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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
                                   Instruction manual




           M   A   N   U   A   L

         Simrad TP22 & TP32
               Tillerpilots




E04586                                            III
TP22/TP32 Tillerpilot




                                                     © 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 com-
plete and accurate as possible.




IV                                                                                            Part No. E04586 Issue 1.0 MDL 08/03/04
                                                                                            Instruction manual




                                      CONTENTS

1 GENERAL
              1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
              1.2 SimNet network system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

2 OPERATION
              2.1   General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
              2.2   Autopilot mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
              2.3   Adjusting course . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
              2.4   Autotack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
                     2.4.1 Autotacking in Compass mode . . . . . . . . . . . . . . . . . . . .10
                     2.4.2 Autotacking in Wind mode . . . . . . . . . . . . . . . . . . . . . . .10
                     2.4.3 Autotacking in Nav mode . . . . . . . . . . . . . . . . . . . . . . . .11

3 ADVANCED FEATURES
              3.1 Nav mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
              3.2 Steer To Wind . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
              3.3 Using an external compass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

4 CONFIGURATION
              4.1   Porthand mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
              4.2   Calibration mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
              4.3   Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
              4.4   Adjusting Seastate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
              4.5   Autotrim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

5 INSTALLATION
              5.1   Fitting the Tillerpilot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
              5.2   Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
              5.3   Interfacing via SimNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
              5.4   Interfacing via NMEA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
              5.5   Electronic interference suppression . . . . . . . . . . . . . . . . . . . . . . .23
              5.6   Auto compass calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
              5.7   Configuring the Tillerpilot on the SimNet bus . . . . . . . . . . . . . .25

6 APPENDIX
              6.1   Advice on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
              6.2   Fault finding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
              6.3   NMEA sentences received . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
              6.4   Spares & accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
              6.5   Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
              6.6   Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
              6.7   Service & Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31




E04586                                                                                                                 V
       TP22/TP32 Tillerpilot




       1 GENERAL
       1.1 Introduction
                               The TP22 & TP32 Tillerpilots from Simrad are suitable for a
                               wide variety of tiller-steered sailing yachts up to 12m (39 ft)
                               overall length.

                               Combining highly sophisticated electronics with advanced soft-
                               ware and a powerful mechanical drive, they are capable of pro-
                               viding reliable and accurate steering performance under a vari-
                               ety of different conditions with minimal current consumption.

                               The Tillerpilots have been designed so that, while they repre-
                               sent the state-of-the-art in marine autopilots with many
                               advanced features, they remain very simple to operate, using
                               only five keys to access all functions.

                  TACK

                               Sophisticated functions available include Steer To Wind mode
                               and Nav mode (Steer To GPS) using external equipment linked
                  STBY
                   STBY
                  AUTO




                  NAV




    TACK
                               directly to the Tillerpilot via the SimNet high-speed bus or
                               through the inbuilt NMEA0183 interface.
              SIMRAD TP22

    STBY
     STBY
    AUTO




    NAV




SIMRAD TP32                    There is also the option to operate the Tillerpilot remotely
                               using the HR22 Hand Remote. For more details, refer to the
                               separate instruction card supplied with the HR22.

                               To ensure the best results from your Tillerpilot it is essential
                               that the unit is installed correctly. Please read this manual thor-
                               oughly before installation.

                               Thank you for choosing Simrad.

                               If you are pleased with your Tillerpilot, we hope you will be
                               interested in our range of marine electronic equipment, which
                               is manufactured to the same high standards as the Tillerpilot.
                               Please contact your nearest Simrad Agent for a catalogue
                               showing our increasing range of high-tech navigational instru-
                               ments, GPS, Chartplotters, Autopilots, Radars, Fishfinders and
Fig 1.1 - Tillerpilots         VHF radio sets.
   TP22 & TP32
                               Simrad operate a policy of continual development and reserve
                               the right to alter and improve the specification of their prod-
                               ucts without notice.


                               Tillerpilot® is a registered trademark of Simrad Ltd.




          6                                                                                  E04586
                                                                Instruction manual



1.2 SimNet network system
                   The SimNet system is built around a high-speed bus network-
                   ing system, that allows Simrad instruments, navigation equip-
                   ment and autopilots to be easily interconnected and share data.

                   All units are interconnected and powered using a standard sin-
                   gle cable (Fig 1.2) -
 WIND Tx



            SPEED/LOG      WIND       COMPASS




                                                            GPS/CHARTPLOTTER

   COMPASS Tx




                TILLERPILOT TP22 / TP32

                                   Fig 1.2 - Typical SimNet system

                   The Tillerpilot 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 Tillerpilot can be displayed
                   on any instrument displays capable of showing compass infor-
                   mation.

NOTE               Heading data from the Tillerpilot 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).




E04586                                                                              7
TP22/TP32 Tillerpilot




2 OPERATION
2.1 General
                        The keypad of the Tillerpilot has been designed to be as simple
                        and intuitive to operate as possible. Using only five keys (Fig
                        2.1), it is possible to perform precise course adjustments and
                        navigational functions -



                                                     TACK




                                                     STBY
                                                      STBY
                                                     AUTO




                                                      NAV



                                            Fig 2.1 - Tillerpilot keypad
                        The unit powers up in Standby mode, indicated by a flashing
                        LED next to the STBY/AUTO key (Fig 2.2) -



                                                      TACK




                                                     STBY
                                                      STBY
                                                     AUTO




                                             Fig 2.2 - Standby mode
                        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 Autopilot mode
                        While in Standby mode, the pushrod can be manually driven
                        in and out by pressing the arrowed Port and Starboard keys,
                        which allows "power steering" of the vessel.

                        To engage Autopilot mode, press the STBY/AUTO key, and the
                        Tillerpilot will lock onto the current course. The LED next to
                        this key will stop flashing and remain permanently lit as long



8                                                                                 E04586
                                                             Instruction manual



             as the pilot is in Autopilot mode (Fig 2.3) -



                                            TACK




                                            STBY
                                             STBY
                                            AUTO




                              Fig 2.3 - Engaging Autopilot mode
             To lock the pilot onto the desired course, either steer the cor-
             rect course and then engage the autopilot, or engage the
             autopilot and then adjust the heading until the correct course
             is being sailed (see section 2.3 below). If the STBY/AUTO key
             is pressed and held, the pilot will beep a second time and lock
             onto the previously used heading (this feature will not be
             available if the unit has just been switched on).


2.3 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 adjust-
             ment will be made, confirmed by a double beep and a double
             flash of the Port or Starboard LED (Fig 2.4) -



                                            TACK




                                            STBY
                                             STBY
                                            AUTO




                                            NAV




                             Fig 2.4 - Course adjustment to Port
NOTE         Following any course adjustment in Nav mode (see section 3.1),
             the Tillerpilot will gradually return to the navigation track.




E04586                                                                       9
TP22/TP32 Tillerpilot



2.4 Autotack
                        The Tillerpilot 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 2.5) -



                                                     TACK




                                                     STBY
                                                      STBY
                                                     AUTO




                                                     TACK




                                                     STBY
                                                      STBY
                                                     AUTO



                                      Fig 2.5 - Initiating Starboard autotack
                        The operation of the Tillerpilot will differ during an autotack
                        depending on whether the pilot is in Sail To Compass or Steer
                        To Wind mode:

                        2.4.1 Autotacking in Compass mode
                        If in Compass mode (default), the Tillerpilot will tack the ves-
                        sel in the selected direction. The Tillerpilot has a factory preset
                        autotack angle of 100º.

                        2.4.2 Autotacking in Wind mode
                        The Tillerpilot will tack the vessel through to the same appar-
                        ent wind angle, but on the opposite tack.

NOTE                    As a safety feature, the Tillerpilot 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 Tillerpilot automatically prevents tacking in
                        the wrong direction ­ if on Port tack, only an autotack onto
                        Starboard tack will be possible.


10                                                                                    E04586
                                                        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.

          2.4.3 Autotacking in Nav mode
          As the Tillerpilot 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   Ensure that the boat is on the correct tack before re-engaging
          Nav mode.




E04586                                                                      11
TP22/TP32 Tillerpilot




3      ADVANCED FEATURES
                        The TP22 and TP32 Tillerpilots contain many advanced fea-
                        tures, 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 Tillerpilot 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 Tillerpilot 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 pro-
                        grammed into the GPS/chartplotter, and press the NAV key.
                        The LED next to the NAV key will light and the Tillerpilot 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
                                                      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 Tillerpilot will continue its current course under
                        Compass (Auto) mode.

NOTE                    Some of the standard key stroke functions may have a different
                        effect in Nav mode than in Compass mode. Please refer to sec-
                        tions 2.3 and 2.4.3.


12                                                                                 E04586
                                                           Instruction manual



3.2 Steer To Wind
             The Tillerpilot 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 Tillerpilot.

NOTE         If no wind information is present, the Tillerpilot 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, simply press and hold the
             and keys together again until a double beep is heard.

             While in Steer To Wind mode, the Tillerpilot will lock onto the
             current apparent wind angle being sailed. Any course adjust-
             ments 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 appar-
             ent wind angle on the opposite tack. As a safety feature, auto-
             tack is disabled when sailing downwind.

NOTE         Nav mode cannot be selected while in Steer To Wind mode ­
             to activate, return to Compass (Auto) mode first.




E04586                                                                       13
TP22/TP32 Tillerpilot



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 flux-
                        gate compass.

                        Although the Tillerpilot operates using its inbuilt fluxgate com-
                        pass, 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 Tillerpilot with an external compass




14                                                                                     E04586
                                                                                   Instruction manual




     4                        CONFIGURATION
     4.1 Porthand mounting
                                    Although the Tillerpilot is factory preset for Starboard-side
                                    mounting, it is possible to reconfigure it for mounting on the
                                    Port-side of the cockpit, to facilitate easy installation on most
                                    types of yacht.

                                    With the power off, hold down the NAV and TACK keys and
                                    switch on the power. The Port or Starboard LED will illumi-
                                    nate, depending on the current mounting configuration. Press
               AUTO




                       TACK
               STBY
                STBY
         NAV




                                    the Port ( ) key to select Port-side mounting ­ the Port LED
                                    will illuminate to indicate selection. Confirm selection and exit
                                    to Standby mode by pressing NAV (Fig 4.2) -



Fig 4.1 - Starboard and Port                                        TACK
                                                                    TACK
     mounting options

                                                                    STBY
                                                                     STBY
                                                                    AUTO




                                                                    NAV




                                                         POWER              ON



                                                                    TACK




                                                                    TACK




                                                                   STBY
                                                                    STBY
                                                                   AUTO




                                                                    NAV



                                               Fig 4.2 - Configuring for Porthand mounting
                                    To select Starboard mounting, repeat the above procedure, but
                                    press the Starboard ( ) key.


     E04586                                                                                             15
           TP22/TP32 Tillerpilot



           4.2 Calibration mode
                                    The Gain and Seastate settings can be adjusted while the
                                    Tillerpilot is in either Standby or Autopilot mode.

                                    Press and hold the TACK key, then press NAV (Fig 4.3) -



                                                                  TACK
                                                                  TACK




                                                                   TACK
                                                                   TACK




                                                                   STBY
                                                                    STBY
                                                                   AUTO




                                                                   NAV



                                                     Fig 4.3 - Entering Calibration mode
                                    The Starboard LED will illuminate to indicate that Gain adjust-
                                    ment is selected. To toggle between Gain and Seastate adjust-
                                    ment, press TACK - the Port LED will illuminate for Seastate.


           4.3 Adjusting Gain
                                    The Tillerpilot will apply adjustments to the tiller, in order to
                                    compensate for heading variations, the amount of movement
                                    being proportional to the heading error detected by the com-
                                    pass unit. The amount of movement is set by the Gain (some-
                                    times 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).

                                    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.
    A      B       C       D        Excessive Gain (D) creates a tendency to instability of course,
                                    leading to increasing error.
Fig 4.4 - Effects of Gain setting


            16                                                                                   E04586
                                                                              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 set-
                              ting 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 Tillerpilot 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 moni-
                              tors 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 Tiller-
                              pilot to give the best compromise between course holding and
                              battery consumption, but it can be set manually if desired:

                               ­ In Calibration mode, press TACK to toggle between Gain
                                 and Seastate adjustment (indicated by the Port LED illumi-
                                 nated). 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 Tillerpilot is set to
                                 Auto Seastate.
Fig 4.6 - Seastate deadband
                               ­ Use the Port ( ) and Starboard ( ) keys to adjust the
                                 Seastate setting between 0 and 9. Selecting 0 will switch the
                                 Tillerpilot to Auto Seastate.

                               ­ Press NAV to confirm settings and return to normal opera-
                                 tion.




      E04586                                                                                    17
         TP22/TP32 Tillerpilot



         4.5 Autotrim
                                          Under differing conditions a tiller 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
                  Ideal course




                                 Wind &   applies a standing helm to leeward, in order to maintain course.
                                  Tide    The amount of this standing helm varies according to factors
  C
  ou ut




                                          such as strength of wind, boat speed, sail trim and amount of
    rs otr
     A
      e




                                          sail set. If no account of these were taken, then the vessel would
        wi im
          th




                                          tend to veer off course, or pull around head-to-wind when sail-
            ou




                                          ing close hauled.
              t




                                          The Tillerpilot continuously monitors the average course error
                                          and applies a bias to the tiller 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 Tillerpilot. Thus, it may take up to a minute or so to fully
                                          compensate after changing tack. Once optimum trim is reached,
Fig 4.7 - Effects of autotrim             the pilot will still monitor for changes in the prevailing condi-
                                          tions and update the trim accordingly.

         NOTE                             Autotrim is applied automatically and cannot be manually
                                          adjusted.




         18                                                                                            E04586
                                                                                Instruction manual




5        INSTALLATION
5.1 Fitting the Tillerpilot
                The Tillerpilot is a very sophisticated piece of equipment, and
                therefore, in order for it to function to its full capabilities, it is
                essential that it is installed correctly. Please read this section
                thoroughly before attempting installation and use.

                The Tillerpilot should be horizontally level when fitted to the
                tiller (Fig 5.1) -
                                  595mm (23 1/2 in) Pushrod at mid-stroke



                                                                                  Horizontal
                                                                                                         38mm




                                 Fig 5.1 - Installation, cross section
                With the tiller amidships and the pushrod in the midstroke posi-
                tion, the Tillerpilot should be exactly 90º to the tiller (Fig 5.2) -




                                                                                          460mm (18in)




                                                                          90º
                                                           AUTO




                                                                   TACK
                                                           STBY
                                                            STBY
                                                     NAV




                                   Fig 5.2 - Installation, plan view
NOTE            The pilot is factory preset to be mounted on the Starboard side
                as shown, but this can be reconfigured for Port-side mounting
                (see section 4.1).

                The dimensions given in Figures 5.1 and 5.2 should be adhered
                to as closely as possible, especially Fig 5.1. Some tolerance on
                the distance from tiller stock (Fig 5.2) is permissible, but the
                Tillerpilot may require a Gain adjustment to compensate.



E04586                                                                                                      19
TP22/TP32 Tillerpilot



NOTE                    If the dimensions given are not practical for the vessel to which
                        the Tillerpilot is to be fitted, a range of fitting accessories are
                        available to facilitate correct installation. Please refer to section
                        6.4 for more details.

CAUTION                 The Tillerpilot houses an internal fluxgate compass and should
                        therefore be mounted away from sources of magnetic interfer-
                        ence, such as the vessel's steering compass. The minimum safe
                        distance is 1m (3ft 3in).

                        The Tillerpilot is mounted using a supplied tiller pin and
                        mounting cup, which allows the unit to be fitted and stowed
                        easily.

                        To fit the tillerpin, drill a 6.3mm (0.25in) hole in the tiller
                        (ensure that this is on the centreline of the tiller and is vertical).
                        Drill to a depth that allows only the top 18.0mm (0.75in) to
                        protrude (Fig 5.3). Fix in place using an epoxy adhesive.
                                                                Tillerpin
                                       18.0mm
                                       (0.75in)                          Tiller




                                            Fig 5.3 - Fitting the tillerpin
                        To fit the mounting cup, drill a 12.7mm (0.5in) hole into the cock-
                        pit seat and mount so that only the flange protrudes. Ensure the
                        cup is a tight fit (use an epoxy adhesive) and is supported over
                        its entire depth ­ if necessary, reinforce the underside of the
                        cockpit seat with hardwood or marine plywood (Fig 5.4) -




                               Mounting Cup



                                    Hardwood
                                    Reinforcing
                                        Fig 5.4 - Fitting the mounting cup
NOTE                    Due to the high loads exerted, do not fit the Tillerpilot to the
                        mounting cup and pin until the adhesive has completely set.



20                                                                                      E04586
                                                                                              Instruction manual



           5.2 Electrical installation
                                       The Tillerpilot operates from a 12v DC supply. The waterproof
                                       plug fitted to the Tillerpilot is used to supply the power, SimNet
                                       and NMEA data.

                                       The bulkhead socket should be mounted in a convenient posi-
                                       tion close to where the Tillerpilot is to be fitted, and wired as
                                       shown (Fig 5.5) -




                                                               AUTO
                                                                STBY
                                                        TACK




                                                               STBY




                                                                       NAV




                                NMEA Data (Red)
                                NMEA Common (Blue)



                                +12v DC (Red)                                  SimNet plug
                                0v (Black)


                                                     Fig 5.5 - Tillerpilot bulkhead socket wiring
           IMPORTANT                   If the vessel has more than one separate battery bank, when
                                       connecting the Tillerpilot 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.

                                         * Mount the bulkhead socket on a vertical surface to prevent standing water
                                           gathering around or in the socket. Always fit the protective cap when the
Length of Cross Conductor AWG
cable run section type                     pilot is not plugged in.
                                         * No power is supplied to or from the SimNet bus ­ the Tillerpilot must
Under 4m 1.5mm2       30/0.25     16
  (13ft)
                                           always have its own dedicated power connection.
                                         * Use a suitable gauge cable to run from switch panel to the socket (see Fig
  4-8m       2.5mm2                        5.6).
                      50/0.25     14
  (27ft)
                                         * Connect to the vessel's switch panel via a 10Amp fuse or breaker.
Fig 5.6 - Power cable selection
                                         * Do not fit other electronic or electrical equipment to the supply cable, or
             table                         "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 Tillerpilot and slower speed
                                           of response.
                                         * If in any doubt, employ a qualified engineer to install the equipment.




           E04586                                                                                                   21
TP22/TP32 Tillerpilot



5.3 Interfacing via SimNet
                          The Tillerpilot is linked to other SimNet-compatible equipment
                          via the integral SimNet cable and plug in the bulkhead socket.

                          All SimNet units (Instruments, Chartplotters, Radars, Auto-
                          pilots, 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 Tillerpilot 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 5.7) -



                                        Speed      Wind    Compass           3-way
                                                                             joiner
              Bus power




                                                                             SimNet
                                                                                          GPS/Chartplotter


                                                       NMEA0183
                                                                                                Tillerpilot power




                                         Fig 5.7 - Typical SimNet installation
NOTE                      It is not necessary to plug the Tillerpilot directly into any
                          equipment that you wish to share data with ­ all data is trans-
                          mitted across the whole bus network.


5.4 Interfacing via NMEA
                          The inbuilt NMEA processor allows NMEA0183-compatible
                          equipment to be connected directly to the Tillerpilot, without
                          any need for a separate interface unit (Fig 5.8) -

                                                Wind    Speed

                                                                      or
                                                                  NMEA0183




                                                                                      GPS/Chartplotter
                                                                                          SimNet
                                                                                          Tillerpilot power




                                        Fig 5.8 - NMEA integration examples


22                                                                                                            E04586
                                                             Instruction manual



              If a GPS or chartplotter is connected to the Tillerpilot, it can
              extract the data necessary for Nav mode. Other functions such
              as Steer To Wind may also be available, if NMEA0183-compati-
              ble instruments are transmitting the correct NMEA sentences.

              When connecting an external ("talker") unit to the Tillerpilot,
              two terminals are used ­ usually labelled DATA and COMMON
              (or COM). These should be connected to the Tillerpilot's
              NMEA cable as follows :
                                  NMEA         Tillerpilot
                                talker unit     NMEA
                                NMEA Out         Data
                                 Data/+          (Red)

                                NMEA Out       Common
                                Common/-        (Blue)

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 NMEA Common wire
              from the Tillerpilot should be connected directly to 0v (termi-
              nal 2). If in any doubt, refer to the manufacturer, or Simrad's
              Product Support department for advice.

CAUTION       Due to the limitations of NMEA0183, it is recommended that
              only one talker is transmitting to the Tillerpilot at any one time
              ­ i.e. instruments or GPS/chartplotter, not both simultaneously!
              If more than one unit needs to be interfaced to the Tillerpilot,
              these should be connected to the NMEA cable via a changeover
              switch.

              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 Tillerpilot it is impor-
              tant that the unit's manual is referred to with regard to inter-
              facing via NMEA.


5.5 Electronic interference suppression
              The Tillerpilot has been designed to minimise the effects of
              interference generated by the engine alternator. However, pre-
              cautions 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.



E04586                                                                       23
TP22/TP32 Tillerpilot



5.6 Auto compass calibration
                        Once the Tillerpilot 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 (2­3 knots) in calm conditions
                        and the Tillerpilot in Standby mode, press the Starboard ( )
                        key a number of times to induce a slow clockwise rotation of
                        the vessel. Then press and hold the TACK key, followed by the
                        Port ( ) and Starboard ( ) keys simultaneously (Fig 5.9) -



                                                       TACK
                                                       TACK




                                                       TACK




                                       Fig 5.9 - 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 approximate-
                        ly 2 minutes, during which time the fluxgate compass will
                        automatically calibrate itself.

                        If the rate of turn or boat speed is too fast, the Port LED will
                        flash (Fig 5.10). Either slow the boat or reduce the angle of turn.



                                                       TACK




                                           Fig 5.10 - 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 Tillerpilot will return to Standby mode. If
                        the calibration has been unsuccessful after a period of four min-
                        utes, a long beep will sound.

NOTE                    If the calibration routine keeps failing after repeated attempts,
                        this indicates that the Tillerpilot is experiencing excessive mag-
                        netic deviation that it cannot compensate for. Check the area
                        within 1m (3ft) of the Tillerpilot for likely sources, such as cock-
                        pit speakers or large metallic objects ­ if these cannot be relo-
                        cated, it may be necessary to fit an external compass.


24                                                                                      E04586
                                                              Instruction manual



5.7 Configuring the Tillerpilot on the SimNet bus
              Normally the Tillerpilot 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
              Tillerpilot will use the first source it detects (Fig 5.11) -
                 IS12 Compass




              NMEA GPS                 AP25 Autopilot




                         IS12 Mega
                                                                CP44 Chartplotter




                                      RFC35R Compass



                            Fig 5.11 - Example of multiple data sources
              In the example above, 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 Tillerpilot
              could be used as a backup pilot, while still using the RFC35R
              as the heading data source. However, the Tillerpilot may auto-
              matically 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 con-
              figured. Two operation modes are available:

                 System mode ­
                 This is the default setting ­ the Tillerpilot 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 Tillerpilot automatically selects its own data source (the
                 first it detects), but cannot be configured by a remote
                 device.


E04586                                                                         25
TP22/TP32 Tillerpilot



                        To change the mode, first turn off the Tillerpilot.

                        To select StandAlone mode press and hold the TACK and
                        keys and turn the power on (Fig 5.12) -



                                                       TACK
                                                       TACK




                                            POWER             ON



                                                       TACK
                                                       TACK




                                       Fig 5.12 - Selecting StandAlone mode
                        To select System mode press and hold the TACK and          keys
                        and turn the power on (Fig 5.13) -



                                                       TACK
                                                       TACK




                                            POWER             ON



                                                       TACK
                                                       TACK




                                         Fig 5.13 - Selecting System mode
                        The Tillerpilot 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 remote configuring data sources.

NOTE                    If there is more than one data source on the SimNet bus, but no
                        Command Unit capable of reconfiguring the Tillerpilot present,
                        the required data source must be the only one present on the
                        bus when StandAlone mode is selected ­ power down, or dis-
                        connect 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 Tillerpilot
                        was previously locked onto.


26                                                                                   E04586
                                                              Instruction manual




6 APPENDIX
6.1 Advice on operation
              When used correctly, your Tillerpilot 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 Tillerpilot:

              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 auto-
              pilot 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 Tillerpilot.
              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 Tillerpilot 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 Tillerpilot. Many people
              prefer to find a compromise setting, which is used for all sail-
              ing, but with practice it can be optimised for different condi-
              tions, 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 Tillerpilot 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 navi-
              gation 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.




E04586                                                                          27
TP22/TP32 Tillerpilot



6.2 Fault finding
 Symptom                           Probable Cause                           Remedy

 When engaged, the pilot           ·Tillerpilot is configured for Port      · Refer to section 4.1.
 immediately applies a large        hand setting but installed on
 helm angle and increases           Starboard side (or vice versa).
 course error.

 After functioning normally        · Power interrupted briefly, or low      ·   Increase size of cable.
 course is suddenly lost and the     voltage.                               ·   Check all connections.
 Tillerpilot goes into Standby     · Cable used to socket too small.        ·   Charge batteries.
 Mode.                             · Intermittent connection.               ·   Uprate batteries.

 Helm is hard over and alarm is    · Steerage way insufficient to control · Reset the vessel on course
 continuously on.                    course, or sails are aback. Pulsing is  and re-engage pilot
                                     a correct safety feature when tiller is
                                     at full travel.

 Power socket is live, but pilot   · Socket is wired incorrectly.           · Check wiring of socket
 is not on.                                                                   (section 5.2).

 Loss of course under Steer To     · Apparent wind has become too light · Change to Compass
 Wind Mode.                          to give a consistent direction.      Mode.

 Cannot select Steer To Wind       · Masthead unit is not connected.  · Check connections.
 Mode.                             · SimNet system is not switched on · Check system is on.
                                     or powered.
                                   · Required NMEA sentence not being · See section 6.3 & check
                                     transmitted.                       NMEA connections.

 Cannot select Nav Mode.           · GPS/Chart Plotter not connected. · Check connections.
                                   · Waypoint not active.             · Activate waypoint/route.
                                   · Wrong NMEA format is being used. · Check NMEA0183 format
                                                                        is being transmitted by
                                                                        navigational receiver.

 Autotack function not             · Pilot is in Nav Mode.                  · Exit Nav Mode.
 working.                          · Pilot is in Steer To Wind Mode and     · Luff up until apparent
                                      a) apparent wind is >90º                wind is less than 90º.
                                      b) autotack being attempted is in
                                         the wrong direction.

 Pilot exits Nav Mode before       · Cross Track Error has exceeded 1.2     · Reset the vessel on course
 waypoint is reached.                Nm.                                    and re-engage Nav Mode.

 Pilot does not hold accurate      · Fluxgate compass is being affected     · Check compass has been
 course in Auto Mode.                by interference from nearby              calibrated (section 5.6).
                                     magnetic influences (binnacle          · Fit external SimNet
                                     compass, speakers) or metallic           compass.
                                    objects (winches, deck hardware etc).   · Replace binnacle compass
                                                                              with bulkhead compass.
                                                                            · Relocate objects that are
                                                                              causing interference.

                            These simple checks should be carried out before seeking tech-
                            nical assistance and may save time and expense. Before con-
                            tacting your servicing agent please note the Tillerpilot's serial
                            number.


28                                                                                                    E04586
                                                                Instruction manual



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          Cross Track Error, bearing to/arrival at waypoint
             APB          Cross Track Error, bearing to/arrival at waypoint
             RMA          Speed & course over ground & magnetic variation
             RMB          Cross track error, bearing to/arrival at waypoint (T)
             RMC          Speed & course over ground & magnetic variation
             BWR          Bearing to/arrival at waypoint (rhumb line)
             BWC          Bearing to/arrival at waypoint (great circle)
             VHW          Boat Speed
             XTE          Cross Track Error

NOTE         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 Tillerpilot will sound an alarm, exit Nav mode
             and return to Compass auto mode.

             The Tillerpilot also extracts the apparent wind angle from the
             following NMEA0183 sentences -

             Received     Data
             VWR          Apparent Wind Speed & Angle
             MWV          Apparent Wind Speed & Angle




E04586                                                                            29
TP22/TP32 Tillerpilot



6.4 Spares & accessories
                        The following spares and accessories are available from local
                        Simrad agents. Please quote part number when ordering -

                        HR22                       Hand Remote
                        IS12 Compass:S             SimNet Compass System
                        IS12 Wind:S                SimNet Wind System
                        TPPK7                      Spare Tillerpin, Mounting Cup &
                                                   Pushrod End Cap
                        SKT22/32                   Spare Waterproof Bulkhead Socket &
                                                   Cable Assembly
                        SPC:2M                     SimNet Power Cable 2m
                        SDC:02M                    SimNet Cable 2m
                        SDC:05M                    SimNet Cable 5m
                        SDC:10M                    SimNet Cable 10m


                        Mounting accessories

                        Tiller Brackets                                                        Part No.     Height


                                                                                               TB30        30mm (1.18")

                                                                                               TB60        60mm (2.36")

                                                                                               TB90        90mm (3.54")

                                                                                               TB120       120mm (4.72")

                                                            Height




                        Pedestal & Cantilever Brackets                                         Part No    Height / Length


                                                                                               PB30        30mm (1.18")

                                                                                               PB60        60mm (2.36")

                                                                     Cantilever Bracket CB1    PB90        90mm (3.54")


                                          Height

                                                                                               CB1         135-240mm
                                                                                                           (5.31-9.44")

                                                                     Length




                        Push Rod Extensions                                                    Part No.    Length


                                                                                              PRE30:GY     30mm (1.18")

                                                   Length                                     PRE60:GY     60mm (2.36")

                                                                                              PRE90:GY     90mm (3.54")

                                                                                              PRE120:GY    120mm (4.72")

                                                                                              PRE150:GY    150mm (5.90")

                                                                                              PRE300:GY    300mm (11.81")




30                                                                                                                   E04586
                                                           Instruction manual



6.5 Dimensions




6.6 Specification
              Supply Voltage            12v (10-16v) DC
              Current Consumption       Standby - 60mA
              (Typical)                 Auto - 500mA

              NMEA Format               Compliant with NMEA0183
                                        versions 2.0, 2.3 & 3.0 (4800 baud,
                                        no parity, 8 bits, 1 stop bit)

              Drive System              TP22 - Screw thread
                                        TP32 - Recirculating ballscrew
              Operating Stroke          250mm (10in)
              Peak Thrust               TP22 - 65kg (143lbs)
                                        TP32 - 85kg (187lbs)
              Hardover time             0kg       TP22 - 6.9 secs
                                                  TP32 - 4.0 secs
                                        20kg      TP22 - 8.0secs
                                                  TP32 - 4.7secs
                                        40kg      TP22 - 12.0 secs
                                                  TP32 - 6.0 secs
                                        50kg      TP32 - 8.0 secs

              Ambient Temp Range        -10ºC to +55ºC (14ºF to 140ºF)
              Mounting                  Starboard as default (can be
                                        reversed)


6.7 Service & Warranty
              Your Tillerpilot should seldom need servicing, but will benefit
              from an application of silicone or Teflon grease to the pushrod
              and connectors each season, and by keeping the connector's
              protective cover in place when not in use.



E04586                                                                        31
TP22/TP32 Tillerpilot



                        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.




32                                                                                     E04586
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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