Raymarine SR4000+ MkII Wheel Drive

try it in dirt yet (gravel, sand, grass dirt)
since you didnt post transfer case type can't answer
if you use , part time 4wd on dry pavement this will happen as
will 4low or lock. read the operators guide, one more time.

its a new car get it serviced, or drive in dirt, and turn off 4wd
see if it stays off. if you use the car wrong, the dealer will just stare at you, in a very not so funny way.

new cars come with options, or by sub model, (same really)
some have Automatic Full-Time Four-Wheel Drive
which one?
The Compass also features two electronically controlled four-wheel drive systems. Freedom Drive I and Freedom Drive II, Freedom Drive I is a full-time four-wheel drive system with locking capabilities

if some one used LOCK
you need to unluck in dirt. drive to side of road with gravel
or any loose surface and get bad to normal.
read opeators guide 1 more time.....

First of all - is the boat compass correct? How does it align with COG? Secondly, do you have a magnetic field that interfere with the fluxgate? To test for this you can use the compass on your smartphone or a handheld compass, move about in the boat and keep the phone/compass aligned with the keel. If the heading drifts in the area where you have your fluxgate today, move it.

Search in e-bay ,there is a supplier

You can check it in 2 places:

1) the back of the control head
2) the motor itself. The wire plugs into the motor or the shaft coming off the wheel portion.

You should have approx. 12 VDC coming from the control head to the motor.

The wheeldrive is only a mechanical actuator ,it will not pilot ,it will only drive the wheel ,you need a control unit ,several 4000 or 3000 units are suitable ,
some have an internal compass others need an external compass

Remove the connection to the drive unit and check if freezing persist.If not check drive motor and cable.
If freezing persist and compass is ok the control unit is faulty.
Verify if the compass reading is ok in four directions on standby.if not check compass or compass wiring.

CHECK FLUXGATE COMPASS ,see google for check autohelm fluxgate.

CHECK THE POWER SUPPLY WIRING ,If it worked before ,could be corrosion or lose wire connection,or terminal bad crimped,or terminal loose inserted.
If it is new installation ,power wires could be undersized,or battery discharged .
Normally autopilot shuts off from auto and restarts when power supply voltage drops under the reset voltage ,when the wheel turns ,the motor current increase and the power voltage drops when the power supply wires are not OK.

You would need to supply more info to pin point problem. 1) Do you have hydaulic steering?If so do you have a rudder feed back sensor. 2) Is this a new install or did the pilot work properly before 3) Do you have a smart pilot course computer in the system or is the wheel drive run straight from the head unit. 4)What was the deveation reading on your auto pilot compass when it was swang. 5)Was the pilot comissioned by a qualified person. I know there is a lot of questions here but there could be many things that are causing the S.Once the above questions are resolved I should be able to narrow it down to one or two things. Regards Robert

Try to make new brackets for adapting to the screw holes on the rim ATTENTION the screws should NOT
go deeper in the rims as the original ones as they will interfeer with the internal parts and damage will result.