User manual GARMIN TR-1 GOLD MARINE AUTOPILOT

[. . . ] TR-1 Gold Owner's Manual 906-2000-00 RevH 101507 Thank You Your purchase of this TR-1 Gold outboard management system enters you in the prestigious fraternity of anglers who count on TR-1 to control their outboard kickers. TR-1 Autopilots is dedicated to creating the finest controls and guidance systems for the best in boating and fishing. We're sure you will agree it is worth its weight in GOLD. Table of Contents Safety & Cautions Parts List Specifications Preparation System Layout Tools Installation of E-H Unit (Pump) Installation of Sensor Ball (Compass) Installation of Deckmount/ Tach Installation of Handheld/Remote Verify Connections Battery Connections Connect & Fill Hydraulic System GPS Connections System Functions and Features Operating the System Power On/Off (Deckmount) Engaging Heading Hold Change Heading with Remote Steer Change Heading with RCAH (Changing Heading while in Autopilot) GPS Steering Setting North Course overground Steer to Waypoint Orbit Waypoint Cloverleaf Pattern Search Pattern Step Turns, Change Heading with Circles, Change heading with Reverse MOB, change heading with Idle/Resume Throttle Up & Down Zig-Zags, change heading with Selecting Special Functions Setup, How to make changes with Setup Codes, Table of Explanation of Codes Adjusting Your Autopilot (Tuning and Setup) Rudder and Counter Rudder Gain Trouble Shooting Guide Page 3 Page 4 & 5 Page 6 Page 6 & 7 Page 8 Page 9 Page 9 & 10 Page 11 &12 Page 13 Page 14 Page 14 Page 14 Page 15 Page 18 Page 19 Page 20 Page 21 Page 21 Page 21 Page 22 Page 23 Page 23 Page 23 Page 24 Page 24 Page 24 Page 25 Page 26 Page 26 Page 26 Page 26 Page 27 Page 27 Page 27 Page 28 Page 29 Page 30 & 31 Page 31 & 32 Pages 33-35 Pages 35-37 Page 39 2 Rev. H 101507 Safety You are responsible for the safe and prudent operation of your vessel. Your TR-1 Gold Autopilot is a tool that will enhance your capability to operate your boat and catch fish. [. . . ] An example RCAH turn is shown in the figure below. Heading when starboard RCAH button released Initial heading Final heading Starboard RCAH button released Starboard RCAH button pressed Boat path 22 22 GPS Steering GPS The GPS steering functions are not guaranteed to work with all GPS systems. Each manufacturer of GPS equipment puts his own spin on how to assemble the data on the NMEA data bus. Sometimes the data on the bus will not conform to the needs of the autopilot. The autopilot expects to see, at least, the NMEA data sentences $GPRMB and $GPRMC at 4800 baud. These sentences are the minimum recommended data to be transmitted when there is an active waypoint. Some GPS systems do not conform to this NMEA specification. Almost all GPS systems truncate the cross track error data to 0. 01 NM resolution, this means that the autopilot cannot be expected to stay on track any closer than 60 to 120 feet. There is a large discrepancy between manufacturers in how they warn the user when the navigation fix is compromised. Some systems alert the NMEA bus listener immediately upon position fix loss but wait 30 seconds to a minute to warn the operator on the GPS display. This is disconcerting to the user because his autopilot drops out (The autopilot stops using the GPS steering command immediately upon receiving a warning from the navigator. ) of GPS steering and there is often no indication on the GPS display that anything is wrong with the GPS. Some manufactures wait 30 seconds to alert the user via the display and the devices on the NMEA'S data bus when the position fix is broken. The worst performance in all the GPS units we have tested occurs when a satellite is occluded by the horizon; we have seen steering errors on the order of several hundred feet in these situations. The autopilot cannot fix steering errors that are GPS generated. Keep an eye on where you are going when you couple the GPS to the autopilot. When the autopilot is taking steering commands from the GPS, the GPS (Select Load) LED will be lit solid. If the autopilot detects a GPS problem it will blink this LED. Press any button to extinguish the blinking LED. Set North To run a GPS course requires that the autopilot compass is in agreement with the GPS's course estimate. You need to set North with the pilot in standby mode. Do not set North except in calm sea's and un-accelerated conditions. You should be running at a reasonably high speed, it won't hurt to be running on plane with your main engine. With your GPS turned on and setup code 48 selected, press and hold the GPS (Select Load) button. If the Up Arrow LED illuminates, this means that your GPS connection is not sending course information to the autopilot correctly. [. . . ] You know that you have reached this tune when attempts to increase the Rudder Gain or Decrease the counter rudder gain results in oscillations in heading. Initial factory setting for Counter Rudder Gain is on the high side for most boats and the initial factory setting for Rudder Gain is on the low side. So the normal search pattern is to increase Rudder gain and decrease Counter Rudder gain and look at the response after each change. Continued. . . . . . . . . . . . 37 36 Rudder Gain Effects 8 Heading 6 4 2 0 0 2 4 Time 6 8 10 Too Low Too High The Rudder Gain Effects plot shows that too low a Rudder Gain will make the heading response slow and sloppy, if the Rudder Gain is turned down much lower the heading response will become unstable (do everything but hold heading). The plot also shows, when the Rudder Gain is set too high, that the heading oscillates with a high frequency, the rudder will be seen to be oscillating with large amplitude and high frequency as the Rudder Gain becomes "too much. " Counter Rudder Gain Effects 8 Heading 6 4 2 0 0 2 4 Time 6 8 10 Too Low Too High Counter Rudder Gain effects are easy to see in the plot above. 38 37 Limited Warranty This TR-1 product is warranted to be free from defects in materials or workmanship for one year from the date of purchase. [. . . ]