument handbook for more information.  
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34  
Type 150/400 Autopilot System: Installation Guide  
Separate course computer and instrument power  
Another option is to provide separate power supplies to the course  
computerandSeaTalksystemsoyoucanhaveindependent, switched  
instrument and pilot systems.  
On the illustrated example, the behavior of the control unit on  
SeaTalk A depends on whether you connect the red SeaTalk wire to  
the SeaTalk B terminal:  
if the red wire is not connected, the control unit does not powerup  
when the course computer power is off  
if the red wire is connected, the control unit shows a PILOT OFF or  
NOLINKmessagewhenthecoursecomputerpowerisoff(asitwill  
still receive power from the SeaTalk B line)  
Separate course computer and instrument power supplies  
Course computer  
power supply  
(via breaker/fuse)  
ST60  
instruments  
Control unit  
Instrument SeaTalk bus  
12 V power supply  
*Red wire not connected:  
When course computer power supply is off,  
control unit does not power up.  
for Instrument  
SeaTalk bus  
Red*  
(via breaker/fuse)  
*Red wire connected:  
When course computer power supply is off,  
message.  
Screen Yellow  
D5393-2  
Typical larger boat system  
The following illustration shows a typical system layout for a  
Type 150G or Type 400G course computer on a larger boat. It has:  
separate course computer and SeaTalk power supplies  
an isolated control unit on SeaTalk A  
a NMEA 1 output so the radar/chartplotters can use the fast  
heading output from the course computer to enable MARPA  
(see page 37)  
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Step 9: Integrate the System  
35  
Typical larger boat system  
Radar scanner  
GPS receiver  
Radar/Chartplotter  
Flybridge  
Control unit  
Instrument  
Instrument  
SeaTalk B  
Radar/  
Chartplotter  
Lower Helm  
HSB  
(High Speed Bus)  
SeaTalk B  
Isolated control unit  
Instrument  
Instrument  
Connect  
Separate power  
feed for SeaTalk B  
NMEA+ to Orange  
NMEA- to Yellow  
SeaTalk A  
SeaTalk B  
Fast compass  
output from  
NMEA 1 out  
Distribution  
Panel  
SeaTalk A (isolated control unit)  
NMEA 1 out (fast compass heading)  
SeaTalk B  
D5394-3  
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36  
Type 150/400 Autopilot System: Installation Guide  
9.2 Connecting NMEA equipment  
If you have equipment on your boat that transmits NMEA 0183 data  
(e.g. GPS), you can connect this equipment to the autopilot system.  
You can connect the NMEA equipment in any combination of these  
ways:  
using the course computer NMEA inputs/outputs  
using the NMEA inputs on the back of either the ST6001+ or  
ST7001+ control units (if your installation includes one of these  
control units)  
using the SeaTalk/NMEA interface (part number: E85001) to  
convert the NMEA data to SeaTalk data  
WARNING: Connections to other equipment  
If you are connecting Raymarine equipment to other equipment  
using a non-Raymarine cable, you MUST attach an appropriate  
suppression ferrite to the cable near to the Raymarine unit.  
Course computer NMEA inputs/outputs  
Note: Do NOT connect more than one piece of equipment to each of  
the course computer NMEA inputs.  
ThecoursecomputerhastwosetsofNMEAinputs/outputstoreceive  
and transmit information from NMEA equipment. The course  
computer decodes and transmits the following NMEA data:  
Course computer NMEA 1 and 2 inputs  
NMEA 0183 received  
Information extracted  
cross track error, bearing to waypoint, waypoint  
number  
APB  
BWC  
BWR  
bearing to waypoint, distance to waypoint,  
waypoint number, time  
GGA  
GLL  
latitude/longitude, time  
HDG  
HDM  
HDT  
heading  
MWV  
apparent wind angle, apparent wind speed  
course over ground (COG), speed over ground  
(SOG), latitude/longitude, variation  
RMA  
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Step 9: Integrate the System  
37  
Course computer NMEA 1 and 2 inputs  
NMEA 0183 received  
Information extracted  
cross track error, bearing to waypoint, distance to  
waypoint, waypoint number  
RMB  
course over ground (COG), speed over ground  
(SOG), latitude/longitude, time, variation  
RMC  
VHW  
VTG  
speed through water, heading  
course over ground (COG), speed over ground  
(SOG)  
relative apparent wind angle, relative apparent  
wind speed  
VWR  
XTE  
ZDA  
cross track error  
time, date  
Note: When connected to a NMEA navigator, the course computer looks at  
NMEA 1 first. If NMEA 1 has no data, the course computer looks at NMEA 2.  
If both channels have the same type of navigation data, the course computer  
uses NMEA 1.  
Course computer NMEA 1 output*  
NMEA 0183 transmitted Information sent  
HDM  
heading  
* Note: Type 150G and Type 400G course computers provide fast heading  
(HDM) output from NMEA 1 at 10 Hz 0.1° resolution. This fast heading data is  
suitable for use with the MARPA function on radar equipment.  
Course computer NMEA 2 output  
NMEA 0183 transmitted Information sent (* if available)  
bearing to waypoint*, distance to waypoint*,  
waypoint number*, time*  
BWC  
GLL  
latitude/longitude*, time*  
HDG  
HDM  
HDT  
heading  
course over ground* (COG), speed over ground*  
(SOG)  
VTG  
* Note: The course computer will only transmit these items if it has received the  
appropriate data.  
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38  
Type 150/400 Autopilot System: Installation Guide  
Connect:  
the NMEA outputs from the equipment (such as navigators, wind  
or speed instruments to the NMEA inputs on the course computer  
the NMEA outputs on the course computer to the NMEA inputs  
on the equipment (such as radar)  
Control unit NMEA inputs  
You can connect the outputs from a single item of NMEA equipment  
to the NMEA inputs on the ST6001+ or ST7001+ control units.  
For more information, refer to the control unit owners handbook.  
Í
SeaTalk/NMEA interface  
The SeaTalk/NMEA interface (part number: E85001) enables you to  
connect NMEA equipment to the SeaTalk system. It allows the  
non-SeaTalk equipment to transmit and receive information to/from  
the SeaTalk system.  
The interface converts:  
NMEA data from the equipment into SeaTalk data  
SeaTalk data from the SeaTalk system into NMEA data  
For more information about NMEA and SeaTalk received and transmitted,  
refer to the handbook supplied with the interface.  
Í
Connect:  
the NMEA equipment to the SeaTalk/NMEA interface  
the SeaTalk/NMEA interface to:  
one of the course computer SeaTalk terminals  
or, any other SeaTalk product (using one of the available  
interface cables)  
Connecting several items of NMEA equipment  
If you need to connect several NMEA items to the course computer,  
you will need to use an appropriate combination of:  
course computer NMEA inputs and outputs  
control unit NMEA inputs  
SeaTalk/NMEA interface (part number: E85001)  
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Step 9: Integrate the System  
39  
Typical NMEA connections  
Option 1 without SeaTalk/NMEA interface  
Type 150/400 course computer terminals  
Control unit (rear)  
SeaTalk  
Red  
Screen  
Yellow  
SeaTalk  
GPS  
Loran  
Decca  
NMEA  
NMEA  
speed  
instrument  
NMEA  
radar  
wind  
instrument  
Option 2 with SeaTalk/NMEA interface  
Type 150/400 course computer terminals  
NMEA  
radar  
Control unit (rear)  
SeaTalk  
SeaTalk  
SeaTalk/  
NMEA  
interface  
Red  
Screen  
Yellow  
SeaTalk  
GPS  
Loran  
Decca  
NMEA  
wind  
instrument  
NMEA  
speed  
instrument  
D5395-1  
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40  
Type 150/400 Autopilot System: Installation Guide  
9.3 Connecting optional components  
To install any of these options, refer to the information supplied with the  
component.  
Í
GyroPlus yaw sensor  
The Type 150 and Type 400 course computers do not contain a  
built-in GyroPlus, but you have the option of adding:  
an external GyroPlus (part number: M81162)  
or a dealer-fitted internal GyroPlus (part number: A18069)  
Handheld remotes  
You can connect handheld remotes to the autopilot system:  
the ST600R remote control unit (part number: A12016) can act  
as the sole pilot control unit in your system or as a full-function  
remote for systems with other fixed pilot control units  
the compact SeaTalk handheld remote (part number: A15002)  
gives you full course control away from the main steering  
position  
External alarm  
The autopilot system sounds an off-course alarm from all control  
units. On large and/or noisy boats you can fit a Raymarine external  
alarm (part number: Z035, connected though E85001 interface box)  
as a high volume repeater.  
Wind vane (sail boats)  
The course computer can use wind angle information from a wind  
vane or instrument to maintain a course relative to the wind. You can  
providewindangleinformationtotheautopilotsystembyconnecting  
it to:  
a suitable SeaTalk or NMEA instrument (providing wind angle  
and speed information)  
or  
a Raymarine pushpit wind vane (part number: Z159) connected  
through an interface box (part number: M81189)  
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Step 9: Integrate the System  
41  
Off switch  
The course computer has inputs so you can fit an off switch if  
required. By closing a circuit, this switch will turn off the course  
computer power supply.  
Connectasuitableoffswitchtothe OFFSWITCHinputsonthecourse  
computer.  
Course computer terminals  
Off switch (closes circuit to  
turn off course computer power)  
D5396-1  
Connecting an off switch  
Other manufacturersdrive units  
If you are connecting another manufacturers drive unit, refer to the  
specifications (on page 45) for information on the course computers  
drive motor, drive clutch and drive solenoid terminals. Connect the  
drive unit to these terminals as necessary.  
For more information, contact the drive unit manufacturer.  
Í
Connecting spool valves  
If the drive has spool valves, connect them to the motor and solenoid  
terminals on the course computer as shown below. The course  
computer provides a negative ground for the spool valves even when  
it is switched off.  
CAUTION:  
Do NOT connect the solenoid return cables to boats negative  
ground, as this will bypass the current protection devices inside  
the course computer.  
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42  
Type 150/400 Autopilot System: Installation Guide  
Course computer connections  
If electronic steering or jog lever  
is used on the same solenoids, fit  
diodes (suggested type: 1N4004)  
as indicated to prevent  
backfeeding the course computer.  
Return cables  
Diodes  
Electronic steering  
or jog lever  
Spool valves  
(diodes across  
spool valves)  
12 V  
24 V  
D5397-1  
Selecting clutch voltage (Type 400/400G)  
Note: All Raymarine 12 V and 24 V drive units with a clutch have a  
12 V clutch so you do NOT need to re-position the clutch fuse.  
You can use the Type 400/400G course computers with other  
manufacturersdrives that have either 12 V or 24 V clutches.  
Select the appropriate clutch voltage by positioning the clutch fuse to  
the left (12 V clutch) or right (24 V clutch).  
Fuse position: 12 V clutch  
Fuse position: 24 V clutch  
4
4
D5398-1  
9.4 Setting-up the autopilot  
When you have installed and connected all components, you need to  
check the system and then set-up the autopilot.  
For more information about autopilot set-up, refer to the control unit  
owners handbook.  
Í
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Maintenance  
43  
Maintenance  
All Raymarine products are designed to provide many years of  
trouble-free operation. We also put them through comprehensive  
testing and quality assurance procedures before shipping.  
Regular checks  
On a regular basis:  
check that all connections and mountings are secure and  
undamaged  
check the course computer for any signs of physical damage or  
water damage  
Note: Do not use chemical or abrasive materials to clean the course  
computer. If the case is dirty, wipe it with a clean, damp cloth.  
Fault-finding  
Course computer fuses  
Symptoms of a blown course computer fuse are:  
if either the power fuse or SeaTalk fuse blows, the control unit  
display will go blank  
if the clutch fuse blows and your drive has a clutch, the control  
unit will show a DRIVE STOPPED alarm message  
If your control unit shows either of these symptoms, check the  
relevant fuse(s). If the fuse has blown, replace it with a fuse of the  
same current rating (see page 14).  
For more information about diagnosing faults on your autopilot system,  
Í
refer to the Fault Finding section of the control unit owners handbook.  
Servicing  
CAUTION:  
The course computer does NOT contain user-serviceable parts.  
If you remove the main cover you will invalidate the warranty.  
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44  
Type 150/400 Autopilot System: Installation Guide  
EMC, servicing and safety guidelines  
Raymarine equipment should be serviced only by authorized  
Raymarine service technicians. They will ensure that service  
procedures and replacement parts used will not affect  
performance. There are no user serviceable parts in any  
Raymarine product.  
Some products generate high voltages: never handle the  
cables/connectors when power is being supplied to the  
equipment.  
When powered up, all electrical equipment produces  
electromagnetic fields. These can cause adjacent pieces of  
electrical equipment to interact with one another, with a  
consequent adverse effect on operation. In order to minimize  
these effects and enable you to get the best possible performance  
from your Raymarine equipment, guidelines are given in the  
installation instructions, to enable you to ensure minimum  
interaction between different items of equipment, i.e. ensure  
optimum Electromagnetic Compatibility (EMC).  
Always report EMC-related problems to your nearest Raymarine  
dealer. We use such information to improve our quality standards.  
In some installations, it may not be possible to prevent the  
equipment from being affected by external influences. In general  
this will not damage the equipment but it can lead to spurious  
resetting action, or momentarily may result in faulty operation.  
Product support  
Raymarine products are supported by a worldwide network of  
distributors and Authorized Service Representatives. If you  
encounter any difficulties with this product, please contact either  
your national distributor, or your service representative, or the  
RaymarineTechnicalServicesCallCenter.Refertothebackcover  
or the Worldwide Distributor List for contact details.  
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Specifications  
45  
Specifications  
Course computer specifications  
Nominal supply voltage:  
Type 150/150G  
Type 400/400G  
12 V DC (fuse protected at 30 A)  
12 V or 24 V DC (fuse protected at 40 A)  
Operating voltage range:  
Type 150/150G  
10 V to 16 V DC  
10 V to 32 V DC  
Type 400/400G  
Power consumption (standby) 300 mA  
GyroPlus yaw sensor:  
Type 150G/Type 400G: internal GyroPlus fitted onto circuit board  
Type 150/Type 400: option of external GyroPlus or dealer-fit  
internal GyroPlus  
Operating conditions:  
temperature range  
relative humidity limit  
water protection  
-10°C to 55°C (14°F to 131°F)  
80%  
drip resistant when mounted vertically  
Storage conditions:  
temperature range  
relative humidity limit  
-5°C to 50°C (23°F to 122°F)  
75%  
Dimensions:  
width  
307 mm (12.1 in)  
195 mm (7.7 in)  
70 mm (2.8 in)  
height  
depth  
Weight  
Inputs  
2.1 kg (4 lb 7.5 oz)  
fluxgate compass, external GyroPlus yaw sensor, rudder position  
sensor, NMEA 0183 v2.3 (x2), SeaTalk (x2), off switch, power,  
drive solenoid return  
Outputs  
NMEA 0183 v2.3 (x2), SeaTalk (x2), drive motor, drive clutch  
Raymarine drive compatibility:  
Type 150/150G  
all Type 1 12 V and Type CR1 12V drives/pumps  
Type 400/400G  
allType1, Type2andType3 drives/pumps(drivevoltagemustmatch  
boats supply voltage)  
Drive motor output:  
Type 150/150G  
Type 400/400G  
continuous 18 A at 12 V  
continuous 30 A at supply voltage  
[specifications continue on next page]  
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46  
Type 150/400 Autopilot System: Installation Guide  
Course computer specifications (contd)  
Drive clutch output:  
Type 150/150G  
Type 400/400G  
4 A at 12 V (fuse protected at 4 A)  
4 A at 12/24 V selectable (fuse protected at 4 A)  
Drive solenoid return input  
SeaTalk output  
5 A at supply voltage  
5 A at 12 V (fuse protected at 5 A)  
NMEA 0183 v2.3  
inputs/outputs  
See page 36 for information on NMEA 0183 received/transmitted  
NMEA fast heading output  
Type 150G and Type 400G transmit fast heading (HDM) from NMEA  
1 at 10 Hz 0.1° resolution  
Fuses  
Standard automotive blade fuses to protect:  
power terminals (30 A Type 150/150G; 40 A Type 400/400G)  
drive clutch terminals (4 A)  
SeaTalk terminals (5 A)  
CE approvals - conforms to:  
89/336/EC (EMC), EN60945:1997  
Contains a possible source of ignition - NOT protected for use in  
engine compartments.  
WARNING:  
Control unit functionality  
Course computer  
Type 150/400  
Control  
unit  
Type 150G/400G  
Type 100/300  
ST7001+ Internal GyroPlus yaw  
ST6001+  
Full basic functionality  
Standard functionality  
sensor enables enhanced Improved track-keeping  
using Raymarine steering  
course keeping using AST Steers to true and apparent algorithm without AST  
Full access to AutoLearn,  
providing automatic  
steering calibration  
Improved track-keeping  
Steers to true and apparent Uses Raymarine steering  
wind in Wind Vane mode  
Improved calibration access  
wind in Wind Vane mode Steers only to apparent  
Improved calibration  
access, but without  
AutoLearn  
wind in Wind Vane mode  
Improved calibration  
access, but without  
AutoLearn  
algorithm without AST  
ST7000+ Enhanced course keeping Full basic functionality  
Standard functionality  
using Raymarine steering  
algorithm without AST  
ST6000+  
ST600R  
ST80  
using AST  
Uses Raymarine steering  
algorithm without AST  
Improved track-keeping  
Improved track-keeping  
No access to AutoLearn  
RP650  
ST7000  
ST6000  
Enhanced course keeping Full basic functionality  
Standard functionality  
using Raymarine steering  
algorithm without AST  
No access to vessel type  
set up  
using AST  
Uses Raymarine steering  
algorithm without AST  
Improved track-keeping  
Improved track-keeping  
No access to AutoLearn  
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Glossary  
47  
Glossary  
Term  
°
Meaning  
degrees  
A
Amps  
AST  
AST (Advanced Steering Technology) is Raymarines unique advanced  
(AdvancedSteering steering algorithm. It uses inputs from a wide variety of sensors to tune the  
Technology)  
autopilots operation to provide superior control of the boat in any condition.  
AutoLearn  
Self-learning calibration feature available on Type 150G and Type 400G  
course computers.  
AWG  
CE  
American Wire Gauge  
Marked on products that comply with defined European Community  
standards  
CR pump  
Constant Running hydraulic pump  
EMC  
(Electromagnetic  
Compatibility)  
When powered up, all electrical equipment produces electromagnetic fields.  
These can cause adjacent pieces of electrical equipment to interact with one  
another, and this can degrade their performance. By following the EMC  
guidelines in this handbook, you can minimize these effects by ensuring  
optimum Electromagnetic Compatibility (EMC) between equipment.  
Fluxgate  
ft  
Standard Raymarine compass supplied with course computer core pack  
foot (1 ft = 305 mm)  
GPS  
Global Positioning System  
GyroPlus  
Raymarines GyroPlus yaw sensor that measures the boats rate of turn. It is  
built into the Type 150G and Type 400G course computers.  
Hz  
Hertz (cycles per second)  
Inboard/Outboard or stern drive  
inch (1 in = 25.4 mm)  
I/O drive  
in  
kg  
kilograms (1 kg = 2.2 lb)  
lb  
pound (1 lb = 0.45 kg)  
m
metre (1 m = 39.4 inches)  
Mini Automatic Radar Plotting Aid  
millimeter (1 mm = 0.04 inches)  
MARPA  
mm  
NMEA  
The NMEA (National Maritime Electronics Association) protocol is an  
internationally accepted serial communication interface standard for  
sharing data between electronic equipment. Raymarine products can share  
information with non-SeaTalk equipment using the NMEA 0183 protocol.  
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48  
Type 150/400 Autopilot System: Installation Guide  
Term  
Meaning  
oz  
ounce (1 oz = 0.028 kg)  
SeaTalk  
SeaTalk is Raymarines proprietary communication system. It links products  
to provide a single, integrated system sharing power and data.  
SeaTalk bus  
This refers to the continuous SeaTalk system connecting together a series of  
Raymarine units.  
SSB  
Single Side Band (radio)  
Type 150  
Type 150G  
Type 400  
Type 400G  
V
12 V course computer without internal GyroPlus  
12 V course computer with internal GyroPlus  
12/24 V course computer without internal GyroPlus  
12/24 V course computer with internal GyroPlus  
Volts  
VHF  
Very High Frequency (radio)  
Yaw  
Boats rate of turn (°/sec)  
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Index  
Index  
Course computer  
12V and 12/24V versions 2  
Cable clamp 30  
Cabling 14  
A
Autopilot system  
Core pack parts 4  
Key components 13  
Optional components 3  
C
Cable clamp installation 30  
Cabling  
GyroPlus options 2, 40  
Input/output terminals 13  
Installation 916  
Compass 20  
Course computer power supply 15  
General guidelines 7  
Linear rudder position sensor 27  
Rotary rudder position sensor 25  
Clutch voltage, Selecting 42  
Compass  
NMEA data 3637  
Cabling 20  
Description 2, 17  
Dimensions 17  
Installation 1721  
Location, non steel hulls 18  
Location, steel hulls 19  
Mounting 20  
Circuit breaker 16  
Connecting 15  
Sizes 16  
Specifications 45  
Multiple compass systems 21  
NMEA compass 21  
SeaTalk compass 21  
Connecting  
Course computer 10  
Rudder position sensor  
Linear 26  
NMEA compass 21  
NMEA equipment 3639  
Non-Raymarine drives 41  
Optional components 4042  
External alarm 40  
Rotary 22  
Description 3, 28  
GyroPlus 40  
Handheld remotes 40  
Off switch 41  
Installation 28  
E
EMC  
Wind vane 40  
Raymarine equipment 3235  
Additional control units 32  
SeaTalk equipment 32  
SeaTalk compass 21  
Control unit  
Conformance statement vii  
Installation guidelines 7  
Servicing and safety guidelines 44  
External alarm 40  
Description 3, 29  
Installation 29  
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50  
Type 150/400 Autopilot System: Installation Guide  
F
Fast heading (HDM) output 37  
Fault-finding 43  
Course computer 12  
Rudder position sensor  
Linear 26  
Fluxgate compass, See Compass  
Fuses  
Rotary 24  
Course computer 14, 43  
Multiple compass systems 21  
Course computer power 16  
G
NMEA data inputs/outputs 3637  
Fast heading (HDM) output 37  
Navigator data inputs 37  
Glossary 47  
GyroPlus yaw sensor  
General description 2  
Options 2, 40  
Connecting 3639  
H
Handheld remotes 40  
Selecting clutch voltage 42  
I
Important information  
EMC conformance vii  
Handbook accuracy vii  
Safety notices vi  
Warranty vi  
Installation  
Handheld remotes 40  
Off switch 41  
Cable clamp 30  
Check locations 68  
Checking kit 14  
Compass 1721  
Control unit 29  
Course computer 916  
Drive unit 28  
Product support 44  
Rudder position sensor 2227  
R
Linear 2627  
Connecting 3235  
Additional control units 32  
SeaTalk equipment 32  
Regular checks 43  
Remote control 40  
Rotary rudder sensor 2225  
Rudder position sensor  
Description 2  
Rotary 2225  
Tools 4  
L
Linear rudder sensor 2627  
Locations  
Compass 6, 18  
Course computer 6, 10  
Rotary rudder position sensor 7, 24  
Linear installation 2627  
Cabling 27  
M
Description 26  
Maintenance and servicing 4344  
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Index  
51  
Dimensions 26  
Mounting 26  
Rotary installation 2225  
Alignment 23  
Cabling 25  
Description 22  
Dimensions 22  
Location 7, 24  
Mounting 24  
Rudder reference,  
See Rudder position sensor  
S
Safety notices vi  
SeaTalk compass 21  
SeaTalk equipment 32  
Servicing 4344  
Specifications 45  
Step 1, Check kit 14  
Step 2, Check locations 68  
Step 3, Install course computer 916  
Step 4, Install compass 1721  
Step 5, Install rudder sensor 2227  
Step 6, Install drive unit 28  
Step 7, Install control unit 29  
Step 8, Clamp cables 30  
Step 9, Integrate system 3142  
T
Technical support 44  
Tools required 4  
W
Warranty vi  
Wind vane 40  
Y
Yaw sensor (GyroPlus) 2, 40  
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52  
Type 150/400 Autopilot System: Installation Guide  
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Rudder position sensor template  
Rudder  
positioned  
amidships  
Drill 3 mm (1/8 in)  
diameter hole  
(3 positions)  
Maximum  
permitted  
travel: +/- 60˚  
Aft  
Cable position  
D3440-2  
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Limited Warranty Certificate  
Raymarine warrants each new Light Marine/Dealer Distributor Product to be of good materials and  
workmanship, and will repair or exchange any parts proven to be defective in material and  
workmanshipundernormalusefor aperiodof 2years/24monthsfromdateof saletoenduser, except  
as provided below.  
Defects will be corrected by Raymarine or an authorized Raymarine dealer. Raymarine will, except  
asprovidedbelow,acceptlaborcostforaperiodof2years/24monthsfromthedateofsaletoenduser.  
During this period, except for certain products, travel costs (auto mileage and tolls) up to 100 round  
trip highway miles (160 kilometres) and travel time of 2 hours, will be assumed by Raymarine only  
on products where proof of installation or commission by authorized service agents, can be shown.  
Warranty Limitations  
RaymarineWarrantypolicydoesnotapplytoequipmentwhichhasbeensubjectedtoaccident, abuse  
or misuse, shipping damage, alterations, corrosion, incorrect and/or non-authorized service, or  
equipment on which the serial number has been altered, mutilated or removed.  
Except where Raymarine or its authorized dealer has performed the installation, it assumes no  
responsibility for damage incurred during installation.  
This Warranty does not cover routine system checkouts or alignment/calibration, unless required by  
replacement of part(s) in the area being aligned.  
A suitable proof of purchase, showing date, place, and serial number must be made available to  
Raymarine or authorized service agent at the time of request for Warranty service.  
Consumable items, (suchas: Chart paper, lamps, fuses, batteries, styli, stylus/drive belts, radar mixer  
crystals/diodes, snap-in impeller carriers, impellers, impeller bearings, and impeller shaft) are  
specifically excluded from this Warranty.  
Magnetrons, Cathode Ray Tubes (CRT), TFT Liquid Crystal Displays (LCD) and cold cathode  
fluorescentlamps(CCFL),hailerhornsandtransducersarewarrantedfor1year/12monthsfromdate  
of sale. These items must be returned to a Raymarine facility.  
All costs associated with transducer replacement, other than the cost of the transducer itself, are  
specifically excluded from this Warranty.  
Overtime premium labor portion of services outside of normal working hours is not covered by this  
Warranty.  
Travel cost allowance on certain products with a suggested retail price below $2500.00 is not  
authorized. When/or if repairs are necessary, these products must be forwarded to a Raymarine  
facility or an authorized dealer at owners expense will be returned via surface carrier at no cost to the  
owner.  
Travel costs other than auto mileage, tolls and two (2) hours travel time, are specifically excluded on  
all products. Travel costs which are excluded from the coverage of this Warranty include but are not  
limited to: taxi, launch fees, aircraft rental, subsistence, customs, shipping and communication  
charges etc. Travel costs, mileage and time, in excess to that allowed must have prior approval in  
writing.  
TO THE EXTENT CONSISTENT WITH STATE AND FEDERAL LAW:  
(1) THIS WARRANTY IS STRICTLY LIMITED TO THE TERMS INDICATED HEREIN, AND  
NO OTHER WARRANTIES OR REMEDIES SHALL BE BINDING ON RAYMARINE  
INCLUDING WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABLE OR  
FITNESS FOR A PARTICULAR PURPOSE.  
(2) Raymarine shall not be liable for any incidental, consequential or special (including punitive or  
multiple) damages.  
All Raymarine products sold or provided hereunder are merely aids to navigation. It is the  
responsibility of the user to exercise discretion and proper navigational skill independent of any  
Raymarine equipment.  
Document number: 84064-8  
April 2001  
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Factory Service Centers  
United States of America  
UK, Europe, Middle East, Far East  
Raymarine Inc  
22 Cotton Road, Unit D  
Nashua, NH 03063-4219, USA  
Raymarine Ltd  
Anchorage Park, Portsmouth  
PO3 5TD, England  
Telephone: +1 603 881 5200  
Fax: +1 603 864 4756  
Telephone: +44 (0)23 9269 3611  
Fax: +44 (0)23 9269 4642  
Sales & Order Services  
Telephone: +1 800 539 5539 Ext. 2333 or  
+1 603 881 5200 Ext. 2333  
Customer Support  
Telephone: +44 (0)23 9271 4713  
Fax: +44 (0)23 9266 1228  
Technical Support  
Telephone: +1 800 539 5539 Ext. 2444 or  
+1 603 881 5200 Ext. 2444  
Product Repair Center  
Telephone: +1 800 539 5539 Ext. 2118  
Stick barcode label here  
Purchased from  
Dealer address  
Purchase date  
Installed by  
Installation date  
Commissioned by  
Commissioning date  
Owners name  
Mailing address  
This portion should be completed and retained by the owner.  
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