Safety You are responsible for the safe and prudent operation of your vessel. Your TR-1 Autopilot is a tool that will enhance your capability to operate your boat and catch fish. It does not relieve you from the responsibility for safe operation of your vessel. You must avoid hazards to navigation and never leave the helm unattended. In case of autopilot pump failure or leakage, shut the valves located on the front of the manifold see page 15.
Contents Section III: Troubleshooting........................31 1 3-4 5 6 7 Section IV: Changing Codes.......................32 Table of Setup Codes 33-35 GPS Connection Guide 36-39 Section V: Setup............................................29 8 40 Section I:Wireless Parts List................
TR-1 Gladiator 2.1 Liter System Parts List Pump Unit: 4 ea. #14 x 1” Phillips Pan Head screw 310-0072-18 Pump Unit: 120-2568-00 Electronic Control Unit: 120-2545-00 4 ea. #8 x 5/8” Phillips Pan Head screw 310-0072-16 Compass Ball: 120-2250-00 3-ea.
TR-1 Gladiator System Parts List Accessory Pack 120-2570-00: Tach Sensor Cable: 120-2510-00 10 ea.wire connectors: 290-0100-00 3 ea. wire ties Wht 11”: 305-0002-06 3 ea. Cable tie mounts 6 ea Black wire ties 3 ea. #8 x 5/8 Phil FT sts: 310-0072-16 Deckmount: 120-2515-00 2 ea. #4 x 3/8” Pan Head Screw 310-0072-03 Shadow Drive/Flow Switch 120-2580-00 Battery Cable with Fuse: 120-2530-00 Warning Horn: 120-2525-00 Compass Ball: 120-2250-00 3-ea.
Single Helm Hydraulic Layout BALANCED CYLINDER Port Fitting Starboard Fitting Before starting the hydraulic installation, please verify the type of hydraulic steering in the boat. If it does not match the hydraulic layouts in this manual, call TR-1 technical support for specific installation procedures.
Dual Helm Hydraulic Layout BALANCED CYLINDER Port Fitting Starboard Fitting ! Before starting the hydraulic installation, please verify the type of hydraulic steering in the boat. If it does not match the hydraulic layouts in this manual, call TR-1 technical support for specific installation procedures.
Wire Connectors Electrical Layout { { Yellow ( + ) White ( - ) (+) GPS #1 ( - ) NMEA out* Blue ( + ) ( + ) GPS #2 ( - ) NMEA NMEA In # 1 Compass Ball { NMEA In # 2 Shadow Drive Warning Horn Red Brown Black Green Black( - ) Blue (- ) Red ( + ) Orange ( + ) (+) (-) Red ( +) Black (- ) NMEA Out Chart Plotter Overlay NMEA IN* } } } Brown ( - ) Green (GND) *Refer to your specific electronics manual for color codes or refer to GPS connections on pages 36-39 #4 Remote/ Handheld Hydraul
Chapter I Gladiator Installation & Setup ................ This chapter will provide detailed information to accurately and successfully install the TR-1 Gladiator. If you have any questions please don’t hesitate to call technical support.
Section I Installation Check List Please read all installation instructions before proceeding with the install! The TR-1 Gladiator is designed and manufactured to meet the harsh marine environment. However, no electronics can perform as intended unless installed, setup and maintained properly. Please read and follow the recommended installation procedures. (The specific order of steps 411 can vary depending on certain conditions and the installer.
TR-1 Gladiator Specifications Pump Set 15.375” L x 7.5”T x 7.5”W ECU 6.5” H x 7” W x 2” D Compass Ball 3.6”Diameter HH/Remote 5” x 2.5 x 1” Deckmount/On-Off 5/8” x 2.5 ” Battery Cable 12 gauge Tach Cable Warning Horn Shadow Drive 2-5/8” L X 1-1/4 Dia Supply Voltage 11.5-14.0 In line fuse Operating Ambient Temperature Cable Length 20’ Cable Length 20’ Cable Length 10’ Cable Length 8’ Cable Length 13’ Wire Length 9’ Wire Length 9’ VDC ATO 40 Amp 20 to 120 deg.
Mounting Considerations, Protection, Hydraulic Connections, Magnetic Environment, System Maintenance Pump Unit: This pump unit is designed for cylinder or cylinders equilivant to 10 - 25 cubic inches only. The Pump unit will need to be mounted within at least 20” of the ECU. It will need to be mounted in a horizontal position to a solid surface. Do not lengthen or splice the #5 wire or the orange and black power wires. Do not use this pump with an unbalanced cylinder.
It is recommended that before connecting the hydraulic lines to the pumpset, ensure all the hydraulic lines in the steering system have been flushed and that the hydraulic oil is free of any contamination, which may enter the pumpset or Shadow Drive valve and cause it to fail. Air in the hydraulic system will cause the autopilot not to function properly. It’s important to bleed the system thoroughly. Follow the steering manufacturers instructions on bleeding procedures before proceeding with installation.
Installation Of Pump Unit This pump unit is designed for cylinder or cylinders equilivant to 10 - 25 cubic inches only. Hydraulic Pump and Motor Assembly: Mount the pump unit using the template provided. Mount the pump to a solid surface using the #14 x 1” pan head sheet metal screws provided. The pump unit connects to #5 at the ECU and the orange and black twisted wires connect to the orange and black twisted wire connections at the ECU. Please refer to the electrical layout on page 8.
Installation Of Electronic Control Unit (ECU) Electronic Control Unit (ECU): Mount the ECU using the template provided. Mount it to a solid surface using the four #8 x 5/8” Phillips Pan Head screws included in the accessory pack. The ECU will need to be mounted within 20” of the pump unit. (Wire length only allows for 20” and cannot be lengthened) Most all components in the system connect to this unit, so considerations will need to be made due to cable access and lengths.
Installation of Compass Ball The Compass Ball connects to #4 on the ECU. The Compass needs to be mounted in the front 1/2 of the boat. The Compass ball contains a fluxgate compass which is sensitive to magnetic disturbances, be aware of what is around it before mounting it permanently. Keep such items as, radio speakers, anchors, air ride seats, windshield wiper motors, tool boxes, fire extinguisher, and the autopilot pump motor at least 24” away from the Compass Ball.
NMEA 0183 Connections The Autopilot does not need to connect to a GPS for the autopilot to work, but if you want to use waypoint steering you must connect to a GPS and set North see page 29. The Autopilot will accept NMEA input from two GPS units and transmit NMEA to one receiving device. Only one of the GPS inputs is used for steering control at a time. Selection of the controlling GPS is made through the NMEA source selection [code 34] (see pages 33-35 for explanation of setup codes).
Non-Compliant NMEA 0183 Devices The TR-1 Autopilot is designed in conformance with the NMEA 0183 standard. The TR-1 will communicate reliably and safely when connected to other devices that meet this standard with the normal wire connections. Some manufacturers imply that they conform to the standard when in fact they do not. Any device that requires a signal connection to ships ground is not in compliance with the standard.
Installation Of Shadow Drive Valve (Single Helm Station) Shadow Drive Valve/Sensor: The Shadow Drive is an electronic bi-directional valve. Install it as shown in the system layout.Install it horizontally, as level as possible, and mount the valve lower than the helm. Avoid any loops in the hydraulic lines, air may get trapped and cause the autopilot not to work properly. It needs to be mounted closer to the helm than to the pump unit.
Installation Of Shadow Drive Valve (Dual Helm Station) Shadow Drive Valve/Sensor: The Shadow Drive is an electronic bi-directional valve. Install it as shown in the system layout. Install it horizontally, as level as possible. In a dual helm, the shadow drive valve must be located behind and closest to the lower helm, and closer to the helm than the pump. Avoid any loops in the hydraulic lines, air may get trapped and cause the autopilot not to work properly.
Installation Of Warning Horn The warning horn is an audible alarm, and needs to be mounted near the helm station. It can be mounted under the dash out of the way. Compass Ball Warning Horn Black( - ) Blue (- ) Red ( + ) Orange ( + ) The electrical connections for the warning horn are made at the compass ball. The Black ( - ) and Red (+ ) wire on the warning horn connect to the Blue (- ) and Orange ( + ) coming from the Compass Ball.
Installation of Deckmount On/Off Switch If you choose to mount the On/Off Switch in an area that may be subject to salt water spray or wash down, please install the switch using the waterproof bezel provided. Installation of On/Off Switch Using Waterproof Bezel Deckmount On/Off Switch: The Deckmount switch connects to #1 on the ECU. The deckmount should be mounted on the dash near the helm. Use the #4 x 3/8” screws provided in the accessory pack.
Installation Of Handheld The handheld connects to # 3 at the ECU. The handheld comes with a standard 18’ cable. It can be extended in length by using extensions. These are available in three lengths; 10 ft, 20 or 30 ft. Corded Mount: Different options are available. TR-1 has an optional clip than can be purchased separately, Fig. 29. Fig. 29 Mic Clip Part Numbers: White 120-2043-03 Black 120-2043-02 Corded Mount Flush Mount: Remove the back cover of handheld.
Tachometry Connections Tach Sensor Cables: The tachometry connection is a very intricate part of the Gladiator and must always be connected. In most cases this can be simply done behind the dashboard at the tachometer display or just before the display. You must always refer to the engine’s owner’s manual or shop manual to locate the color codes and location of tachometry wiring.
Tachometry Connections Honda + Gray (positive) - Black (negative) On most Hondas the pulses per revolution to 2.
Battery Connections Connections to the battery should be made last. Connect the ground side first. Connect the black (-) wire to the negative (-) side of the battery first. Connect the orange (+) wire to the positive (+) side of the battery terminal. We prefer that the system is connected directly to a battery, but if you are connecting to a terminal block or other source, the Gladiator needs a 40 amp supply.
Section II Dockside Setup and Sea Trial Setup of Autopilot Your autopilot needs to be setup and tuned to your boat dynamics and motor configuration. It is important to get the autopilot operating the best in can. The Dockside Setup and the Sea Trial Setup are steps that must be followed to achieve the best performance from the TR-1 Gladiator Autopilot. Have patience and try to do the Sea Trial Setup on a nice calm day. Follow the directions below.
Sea Trial Setup: Steps 10-15 will need to be performed on open water, free of obstacles. 10. Calibrate your compass. The autopilot compass is made with a fluxgate. Like all compass installations, fluxgate installations are susceptible to local magnetic disturbances that will cause erroneous heading outputs. The autopilot computer can detect and correct deviations caused by magnets and iron materials around the fluxgate- if the earths’ magnetic field near the compass isn’t too distorted.
11. Restart the autopilot by pressing and releasing the Deckmount On/Off switch. Autotune. The autopilot’s autotune function can really simplify the problem of adjusting the feedback gains. The autotuner will adjust the gains well enough that you may not need to do any additional adjustments at all. You can adjust the autotune results after autotuning if needed. 12. In order to use the autotuner (or to tune the autopilot yourself), you must be in calm water with very little wind.
Set North 14. Set North. This needs to be done if any GPS or radar overlay functions are going to be used. To run a GPS course requires that the autopilot compass is in agreement with the GPS’s magnetic map. You need to set North with the pilot in standby mode. Setting North may require a significant amount of clear sea space in front of your boat (at least 1/2 to 3/4 of a mile). Verify that the NMEA connections for the GPS are functioning. Turn on the GPS.
15. Fine Tuning. (Optional) If autotune did a pretty good job but you feel that the dead idle response of the pilot is a bit “twitchy”, try to eliminate the twitch by increasing the Low RPM Limit [Code 357] to a few hundred RPM more than your dead idle RPM. If you want to hold heading more aggressively at high speeds, try decreasing the High RPM Limit [Code 359] to a few hundred RPM less than your engine RPM at high speed.
Section III Trouble Shooting Guide Autopilot does not hold heading. 1. Did you calibrate the compass? a. Calibration must be done for the autopilot to work correctly. See pages 30 2. Has some kind of magnetic interference been introduced within 24” of the Compass? 3. Is Compass Ball and Bracket firmly mounted? 4. Are the wires pointing down out of the Compass Ball? Compass Calibration fails.
Section IV: How to Change Parameters of Setup Codes Using the Table of Setup Codes on the following pages as a guide, follow the instructions below on how to change any of the factory defaults. Remember-All changes must be downloaded and saved into permanent memory for the changes to take effect the next time the system is turned on. 1. Autopilot must be in heading hold [Auto],[Standby], or [ GPS Track] mode before selection process can start.
Table of Setup Codes and Values of the Parameters Description Code Step Turns (Degrees per Step Circle Time Zig-Zag Amplitude (Degree of Turn) Zig-Zag Period (Length) MOB Overshoot Clover Leaf Length Search Spacing 6 7 8 9 14 28 25 Values of the Parameters 10 Choices/ 1.2.3.4.5.10.15.30,45,90 Degrees 10 Choices/ 1.2.3.4.5.10.15.30,45,90 Minutes 10 Choices/5 to 50 degrees by 5’s 20 Choices 1/2 to 10 minutes by 1/2’s 1 Most overshoot command.
Table of Setup Codes and Parameters FINE TUNING CODES Description Code Values of the Parameters Factory Defaults 39 Acceleration Limiter 5 1 lowest accel, 100 Highest accel Code 5: This parameter limits the aggressiveness of the autopilot controlled turns. Turn it up to allow higher rate turns and down to limit the turn rate.
Table of Setup Codes and Parameters TACHOMETER CODES Description Code RPM Source Configuration Values of the Parameters 259 1, none/ 2, Port/ 3, Starboard/ 4, Both 267 1 to 255 by 1’s Factory Defaults 2 Code 259: For single engine installations, set this code to 2 (1 blink) (and hook the blue and black wires up to your engine tach leads). Pulses per Revolution 6 Code 267: The number of tach pulses per engine revolution is an engine specific parameter.
Section V GPS Connection Guide This chart is a guide only and is to help you with your GPS connections and should not be used as factual information. Please check your GPS manual for verification of NMEA 0183 connections on your application. This is not a compatibility chart, but most all GPS’s are compatible with the TR-1 Gladiator.
GPS Manufacturer Model From GPS To Autopilot NMEA In #1 To Autopilot NMEA In #2 Garmin GPS Map 238 GPS Map 188 NMEA Out, Com 1 tx Blue ( + ) Black ( - ) Yellow ( + ) White ( - ) Blue ( + ) Brown ( - ) Garmin E-Trex White ( + ) Black ( - ) Yellow ( + ) White ( - ) Blue ( + ) Brown ( - ) Garmin 3010 3210 Com 1 Blue ( + ) Black ( - ) Com 2 Gray ( + ) Black ( - ) Port 1 Gray ( + ) Pink ( - ) Port 2 Blue ( + ) Blue/White ( - ) Yellow ( + ) White ( - ) Blue ( + ) Brown ( - ) Brown ( + ) Black
GPS Manufacturer Model From GPS To Autopilot NMEA In #1 To Autopilot NMEA In #2 NMEA Out Lowrance LMS 332/337 Yellow ( + ) Bare Grnd Wire ( - ) Must have Version 1.
RayMarine GPS Manufacturer RayMarine C Series E Series Model Yellow ( + ) Brown ( - ) From GPS L1260DRC Blue ( + ) Shield Grnd ( - ) Off NMEA Heading Page 4-9 of Manual Simrad GN 33 Simrad CP40, All CA Models, CR 40/42/50/52 CE 32 Yellow ( + ) White ( - ) To Autopilot NMEA In #1 Yellow ( + ) White ( - ) Blue ( + ) Brown ( - ) To Autopilot NMEA In #2 Blue ( + ) Brown ( - ) White ( + ) Green ( - ) NMEA Out Radar Overlay N/A White ( + ) Shielded wire ( - ) Yellow ( + ) White ( - ) Blue ( + ) Brow
Chapter II ................ Installation of Wireless Remote Optional Accessory Five Button Two Button This chapter will provide detailed information to accurately and successfully install the TR-1 Gladiator Wireless Remote Unit.
Section I Parts List Wireless Two Button Item Description Part # Qty.
Parts List Wireless Five Button Item Description Part # Qty.
Section II Introduction Thank You Thank You for the purchase of your TR-1 Gladiator wireless remote. TR-1 wireless remote has been designed to give fishermen that competitive edge in fishing and unparalleled precision and control of their boat. TR-1 Autopilots is dedicated to create the finest controls and guidance systems for the best in boating and fishing. Safety You are responsible for the safe and prudent operation of your vessel.
Wireless Remote Functions, Two Button Thank you for purchasing this accessory for your TR-1 Autopilot. Please read and understand this manual before installing and operating this system. The TR-1 wireless remote control is an add on system that provides the two most often used functions of the standard TR-1 wired remote in a compact wireless form. (Note: The wireless does not replace your existing handheld.
Wireless Remote Functions, Five Button The Five Button wireless remote control is an add on system that provides the five most often used functions of the standard TR-1 Wired Remote in a compact wireless form. Note: The wireless remote does not replace your existing handheld. You will need your wired handheld to tune your autopilot or use the other special functions of the autopilot.
Section III Installation Considerations When installing the wireless remote system: 1) Mount the receiver box and antenna away from sources of electronic interference such as the autopilot hydraulic pump and the engines ignition systems. Wireless Installation 1. Mount the receiver box. Use the screws provided, or use wire ties. 2. Mount the antenna using the screws provided. 3. Unplug the wired remote from the ECU wire #3, and plug in the wire coming from the receiver box unit. See Fig.1 4.
Section IV Security Codes Each keypad transmitter transmits its own unique identification code when a button is pressed. The receiver computer must be programmed to recognize your transmitter. Program the receiver/transmitter pair by: 1) Turn the TR-1 Autopilot on. 2) Watch the LED on the receiver box, when it starts blinking-press any button on the wireless keypad until the LED stops blinking. You will need to do this (once) anytime you change keypads.
Limited Warranty This TR-1 product is warranted to be free from defects in materials or workmanship for one year from the date of purchase. Within this period, TR-1 will, at its sole option, repair or replace any components that fail in normal use. Such repairs or replacement will be made at no charge to the customer for parts or labor, provided that the customer shall be responsible for any transportation cost.
