OPERATION AND INSTALLATION MANUAL

Transcription

1 C-DRIVE 5 Motor Control Unit For Electric Steering & Autopilots OPERATION AND INSTALLATION MANUAL

2 Index INTRODUCTION... 3 SYSTEM CONFIGURATION... 3 DUAL STATION ELECTRIC STEERING... 5 ELECTRIC HELM WITH HYDRAULIC STEERING... 5 DEFINITION OF TERMS... 7 INSTALLATION... 8 C-DRIVE UNIT... 8 AUTOPILOT OPTIONS... 9 DIP SWITCH SETTING... 9 RUDDER FEEDBACK MAIN DISPLAY UNIT COMPASS - TMQ ELECTRONIC COMPASS (ELECOM) REMOTE UNITS REMOTE CONFIGURATION OPTIONS SPECIAL REMOTE MODES (REFER SETUP PROCEDURE) SYSTEM CONNECTION - EXAMPLES SYSTEM CONFIGURATION NORMAL CONFIGURATION SOLENOID CONFIGURATION RECOMMENDED SETUP PROCEDURE Set-up Options Menus REMOTE CALIBRATION OPERATING WITHOUT RFU ADJUSTING THE PID CONTROL TESTING PROCEDURE TROUBLE SHOOTING OPTIONAL EXTRAS CIRCUIT DIAGRAM PCB LAYOUT DECLARATION OF CONFORMITY WARRANTY TMQ C-Drive 5 Page 2 of 48 23/08/2016

3 Introduction The C-Drive electric steering system provides steering control from up to three individual steering wheels or levers. The C-Drive provides output for reversing motors drive both hydraulic and mechanical as well as bi directional solenoid valves on continuous running pump sets. System configuration The minimum C-Drive system must comprise of the following units:- C-Drive amplifier unit Rudder Feedback Unit (RFU) * Electric helm or steering lever Drive units, for example - Hydraulic system with solenoid valves. - Reversing hydraulic pump system. - Mechanical motor drive system. With the addition of control display and compass units the C-Drive system can be configured as an autopilot; this is an option and can be added at any time. For example: Autopilot AP55 or AP60. See Optional Extras. * If the RFU is not installed, C-Drive is capable of operating, but then the jog lever is the only remote that will work. Also, when in autopilot mode, the routine control will different. See in the section Set-up Options Menus (page 36), in the Rudder Menu - Main Mode. Set main mode to 1 for operating with RFU, and to 0 for operating without RFU. TMQ C-Drive 5 Page 3 of 48 23/08/2016

4 Options: Remote Station Devices including:- 1. Hand remote 2. Steering lever 3. Electric helm 4. Rudder angle indicators (RAI), if desired Autopilot additional requirements 1. Autopilot display, AP55 or AP60 or, 2. Computer operating software, AP1000 or, 3. TMQ Active remote, and 4. Fluxgate compass Block Diagram Electric Steering System TMQ C-Drive 5 Page 4 of 48 23/08/2016

5 Dual Station Electric steering Electric Helm with Hydraulic Steering TMQ C-Drive 5 Page 5 of 48 23/08/2016

6 The C-Drive amplifier is housed in a rugged black aluminium case, which is generally installed inside a dry locker or other protected position. Mounting position should be free of moisture and vibration. It requires a supply voltage of 12 or 24 VDC The Rudder Feedback Unit (RFU) must be attached to the steering device in such a way that it can accurately measure the angular movement of the ship s rudder, see Rudder Feedback Installation diagram page 15. This must also be electrically connected to the C-Drive unit. Electric helms or steering levers (FFU) provide the input to the C-Drive unit for the required movement to position the rudder. These also must be connected to the C-Drive unit. The rudder drive system provides the physical movement to the rudder responding to the direction control signals provided by the C-Drive system. Rudder Actuator Systems may comprise the following:- Hydraulic Ram controlled by either:- (i) Solenoid valves connected into an existing power steering system. (ii) Solenoid valves connected to a continuous running motor and pump unit. (iii) Reversing motor and pump unit, connected into an existing hydraulic steering system. Mechanical Drive, a reversing motor drive unit with reduction gears to drive the steering system. Linear actuator, either hydraulic or mechanical TMQ C-Drive 5 Page 6 of 48 23/08/2016

7 Definition of Terms C-Drive Unit (Electric steering amplifier) This is a single drive channel steering amplifier which contains the main processor and steering control circuitry. By setting special modes the amplifier is capable of a diverse range of functions for varying input control devices such as electric helms or steering levers. Rudder Feedback Unit (RFU) This is the sensor which provides the required rudder position information to the steering amplifier to control the rudder movement. TMQ manufactures two models, a standard unit or heavy duty unit for commercial use. Remotes These devices provide the required steering input to the C-Drive steering amplifier; remotes include: Electric helm (full follow up) Electric steering lever (full follow up) Jog lever switch (non follow up) Hand remote A full follow up (FFU) device provides a proportional control input while a non follow up device (NFU) provides a switching control input which is not proportional. Rudder Angle Indicator (RAI) This is an analogue display which shows the current rudder position. TMQ C-Drive 5 Page 7 of 48 23/08/2016

8 Installation C-Drive Unit Select a dry position Provide room for access for technical adjustments Provide access for cables and connections both ends Mount the unit using four screws (provided) Route power cable via circuit breaker main power supply* * Note: Power cable must be connected via a 15 amp circuit breaker or via a 15 amp fused circuit with isolating switch to 12/24 VDC supply Dimensions TMQ C-Drive 5 Page 8 of 48 23/08/2016

9 Autopilot Options The C-Drive 5 steering amplifier is capable of being used as a stand alone autopilot system with the addition of control display unit and a compass, for example autopilot models AP55 or AP60. DIP Switch Setting DIP switches are located in the C-Drive to enable the use of different TMQ magnetic sensors (compasses) and different rudder feedback units (standard or heavy duty). The DIP switches are fitted on the C-Drive printed circuit board. To gain access to the switches, remove the top cover (held captive by four screws, one in each top corner of the case). Settings are as follows: DIP 1 Set both switches to ON for Compass Top Sensor (CTS) Set both switches to OFF for Magnetic Sensor (FLUX) DIP 2 Set switch 1 to ON for heavy duty feedback (RFUH) Set switch 1 to OFF for standard feedback (RFUS) Note: DIP2 switch 2 should be left in the OFF position. This switch is only switched on when a GPS and COG is used as the heading reference input. DIP Switch Location TMQ C-Drive 5 Page 9 of 48 23/08/2016

10 Rudder Feedback Precautions The rudder feedback unit is water resistant. However, if it is to be mounted in a wet position, some effort is necessary to ensure the unit does not become immersed in water. If necessary the standard rudder feedback unit may be mounted upside down, in which case the feedback cable may be cut in a suitably dry position, and the blue and red wires swapped (polarity change). DO NOT MOUNT THE HEAVY DUTY RUDDER FEEDBACK UNIT UPSIDE DOWN, IT WILL FILL WITH WATER AND FAIL NOTE: THE CDRIVE AMPLIFIER WILL NOT FUNCTION CORRECTLY IF A RUDDER FEEDBACK IS NOT FITTED, OR IF THE FEEDBACK IS FAULTY OR INCORRECTLY ADJUSTED. TMQ C-Drive 5 Page 10 of 48 23/08/2016

11 THE RUDDER FEEDBACK UNIT IS FACTORY ALIGNED. THE ARM SHOULD NOT BE REMOVED OR LOOSENED. IF ARM IS LOOSENED OR REMOVED, VOLTAGE ALIGNMENT SHOULD BE CHECKED BEFORE USING THE CDRIVE. THIS MUST BE DONE BY A COMPETENT TECHNICIAN. Mounting Refer to the relevant installation diagrams on page 15 or 16 for the rudder feedback unit. The standard rudder feedback unit is water resistant. However, if it is to be mounted in a wet position some protection will be necessary to ensure the unit does not become immersed in water. Position Select a position adjacent to the tiller arm Install the mounting bracket to accommodate the rudder feedback unit with its arm parallel to and pointing in the same direction as the tiller Attach the rudder feedback to the bracket. (For RFUS arm is uppermost. For RFUH shaft is lowermost) Drill a hole in the tiller arm for the linkage arm connection block (1/4 diameter) Attach the linkage swivel block to the tiller Attach the linkage ball joint to the rudder feedback arm Fit the linkage arm through the swivel block and attach the other end to the ball joint Remove the top of the feedback (RFUH only) Connect 3 core cable to the RFU terminal strip (RFUH only) Route the rudder feedback cable to the CDRIVE position Connect the RFU cable to the RUDDER socket of the CDRIVE5 Installation Checks Turn the helm slowly from hard over to hard over and observe the movement of the rudder feedback arm TMQ C-Drive 5 Page 11 of 48 23/08/2016

12 Ensure the feedback arm or linkage does not foul in any position Ensure there is no strain on the feedback arm or linkage Check the rectangular correlation between the feedback arm, the tiller and the linkage with rudder amidships Check direction of feedback arm movement (port and starboard) corresponds with the markings on the feedback body Check the feedback arm direction matches the tiller movement direction for port and starboard Note 1: Note 2: Correct any problems before using the system Page 10 - DIP switch selection for RFU TMQ C-Drive 5 Page 12 of 48 23/08/2016

13 Standard Rudder Feedback TMQ C-Drive 5 Page 13 of 48 23/08/2016

14 Heavy Duty Rudder Feedback TMQ C-Drive 5 Page 14 of 48 23/08/2016

15 Rudder Feedback Installation Notes When the rudder is central and the rudder feedback is central all angles should be 90 degrees. Use the snap swivel and ball joint on the rudder feedback arm Use the rudder feedback adjustment block on the tiller arm Hydraulic ram may be mounted on the other side of the tiller arm Ensure that when rudder turns to Port, Rudder Feedback turns to Port as indicated on the rudder feedback unit. Standard rudder feedback unit may be mounted upside down. This requires an electrical change. (Polarity of rudder feedback requires reversing) Rudder Feedback Plug Wiring Diagrams Note: Pin connections from rear of plug, solder connection side. Pin1 Rudder signal Pin2 +5v Pin3 Not Used Pin4 0v Pin5 Link to Pin 1 (Green) (Red) (Blue) Rudder Feedback and Rudder Angle Indicator Wiring TMQ C-Drive 5 Page 15 of 48 23/08/2016

16 RFUH Internal Wiring The cable from the RFU must be connected to the RUDDER socket on the C-Drive unit. The RFU is supplied with a standard 14 metre cable but can be extended if required during installation. See Rudder feedback wiring diagram. NOTE 1: IF USING RFUH CONNECT AS SHOWN BELOW. SET THE C-DRIVE INTERNAL DIP SWITCHES TO RFUH. If the C-Drive is the only means of steering it is recommended that some form of Emergency steering is also fitted. Main Display Unit The display is water resistant but not waterproof. Select a dry position with access to the steering position Ensure this position is not affected by water Cut the required diameter hole in the panel where the display is to be mounted TMQ C-Drive 5 Page 16 of 48 23/08/2016

17 Mount display and fasten with four corner screws, DO NOT over tighten screws as this may damage the display Route display cable to C-Drive amplifier. Connect cable to NMEA socket on C-drive* * Display cable has two wires for GPS data input Note: When routing cable keep as far away as possible from radio aerial and aerial cables to prevent interference to the autopilot. Cables should also be kept clear of heavy current carrying cables. Compass - TMQ The normal compass supplied for autopilot operation is a standard Compass Sensor (COMMAG). For steel vessels with a good quality flattopped ships compass, correctly compensated for the vessel, a Compass- Top Sensor (CTS) should be used. Treat the compass carefully as the internal gimbals can be broken if the compass is dropped. Remove internal packing before installation. Note: refer page 10 for DIP switch selection for COMMAG or CTS. Compass position is most important as good course holding is dependent on the compass being free from magnetic interference. Avoid a low position in the boat as this can be a position of high magnetic signature. Also, avoid a high position (eg: mast) as excessive movement may be experienced. TMQ C-Drive 5 Page 17 of 48 23/08/2016

18 Position Select a position free from magnetic interference. Ensure position is away from radios, aerials, aerial cable runs. Check other side of bulkhead or deck head for any possible magnetic materials which could interfere with the compass Mount bracket and fasten with screws Remove internal packing from the compass (COMMAG) Fit compass to bracket Rotate compass in the bracket until cable is pointing astern Route cable to C-Drive position avoiding proximity to radio, aerial and heavy current carrying cables Connect to compass socket on C-Drive Compass Mounting Options Calibration: The compass unit will need to be rotated for the correct heading to be displayed. During sea trials further adjustment may be required to reduce any heading error displayed. The compass is calibrated in the factory. This will certainly be good enough for sea trials and in most cases will be as good or better than the results of any auto calibration on the vessel. Further calibration should not be necessary unless you find after seas trials that the compass heading readings have significant errors. If so, then follow the calibration section. TMQ C-Drive 5 Page 18 of 48 23/08/2016

19 Electronic Compass (ELECOM) Take care when handling the compass - it is a sensitive piece of equipment. The compass position is the most important item in the installation of the autopilot. Good course holding is dependent on the compass being free from magnetic interference and excessive rolling or pitching. Position: Select a dry position free from magnetic interference. (Note other side of bulkhead for magnetic type objects) TMQ C-Drive 5 Page 19 of 48 23/08/2016

20 Avoid positions near radios, aerial cables, other current carrying cables or speakers Mount the compass horizontally with arrow (bow) facing in the same direction as the vessel bow. Use non magnetic screws (304 grade stainless steel) Run cable to the C-drive amplifier position (keep away from other cables) Connect compass cable to the NMEA socket of the C-Drive E-Compass Mounting Vessel Bow Connections (Note: Page 27) Wire Colour Code Wire colour Signal from Elecom Pin Red +10 V 6 Black (shield) V- 4 Green Rx+ 3 Yellow Tx 5 Blue Rx- 2 *Close Link J4 on pcb. TMQ C-Drive 5 Page 20 of 48 23/08/2016

21 C-Drive Unit Connection Layout Input Connections NOTE: Pin identification from end of C-Drive unit (Also solder side of plug pins.) Display - Connection for Head units and GPS Data Pin 1 NMEA One Input + GPS Pin 2 NMEA One Input GPS Pin 3 Transmit NMEA Data + TMQ Display Data Pin 4 0 Vdc Power out Negative Pin 5 NMEA Two Input + TMQ Display Data Pin Vdc Power out Display Power NMEA - Connection NMEA Data In/Out, Electronic Compass. Pin 1 NMEA Three Input + Heading Data Pin 2 NMEA Three Input Heading Data Pin 3 Transmit NMEA Data + TMQ Data Pin 4 0 Vdc Power out Negative Pin 5 NMEA Three Input + Heading Data Pin Vdc Power out Compass Power TMQ C-Drive 5 Page 21 of 48 23/08/2016

22 Remote - Connection for 2 remotes, Steering levers, wheels, etc. Pin 1 +5V Power Out Red Pin 2 Remote 1 Steering Signal Input Green Pin 3 0v, Common Ground Blue Pin 4 Remote 1 Auto / Manual Select Yellow Pin 5 Remote 2 Steering Signal Input Green Pin 6 Remote 2 Auto / Manual Select Yellow Active Remote Wiring for Active Remote, plugs into Remote socket (Remote Mode 2). Pin 1 +5V Power Out Red Pin 2 Remote 3 Steering Signal Input Green Pin 3 0v, Common Ground Blue Pin 4 Power steer / Auto select White Pin 5 GPS / Standby select Black Pin 6 Rudder / Response select Yellow Compass Pin TMQ Colour Code Pin 1 Coil White Pin 2 Oscillator drive Blue Pin 3 Coil Red Pin 4 Coil Yellow Pin 5 Coil Green Note: The operation of remotes is dependent on the internal special remote mode settings of the C-Drive amplifier. There is a range of diverse settings which allow a boat to be customised for a given application. Consult your dealer or TMQ Electronics for further information. TMQ C-Drive 5 Page 22 of 48 23/08/2016

23 NMEA Heading Data I/O & External Alarm Connection The internal terminal block in the C-Drive unit has the following connections: Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 TMQ C-Drive 5 REMP WIP3 SEL3 Neg ALMALM+ Tx2 Remote Power 5V Wiper Input for Remote 3 Select Input for Remote 3 Negative External Alarm output External Alarm output Heading Data Output (return is pin 4 Neg) Page 23 of 48 23/08/2016

24 Output Drive Connections Motor and Bypass Valve (Clutch) Connections The motor and bypass terminals are for connection of rudder position actuators. The C-Drive can control an hydraulic reversing pump, mechanical drive, linear actuator or solenoid valves up to a maximum current rating of 15 amps. The motor is connected to M1 and M2 terminals. Where a bypass valve is used (linear hydraulic actuator) or a mechanical drive with electric clutch, the valve or clutch is connected to B1 and B2 NOTE: The motor wires may require reversing to provide the correct rudder direction movement. TMQ C-Drive 5 Page 24 of 48 23/08/2016

25 Reversing Hydraulic Pump Solenoid Valve (or Relay) Connection TMQ C-Drive 5 Page 25 of 48 23/08/2016

26 Note: When connecting the C-Drive for solenoid operation, two internal links J1 and J2 on the PCB must be cut if jog switches are fitted and connected directly to the C-Drive Output. If change over switch used, the links can be left as is. J1 and J2 are located around the FET s heat sink. Remote Units Hand Remotes, Steering Levers and Electric Helms: These units are robust and are capable of withstanding occasional splashes of water. However, if mounted in direct sunlight, the decal may fade. The cable leading from the unit is connected to one* of the remotes inputs of the C-Drive. (* Dependent on special remote selection). Note: The RFU control mode must be selected in order to use the remotes, apart from the jog levers. Remote Configuration Options The C-Drive has two remote inputs Remote socket for remotes called 1 and 2, and, Remote 3 input, located in the internal terminal strip. These inputs are used for normal remote units in many combinations, for example: hand remotes, electric helms and steering levers with station select switches. Additionally there is the option for a TMQ Active Remote to be connected to Remote socket (Remote Mode 2 must be set). The C-Drive unit can be configured to operate in a number of different modes (special remote modes) to accommodate the remote steering units for any vessel; examples are as follows: One Electric wheel TMQ C-Drive 5 Page 26 of 48 23/08/2016

27 One Electric wheel and one remote One Electric wheel and two remotes Multiple combinations of the above to suit. Special Remote Modes (Refer Setup Procedure) Special remote modes are selected via a computer lead and a computer running a serial program (hyperterm). This is normally a factory setting carried out to configure the system when ordered. However, the routine may be carried out in the field but a computer connection lead (not supplied with the system) will have obtained. Computer connection lead details are as follows: There are two main setting options for the C-Drive which cover a majority of the common installations: Mode 1 - used when the C-Drive is not the primary mode of steering the vessel TMQ C-Drive 5 Page 27 of 48 23/08/2016

28 Mode 4 used when the C-Drive is the primary mode of steering the vessel Note: Refer System Examples section Remote Mode 1 and Remote Mode 4 for diagrams of these configurations. Additionally, there are special remote modes for specific installation requirements. System Connection - Examples Remote Mode 1 Hydraulic Steering + Hand Remote Hand Hydraulic system also fitted to vessel Remote 1 & 2 Wiring for above option only Pin 1 +5v Power Out (Red) Pin 2 Steering Signal Input (Green) Pin 3 0v, Common Ground (Blue) Pin 4 Steering Select Switch (Yellow) (0v = Auto, 5v = Power) Pin 5 No connection Pin 6 No connection The remote modes can be changed by a PC connected to the NMEA input, or by an AP60 head. The change of remote modes allows the TMQ C-Drive 5 Page 28 of 48 23/08/2016

29 use of different remotes, such as 3 wheels, or 3 remotes, or TMQ active remotes. Remote Mode 1 Additional Remotes: REMOTE SOCKET: 2 Standard Remotes, Plug in, Remote 3 input: Wheel with a select line, Inside Terminal. Pull select line low to select wheel. Remote Mode 2: REMOTE SOCKET: 1 Active remote, Plug in. Remote 3 input: 1 Standard Remote, inside terminal. Remote Mode 3 2 Remotes and Wheel used in power steer mode: REMOTE SOCKET: 2 Standard Remotes Plug in. Remote 3 input: Wheel with a select line to Power Steer Mode, inside terminal. Remote Mode 4 2 remotes and wheel when in standby mode: REMOTE SOCKET: 2 Standard Remotes. Plug in. Remote 3 input: Wheel with a select line to Standby mode, inside terminal. Remote Mode 5 Wheel in power steer mode. 2 push button select remotes: REMOTE SOCKET: 2 Push button remotes, pull select line low. Remote 3 input: 1 Wheel and select line in power steer mode. Remote Mode 6 Wheel in standby mode, 2 push button select remotes: REMOTE SOCKET: 2 Push button remotes, pull select line low. Remote 3 input: 1 wheel and select line in standby mode. Remote Mode 7 Jog input. 1 push button remote, 1 standard remote: REMOTE SOCKET: 1 push button remote input wiper 2. Pull select line 2 low. 1 Standard remote, wiper 1, select line 1. Remote 3 input: Jog input, inside terminal. Drive via Wiper and select line. TMQ C-Drive 5 Page 29 of 48 23/08/2016

30 System Configuration Operational settings and rudder limits settings are factory set and will suit most operating situations. They can be changed using the Set-up Options Menus (page 36). The following is a description of the settings which can be applied: 1. Pulse Length for NO RFU mode only (Range - 1 to 99) This is the width of the pulse (the ON time) per period determined by the period of control. 2. Reverse Delay (Range - 1 to 99) This is the time the C-Drive waits before driving the output in the opposite direction for avoiding overcurrent. 3. Period of control for NO RFU mode only (Range - 0 to 200) This is the overall time between pulses to drive the motor/solenoid valves. 4. Minimum Linear Speed for NO RFU mode only (Range 5 to 100, where 5 is 0.5 knots) For the autopilot mode works properly, the boat must has a speed above the minimum. The factory value for this parameter is 1 knot. 5. Maximum Speed of Turn for NO RFU mode only (Range 20 to 600) This is the speed in degrees per minute on which the vessel is allowed to turn. TMQ C-Drive 5 Page 30 of 48 23/08/2016

31 6. Speed of Turn tolerance for NO RFU mode only (Range 20 to 600) In NO RFU mode, the control is based on the turning movement. This parameter deals with the inaccuracy and delays of the readings from the compass. Its default value is already calibrated for working with TMQ compasses, and usually will not be necessary to be changed. 7. Maximum Course Error for Proportional Correction for RFU mode only (Range 2 to 180) It sets the maximum course error that is taking in account for calculating the rudder position. For instance, if it is set to 15, the and the vessel is 40 o out from the course, the control will drive the rudder to the same position as if it was 15 o out. It limits the speed of turn of the boat. 8. Dead band (Range 0 to 5) This is the angle limit in degrees, to the both sides of the course direction, for which the autopilot will consider that the boat is on the course. If the boat direction is out of these limits, the autopilot will correct it. 9. Serial Output (HDT, HDM, HDG) Serial Output is factory set to output the HDT heading sentence. HDG, HDT, HDM, and THS sentences can also be selected 10. PID parameters The Integral and the Derivative gains can be set using the Other Ctrls Menu. See how it works for each of them on page 38, in the adjusting the PID control section. TMQ C-Drive 5 Page 31 of 48 23/08/2016

32 Normal Configuration Function Factory Setting Range Rudder Limits +/- 30º Adjustable * Remotes Mode 1 1 to 6 Pulse Length 2 0 to 100 Reverse Delay 30 0 to 100 Period of Control 20 0 to 100 Minimum Speed 10 (1 knot) 5 to 100 Maximum Speed of turn to 600 Speed of turn tolerance to 200 Max Course Error for Prop 10 2 to 180 Dead Band 1 0 to 5 Serial Output HDT HDT, HDM, HDG. PID settings: I 5 0 to 20 D 5 0 to 20 The above settings can be altered depending on the specific requirement of the installation. This can be carried out by a TMQ dealer or by using a computer and the computer lead (lead not supplied see details on page 27) Solenoid Configuration Recommended Pulse Length 3 5 Reverse Delay > 60 Period of Control 20 * Note: If rudder limits need to be reset, test to ensure the new setting prevents the rudder from reaching the mechanical stops. TMQ C-Drive 5 Page 32 of 48 23/08/2016

33 Setup Procedure The following procedure is an example only and may vary from computer to computer. Adjustment of the installation settings can be made using the following: 1. Connect the programming lead to the Display Port on the C- Drive unit and computer communication port (comport). This requires an unused port for the duration of the system configuration. 2. Run a com server program such as HyperTerminal (included on the installation disks for Windows 98SE, Windows 2000, Windows XP etc.) 3. Start > Programs > Accessories > Communications > Hyper terminal 4. Start a new connection and name it for example Electric Steering. TMQ C-Drive 5 Page 33 of 48 23/08/2016

34 5. Select connection to the com port that the programming lead is connected to, eg: connect using: = Direct to COM1 6. Set the baud rate to 4800 Data Bits = 8, Parity = None, Stop Bits = 1, Flow Control = None 7. Switch on the C-Drive system with the Hyper Terminal program connected to the com. port. Data should now be visible in the text editor window. 8. Press [Shift] then key in the Then press [Ctrl] and [Enter] Note: The text is not visible as it is typed. The TMQ Steering Unit configuration option menu will now be displayed. 9. Select the relevant line in the Menu to alter the configuration settings as required; save and exit the configuration menu. These settings will be retained in the C-Drive memory. TMQ C-Drive 5 Page 34 of 48 23/08/2016

35 Set-up Options Menus Main Menu Main Menu 1: Remote Menu 2: Steering Menu 3: Rudder Menu 4: Compass Menu 5: Serial Menu B: BNWAS Q-Quit Sub Menus Remote Menu 1: Remote Mode 2: View Remote Data 3: Cal Remote 1 4: Cal Remote 2 5: Cal Remote 3 6: 7: 8: Reset Calibration 9: View Remote Cals D: Display Help Q-Quit Rudder Menu 1: Set Rudder Limits 2: View Rudder Limits 3: View Rudder Data 4: Set Rudder Tolerance 5: Set Rudder Ratio 8: Speed Limited Steering 9: GPS Correction Factor A: Autom. Settings M: Main Mode Q-Quit Steering Menu 1: Pulse Length 2: Reverse Delay 6: Other Ctrls Settings 7: Steer Data 8: View GPS Steering Data 9: Current Rate Data A: Centre Rudder in Auto R: RFU Centre Data Q-Quit Compass Calibration Menu 1. Start Cal 2. Store Cal 3. Reset Cal 4. ShowValues 5. Compass Data Q. Quit TMQ C-Drive 5 Page 35 of 48 23/08/2016

36 Serial Menu 1: Serial Data Output 2: View Serial 1 3: View Serial 3 4: Check Head CheckSum 5: Show Magnetic Variation 6: Setup Electronic Compass 7: Heading Timers 8: GPS Timers T: Head TimeOut Setting Q-Quit Other Ctrls Menu (from Steering Menu) 1: Integ gain 2: Deriv gain 3: Max speed of turn 4: Speed of turn tolerance 5: Period of ctrl for NO RFU 6: Min speed for NO RFU 7: Heading deadband 8: Max correction error (P) Q. Quit Remote Calibration The remotes may require calibration to provide full rudder travel from each remote. Proceed as follows: Select main menu (refer Set up page 36) using the computer keyboard From Main Menu select 1: Remote menu Calibrate each remote by selecting 3, 4, and 5 in turn Move each remote control through full travel from fully anticlockwise to fully clockwise Press Q to quit the menu Confirm remote calibration on completion Operating without RFU If chosen 0 for main mode in rudder menu, the autopilot will operate the autopilot mode without reading the RFU, apart for the rudder limits if it is connected. In this mode, the program does not use the PID concept, but uses pulses of current in order to turn the motor. The length of these pulses is proportional to the value adjusted for the pulse length, in the steering menu. When the vessel is heading near to the desired direction, the pulses are shorter. TMQ C-Drive 5 Page 36 of 48 23/08/2016

37 The more responsive the vessel is to the rudder movement, the setting should be lower. Usually, for larger boats with high rudder inertia, it will require a longer pulse. Adjusting the PID control PID stands for Proportion, Integral and Derivative, which are the three calculated values that summed result in the control law value. This value is the position to where the Rudder must be driven. Following it is described how each of these values contributes to the control of the vessel. Proportional value: The bigger the error from the desired direction from the current direction of the vessel, the bigger is this value. It provides a more responsive system when the boat is too far from its desired direction, but it is limited by the maximum correction error set under the Other Ctrls Menu. However, this proportional value may be not enough when the vessel's direction is being disturbed by some force that takes it from its route (unbalanced load, wind...). In the autopilot, the gain (contribution) of this value is adjusted with the rudder ratio. Integral value: This portion of the control value integrates the error, for compensate the forces and disturbances that the proportional control value can't cope. It is intended to provide no error on the vessel's direction result. The adjustment of this parameter is under the Other Ctrls Menu ; TMQ C-Drive 5 Page 37 of 48 23/08/2016

38 Derivative value: This value is intended for providing stability to the system avoiding "hunting". It is based in the variation of the error, in this case, how fast the boat is turning. This value will be zero when the vessel is not turning, and will oppose the to the turn movement when it happens. The adjustment of this parameter is under the Other Ctrls Menu. TMQ C-Drive 5 Page 38 of 48 23/08/2016

39 Testing Procedure Initial Inspection and Testing 1. Confirm power to be connected is the required DC voltage. 2. Power Supply 12V DC 3. Power Supply 24v DC 4. Ensure polarity of the voltage supply is correct. 5. All electrical connections are correct. 6. Loose cables are clipped or tied up. Dockside Tests 1. Turn steering wheel fully clockwise and visually check that moving and mechanical parts do not foul; visually check that RFU has moved in correct direction as indicated on the RFU label on top. 2. Repeat step 1 for anti-clockwise. 3. Return steering to centre and ensure RFU is at centre. 4. Centre electric steering wheel or lever 5. If drive goes hard over to mechanical stop change motor connection wiring. (See Trouble Shooting Section) 6. Check rudder direction follows Wheel or Lever 7. Check Wheel or Lever provides sufficient rudder movement 8. Adjust Rudder Limits using a display or computer if required TMQ C-Drive 5 Page 39 of 48 23/08/2016

40 Trouble Shooting Unit does not move rudder Check voltage is present at the Electric Steering Unit power plug. Confirm that the supply voltage is in the range of volts dc. Check and replace the Electric Steering Unit 15A internal fuse if necessary. If using solenoid valves with an external power supply, check that it is present. Check all motor and / or solenoid valve wiring. If using a hydraulic system; (a) Ensure there is sufficient hydraulic fluid. (b) Purge the system of possible air locks / contamination (c) Ensure that any flow restricting valves are not completely closed (d) Check all connections for leaks. After ensuring the above are all correct, check that the internal LED L2 is flashing when the unit is powered. If not, the C-Drive unit requires replacing. Rudder drives hard over Reverse motor connections or solenoid valve connections. Rudder drives hard over but in the correct direction; (a) Check rudder feedback unit is connected to the rudder arm. (b) Check rudder feedback cable for damage. (c) Ensure the rudder feedback plug is firmly connected to the electric steering unit. Solenoid valves do not operate Check the motor connections on the C-Drive amplifier Check connections on solenoid valves Test coil resistance of solenoid valves Confirm that the value for Pulse Delay on the electric steering unit is set between 3 and 5 (see: System configuration) Motor unit does not operate If using a continuous running pump check the power supply to the pump If using a reversible pump (a) Check the connections to the pump (b) Check the internal 15A fuse in the amplifier and replace if necessary TMQ C-Drive 5 Page 40 of 48 23/08/2016

41 Optional Extras There are a range of optional extras that can be connected to the C- Drive system as the circumstances require. The C-Drive system can be adapted to suit many applications. For further information see the TMQ website Rudder Angle Indicator Electric Wheel Fluxgate Compass The rudder angle indicator is a flush mounted instrument providing a clear indication of rudder position, which is critical when docking or manoeuvring in close quarters. (Note: Connect with the RFU to the Rudder socket on C-Drive) The TMQ Electric steering wheel provides precise, light steering on any vessel with a power steering system installed. It simplifies vessel fit out by eliminating long hydraulic lines to the helm position (Note: Connect to the Remotes 1&2 or Remote 3 sockets on C-Drive) The TMQ Fluxgate Compass provides the necessary heading information when the C- Drive is used as an autopilot. Note: Connect to the Compass socket on C-Drive. TMQ C-Drive 5 Page 41 of 48 23/08/2016

42 Hand Remote Active Remote Hand remotes and Active remotes provide the freedom to maintain full control of the autopilot and steering while moving around the vessel. AP55 Display The AP55 head provides full control of the C- Drive indicating current course or heading along with rudder angle and mode. Note: Connect to DISPLAY socket on C- Drive. AP60 Display The AP60 head provides full control of the C-Drive indicating heading heading, mode and rudder angle (Note: Connect to DISPLAY Socket on C-Drive) TMQ C-Drive 5 Page 42 of 48 23/08/2016

43 AP1000 Computer Software This is a computer software program enabling autopilot control from a standard PC with serial comm. ports. (Cable required) (Note: Connect to DISPLAY socket on C- Drive) Steering Lever Levers allow single handed control of any size vessel with power steering. Movement to port or starboard causes the rudder to follow proportionally. Reversible pumps Hydraulic pumps available in either 12 or 24 volts DC with 1, 2 or 3 litre capacity to suit recreational, work boat or fishing applications. Continuous pumps Constant running pumps available in varying flow rates for 12 / 24 volt DC systems and 240 / 415 volt AC systems. Accurate flow adjustment to set lock-tolock time available on some units. TMQ C-Drive 5 Page 43 of 48 23/08/2016

44 Linear drive (hydraulic) Single rod linear drives can be fitted to a wide variety of vessels. May be attached directly to the tiller or rudder quadrant. Mechanical drive (rotary) Mechanical drive units in 12 or 24 volt DC to suit vessels with existing mechanical steering. Supplied with standard chain and socket. Mechanical drive (linear) Mechanical drive 12 VDC. Optional integrated feedback unit can be fitted to simplify installation. Supplied with cable. TMQ C-Drive 5 Page 44 of 48 23/08/2016

45 Circuit Diagram TMQ C-Drive 5 Page 45 of 48 23/08/2016

46 PCB Layout TMQ C-Drive 5 Page 46 of 48 23/08/2016

47 DECLARATION OF CONFORMITY ( MANUFACTURERS DECLARATION ) Manufacturer: TMQ Electronics PO BOX 3348 Tingalpa, QLD 4173 Australia Tel: Fax: Declares under our sole responsibility that the products: C-Drive 5 Steering Amplifier, Rudder Feedback Unit and remote accessories, all units interconnected with necessary cables and external connections as a system to which this declaration relates, is in conformity with Standard(s): EN60945/1997 CEI IEC945/1996 For TMQ International Pty. Ltd. Murarrie Queensland Australia. Ken Brown, Manager 12 th May 2016

48 Warranty TMQ Electronics products are thoroughly inspected and tested before shipment from the factory and are warranted to be free of defects in workmanship and materials for a period of one year from the date of shipment from the factory. By returning the enclosed questionnaire and registering the product. The warranty will be extended to a total of 3 years from the date of leaving the factory. This warranty is extended to and is solely for the benefit of the original consumer purchaser. All units in need of repair will be repaired without charge to the purchaser during the above mentioned period in accordance with the following terms and conditions: 1. The defective unit is returned "freight prepaid" to TMQ Electronics, whose address is unit 18, 17 Rivergate Place, Murarrie QLD Proof of purchase is supplied and original Serial Numbers on equipment have not been changed. 3. Information is provided regarding the nature of the failure or problem occurring. 4. A return address is supplied to enable the equipment to be returned by road freight. Any other means of transport will be charged to the customers account and must be paid in advance. This warranty does not cover defects or damages caused by unauthorised service or damage through accident, misuse or abuse. The owner is also responsible for providing reasonable maintenance and weather protection of the equipment. TMQ Electronics shall not be liable for damage or loss incurred resulting from the use and operation of this product. TMQ Electronics reserves the right to make changes or improvements to later models without incurring the obligation to install similar changes to equipment already supplied. Some states do not allow the exclusion or limitation of incidental or consequential damages; therefore the above limitations or exclusions may not apply to you. This warranty gives you specific legal rights and you may also have other rights, which vary from state to state. TMQ C-Drive 5 Page 48 of 48 14/02/2012