Raymarine autopilot manual

Distributed by Any reference to Raytheon or RTN in this manual should be interpreted as Raymarine. The names Raytheon and RTN are owned by the Raytheon Company.[...]

ST6001+ Autopil ot Contr ol Unit Owne r’ s Handbo ok Docum ent number: 81190-2 Date: May 2001[...]

ii ST6001+ Autopil ot Contro l Unit - Owner ’ s Handbook Autohelm, HSB (Hi gh Speed B us), Sai lPilot, S eaT a lk and Sp ortPilo t are registered trademarks of Raymarine Ltd. Raymarine, AST (Advanced S teering T echnology), AutoAdapt , AutoLearn, Au toRelease , AutoSea state, AutoT ack, AutoT rim, FastT rim, GyroPlus, RayGyro, RayP ilot and W i n[...]

Preface iii Contents About this handb ook ........ ...... ......... ........ ......... ...... ......... .. v ii Import ant Informat ion ........ ...... ......... ........ ......... ...... ....... viii Warranty .. ....... ........... ........... ........... ....... ........... ........... ........... . v iii Safety n otices ..... ....... ...........[...]

iv ST6001+ Autopil ot Control U nit - Ow ner ’ s Handbook Returning to the previous wind angle (LAST WND) ............. 25 Dodges in W ind V ane mode .................................................... 25 W ind Shift warning ................................................................. 26 Using AutoT ack in W ind V ane mode .................[...]

Preface v Chapter 7: Adjusting Autopilot Settings ................. ............. 75 7.1 Calibration basics .................................................................... 76 Calibration groups ...................... ............................................ 76 Accessing the Calibration mode ............................................. 78 [...]

vi ST6001+ Autopilot Control Unit - Owner ’ s Handbo ok[...]

Preface vii About this hand book W e lcome to the handbook for the ST6001 + autopilot control unit. This handbo ok contains two mai n parts: P art 1: Using the S T6001+ P art 2: Installing the ST6001+ At the end of this handbook we hav e included an appendix , product specifications, a g lossary , an i ndex, ins tallation templates, and warranty in[...]

viii ST6001+ Autopil ot Contro l Unit - Owner ’ s Handbook Important Information War ra n ty T o register you r new Raymarine product, please take a few minutes to fill out the warranty card. It is important that you compl ete the owner information and return the card to us to receive full warranty benefits. Saf ety no tices WA RNING: Pr oduct in[...]

Preface ix • Make sure that all members of crew know how t o disengage the autopilo t. • Regularly check for ot her boats and any obstacles to navigation – no matter how c lear the sea may appear, a dangerous situation can deve lo p ra pid ly . • Maintain an accurate record of the boat ’ s position by usi ng either a navigation aid or vi [...]

x ST6001+ Autopilot Control Unit - Owner ’ s Handbook[...]

Pa r t 1 : Using the ST6001+ P art 1: Using the ST6 001+[...]

P art 1: Us ing t he S T6001 +[...]

Chapter 1: Intr oduction 1 1 Introduction Chapter 1: Introduction The Raymarine ST600 1 Plus (ST6001+) is a SeaT alk ® c ompatible autopilot control unit. It is designed as the main control unit for Raymarine T ype 1 50, 150G , 400 and 40 0G course computers. The ST6001+ control unit has the following modes: 1. Standb y : autopi lot off (see page [...]

2 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 1 Introduction Functio ns with T ype 150/150 G and 400/400 G autop ilots The functions provi ded with T ype 150/ 150G and T ype 400/4000G autopilots depend on whether the cours e computer contains an internal GyroPlus yaw senso r: Exte nded sys tems Y ou can connect the ST6001+ to other Raymar[...]

Chapter 2: Ba sic Operation 3 2 Basic Operatio n Chapter 2: Basic Oper ation The sections in this chapter explain how to use the basic functions on your ST6001+ aut opilot control u nit: Note: If you are using the control uni t with a non-150/40 0 autopilot syst em, r efer to the note s in th e App endix . 2.1 Using the co ntrol unit Summ arize s t[...]

4 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 2 Basic O perat ion 2.1 Using the contr ol unit Start-up mode The autopilot alw ays powers up in S tandby mode with the display showing the boat ’ s current compass heading. Note: You can press stan dby at any time to return to manual steering. Keypad functions The autopilot is controlled us[...]

Chapter 2: Ba sic Operation 5 2 Basic Operatio n Display layout The ST6001+ display screen prov ides the following i nformation: The bar graph at the bottom of the screen is normally a rudder position indicator . This indicates the current position of the rudder , as measured by the rudder posi tion sensor . Note: You can chan ge this to a heading/[...]

6 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 2 Basic O perat ion 2.2 Using A uto mode CAUTION: Before using Auto mode, make sure th at the pilot has been correctly commissioned. Engaging the autopilot (Auto mode) T o engage the autopilot: 1. Steady t he boat on the required heading. 2. Press auto : • in Auto mode, the display sh ows th[...]

Chapter 2: Ba sic Operation 7 2 Basic Operatio n Changing course in Auto mode In Auto mode, use the -1 and -10 (port) and +1 and +10 (sta rboard) keys to change the locked heading in steps of 1 ° or 10 ° . For example: pre ss - 10 three t imes for a 30 ° co urse change to port. Adjusting performance – T ype 15 0G/400G The main way you can adju[...]

8 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 2 Basic O perat ion Y ou ca n ad jus t the default response level in either User or Dealer Calibrati on (see page 85 ). This determines the default power -up response level. However , when using your autopilot on a day-t o-day basis, you can make temporary adjustments to the response level. By[...]

Chapter 2: Ba sic Operation 9 2 Basic Operatio n Respon se leve l – T ypes 150/400 and 100/300 The response level control s the relationship between the autopilot ’ s course keeping accuracy and the amount of helm/drive activity . Y ou can adjust the default response level in either User or Dealer Calibration (see page 8 5 ). This d etermines t[...]

10 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 2 Basic O perat ion Off Course warning The ST6001+ activates the OFF COURSE warning when the boat has been off cours e from the locked heading by more than the specified angle* for longer than 20 seconds. It shows whether the deviation is to port or starboard. Note: * You can adjust this spec[...]

Chapter 2: Ba sic Operation 11 2 Basic Operatio n Dodging an obs tacle 1. Select a course change in the appropriate direct ion. For example, pre ss -10 three times for a 30 ° dodge t o port. 2. When safely clear of the obstacle, you can either: • reverse the previous course change (for example, press +10 three tim es), or • return to the previ[...]

12 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 2 Basic O perat ion Using sail boat features Automati c tack (Au toT ack) The ST6001+ has a built in automatic tack f acility (AutoT ack) that turns the boat thro ugh 100 ° in the required direction. If you have set the vessel type to SAIL BOA T , you can adjust the default AutoT ack angle i[...]

Chapter 2: Ba sic Operation 13 2 Basic Operatio n • with gybe inhi bit on : • you will be able to p erform a n AutoT ack into the wind • to prevent accidental gybes , the autopilot will prevent the boat from performing an AutoT ack away from th e wind • with gybe inhi bit off : • you can perform an AutoT ack into or away from the wind. No[...]

14 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 2 Basic O perat ion 2.3 Adjus ting displ ay/keypad lighting Note: When the displa y lighting is off, the contr ol unit illu minates the keys at a courtesy level. T o adjust the displ ay and keypad lighting: 1. Press disp for 1 second from any mode to access the LAMP screen and turn on the lig[...]

Chapter 3: Adv anced Operatio n 15 3 Advanced Operation Chapter 3: Adva nced Oper ation The sections in this chapter explain how to use the more advanced function s on your autopilot: Note: If you are using the control uni t with a non-150/40 0 autopilot syst em, r efer to the note s in th e App endix . 3.1 Using T ra ck mode T rack ing betwe en wa[...]

16 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 3 Advanced Operation 3.1 Using T rac k mode Note: You can only use Track mode if you have conn ected the autopilot t o a suitable navigat ion system providing S eaTalk or NMEA navigatio n information . The autopilot system can receive track information from either: • a SeaT alk navigation i[...]

Chapter 3: Adv anced Operatio n 17 3 Advanced Operation Note: The closer the boat is to the correct heading and track when you press tr ac k , the quicker the autopilot will bri ng the boat onto the new course. If the boat is more than 0.3 nm from the track, the Large Cross Track Err or warning will sound (see p age 17). Exiting T rack mode Y ou ca[...]

18 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 3 Advanced Operation Tidal stream compensation Under mo st condit ions, the aut opilot will h old the sele cted trac k to within ± 0.05 nm (300 ft) or better . The autopilot t akes account of the boat ’ s speed when computin g course changes to ensu re optimum performance over a wide range[...]

Chapter 3: Adv anced Operatio n 19 3 Advanced Operation In order of preference, the autopilot uses: • measured boat speed (speed t hrough water) • if this is not availa ble, it uses th e speed ove r ground ( SOG) • if this is not availa ble, it uses the cruise speed s pecified in Deale r Calibr ation (s ee page 9 5 ) Waypoint arrival and adva[...]

20 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 3 Advanced Operation Adva nce When the ST6001 + sounds the W aypoint Advance warning, it suspends T rack mode and maintains the current boat heading.T o advance to the next waypoint: 1. Che ck that it is safe to tu rn onto the n ew track. 2. Press t he tr ack key . This will cancel the W aypo[...]

Chapter 3: Adv anced Operatio n 21 3 Advanced Operation • the boat arrives at the tar get waypoint and the navigat or accepts the next waypoint • you activate the Man Overboard (MOB) function in T rack mode When the warning soun ds, the pilot continues on i ts current heading but disp lays: • the bearing to the next wayp oint • the direct i[...]

22 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 3 Advanced Operation Safety in T rack mode CAUTION: T rack mode provides accurate track keepi ng even in complex navigation al situations. Ho wever , it is still the sk ipper ’ s r esponsibility to ensur e the safety of t heir boat at all times through carefu l naviga tion an d frequent po [...]

Chapter 3: Adv anced Operatio n 23 3 Advanced Operation 3.2 Using Wind V ane mode – sail boats Note: You can only select Wind Van e mode if the autopi lot is receiving su itable SeaTalk or NMEA wi nd direction information . About Wind V ane mode When the a utopilo t is in Wind V ane mode i t uses the f luxgate compass as the primary head ing refe[...]

24 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 3 Advanced Operation Selecting Wind V ane mode Y ou can select W ind V ane mode from ei ther Standby or Aut o mode: 1. Steady t he boat onto the required wind angle. 2. Press standby and auto together to select W ind V ane mode and lock the current wind angle: • the display shows the locked[...]

Chapter 3: Adv anced Operatio n 25 3 Advanced Operation Returning to the previous wind angle (LAST WND) If you have steered the boat away from the sel ected wind angle for any reason (such as a do dge maneuver or selecting Stan dby mode), you can return to the previ ous locked wind angle: 1. Pr ess standby and auto together for 1 second to display [...]

26 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 3 Advanced Operation Wind Shift warning If the auto pilot detects a wind sh ift of mor e than 15 ° it will sound t he wind shift warning and disp lay the WIND SHIFT message: • T o cancel the warning, and retain the existing wind angle and new heading, press standby and auto together . • [...]

Chapter 3: Adv anced Operatio n 27 3 Advanced Operation When you AutoT ack in W ind V ane mode, the boat turns through t he AutoT ack a ngle. The au topilot wi ll then trim the head ing to m irror the locked wind angle from the previous tack. Operating hints for Wind V ane mode • Always trim your sail s carefully to minimize the amount of stan di[...]

28 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 3 Advanced Operation • if rud der gain is too high , courses change will result in a distinct overshoot ( A ) • if rudder g ain is too low , the boat will feel sluggish – it wi ll t ake a long time to make the turn and there will be no overshoot ( B ) Note: See page 71 for a full explan[...]

Chapter 3: Adv anced Operatio n 29 3 Advanced Operation 3.4 Dis playing da ta pages Use the disp key to show ‘ data pages ’ of SeaT alk or NMEA data: 1. Pr ess disp to access the first data page, and press it again to cycle through each data page in turn: • to return to a previous d ata page, pres s disp for 1 second within 2 seconds of displ[...]

30 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 3 Advanced Operation Wa tch timer The ST6001+ has a W atch t imer controlled by the WA TCH data page. This timer sounds a w arning every 4 minutes, requi ring a keypad press on the autopilot. Setting the Watch timer T o set th e W atch timer: 1. First, you must con figure the WA TCH screen as[...]

Chapter 3: Adv anced Operatio n 31 3 Advanced Operation Wa rning messages Shall ow warn ing (SHALL OW) The ST6001+ shows the Shallow warning if it receives a shallow depth message from an instrument on the SeaT alk system. Press standby or disp to cancel the warning. Man Overbo ard warnin g (MOB) The ST6001+ activates the Man Overboard warning if i[...]

32 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 3 Advanced Operation[...]

Chapter 4: F ault F indin g & Maintenan ce 33 4 F ault F i ndi ng & Ma inte nanc e Chapter 4: F ault Finding & Maintenance All Raymarine products are des igned to provide many years of trouble-free o peration. W e also put them through comprehensive testing and q uality assurance procedures before shipping . This chapter provi des infor[...]

34 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 4 F ault Finding & Main tenance 4.1 F ault findin g Common autopilot problems SYMPTOM CA USE and SOLUTION Display is blank No power – check th e power a nd Sea T alk fuse s on cours e compute r , then chec k main fuse/circu it break er . Display shows stationary dashes T he control u ni[...]

Chapter 4: F ault F indin g & Maintenan ce 35 4 F ault F i ndi ng & Ma inte nanc e Autopilot alarm messages When the a utopilot d etects a f ault or fail ure on the s ystem, it w ill activate one of the alarm messa ges listed in the following table. • Unless otherwise s tated, you should respond to the alarm by pressi ng stand by to clear[...]

36 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 4 F ault Finding & Main tenance N O D ATA C a u s e d b y a n y o f t h e f o l l o w i n g s i t u a t i o n s : • th e comp ass is not conne cted • the au topilot is in Wind V ane mode and it has not re ceived wind angle data for 30 seconds • the aut opilot is in T rack mode an d:[...]

Chapter 4: F ault F indin g & Maintenan ce 37 4 F ault F i ndi ng & Ma inte nanc e 4.2 Gene ral maint enan ce Routine checks CAUTION: The control unit does not contain an y user serviceable parts . It should be se rviced only by authorized R aymarine service technicians. The control uni t is a sealed u nit. As a resu lt, user mainte nance i[...]

38 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 4 F ault Finding & Main tenance • Always report any EMC-rel ated problems to your n earest Raymarine dealer . W e use such information to i mprove our quality st andards. • In some installation s, it may not be possi ble to prevent the equipment from bei ng affected by external influe[...]

Chapter 4: F ault F indin g & Maintenan ce 39 4 F ault F i ndi ng & Ma inte nanc e Product details table For future reference, you may want to use this table to record serial and software inf ormation for your autopilot system: Serial number Softwar e version Control unit Course comput er Hours used hours 4 seconds Software information 1 se[...]

40 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 4 F ault Finding & Main tenance[...]

Pa r t 2 : Installing the ST6001+ P art 2: Insta lling t he ST60 01+[...]

P art 2: Instal ling the S T6001 +[...]

Chapter 5: Install ing the ST6001+ 43 5 Installing the ST6001+ Chapter 5: Installing the ST6001+ The sections in this chapter explain how to install the ST 6001+ control unit and connect it to an autopilot system: T ools r equired T o install the ST6 001+ control uni t you will n eed the follow ing items: • tape measure (metric/imperial) • penc[...]

44 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 5 Installing the ST6001+ 5.1 Selec t t he lo catio n Site requir ements Locate the ST6001+ control unit so it is: • within easy reach from the steering positi on • viewable straight on, or with a maximum viewing angle of 30 ° • protected from physi cal damage • at least 230 mm (9 in)[...]

Chapter 5: Install ing the ST6001+ 45 5 Installing the ST6001+ Any mois ture or water vapor in th is area cou ld cause dama ge by coming into contact with electric al connections, or cond ensation by enter ing the co ntrol unit through its breathin g hole. Cabl ing g uidel ines • consider how you wil l run cables to and from the control uni t •[...]

46 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 5 Installing the ST6001+ transients, can cause th e equipment to reset. This will not dama ge the equipment, but may cause t he loss of some infor mation and may change the operating mode. • Raymarine specified cables are used. Cutting and rejoining these cables can compromise EMC performan[...]

Chapter 5: Install ing the ST6001+ 47 5 Installing the ST6001+ 5.2 C ontrol uni t insta llation Surface mount control units T o fit a surface mount control unit: 1. Apply the surface mount template (supplied at the back of this handbook) to the select ed bulkhead. 2. Mark the centers of the two fixing holes and the cable bo ss. 3. Dril l two 5 mm ([...]

48 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 5 Installing the ST6001+ Flush mount control units T o fit a flush moun t control unit: 1. Ensure that the intended mounting location is between 3 mm ( 1 / 8 in) and 20 mm ( 3 / 4 in ) thic k. 2. Apply the flush mo unt template (supp lied at the back of this handbook) to the selected location[...]

Chapter 5: Install ing the ST6001+ 49 5 Installing the ST6001+ 5.3 SeaT alk connect ions The SeaT alk connections on the ST6001+ provide it with it s 12 V DC power supply and allow it to share data w ith SeaT alk equipment. Connecti ng to a cours e computer If you are using th e ST6001+ as the main control unit for a course computer autopilot syste[...]

50 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 5 Installing the ST6001+ W e su pply the ST6001+ with a 9 m (29 ft 6 in) SeaT alk cable as standard. Dependin g on your installation , you may need to obtain alternative or additional SeaT alk cabl es (as shown in the following illustra tion). 5.4 NMEA con nections The ST6001+ has a set of NM[...]

Chapter 5: Install ing the ST6001+ 51 5 Installing the ST6001+ NMEA cablin g Connect the NMEA navigator or wind instrument to the NMEA IN terminals on the rear of t he ST6001+ control unit. Y ou can only connect a single piece of NMEA equipment to these t erminals. Informati on NMEA 0183 data Course Over Grou nd VTG, RMC, RMA Speed Ov er Ground VTG[...]

52 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 5 Installing the ST6001+ NMEA c able co nnectors NMEA connections are made using spade connectors. W hen fitting the spade connectors, make sure the connector fits securely over t he blade and not between the connector and its plastic insulat ing cover . Incorrec t fitting wil l give int ermi[...]

Chapter 5: Install ing the ST6001+ 53 5 Installing the ST6001+ 5.5 Fun ctional te st – r epeat er units o nly If you have i nstalled the ST6001+ as an additional control unit for an existing autopilot system, complete the following checks to make sure you have inst alled the control unit correctly . Note: If you have connected the ST6001+ as par [...]

54 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 5 Installing the ST6001+[...]

Chapter 6: Commissi oning the Autopilo t 55 6 Com mi ssio nin g the Auto pi lot Chapter 6: Commissioning the Autopilot WARNI NG: All new au topilot s ystem in stallat ions MUS T be cal ibrated. If you have connected the ST6 001+ to a newly installed T ype 150/150G or T ype 400/400G course computer autopilot system, you must commissi on the system T[...]

56 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 6 C ommissioning t he Autopilot 6.1 Docksi de Checks W ith the boat safely tied up, comple te the follo wing d ockside checks: 1. Switch on. 2. Check the SeaT alk and NMEA conn ections. 3. Check the autopil ot operating sense. 4. Set the basic autopilot paramete rs. WAR N IN G: For safe contr[...]

Chapter 6: Commissi oning the Autopilo t 57 6 Com mi ssio nin g the Auto pi lot Step 2 - Check the SeaTalk and NMEA connections SeaT alk c onnections If you have connected t he ST6001+ to other SeaT alk inst ruments or control units, check the links as follows: 1. Select displa y lighting level 3 ( LAMP 3 ) o n one of the SeaT alk instruments or co[...]

58 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 6 C ommissioning t he Autopilot Step 3 - Check the autopilot operating sense Check th e rudder posi tion sensor 1. T urn the wheel manually to starboard. 2. Check that the rudder bar o n the display moves to starbo ard. If the rudder bar displ ay moves the wrong way: • turn of f the power ?[...]

Chapter 6: Commissi oning the Autopilo t 59 6 Com mi ssio nin g the Auto pi lot Step 4 - Adjust basic autopilot settings Note: For more informat ion about thes e calibration se ttings refer to the following pages : vessel type (page 90), drive type (pa ge 90), rudder sens or alignment (page 90), rudder limits (page 91). The autopilot sys tem has fo[...]

60 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 6 C ommissioning t he Autopilot 2 seconds 2 seconds (saves changes) Calibration Mode Overview Calibration Mode 1 second 1 second 1 second 1 second Within DISPLAY CAL, USER CAL, SEATRIAL CAL and DEALER CAL: - - press disp to move forwards through items ( * sail boats only) - - press disp for 1[...]

Chapter 6: Commissi oning the Autopilo t 61 6 Com mi ssio nin g the Auto pi lot Set th e drive typ e 1. W ith th e autopilot still in D ealer Cal ibration, u se the disp key to page through the calibration screens unt il you reach the Drive T ype screen ( DRIVE TYP ). 2. Use the -1 or +1 keys to select the appropriate drive type: • 3 = Linear dri[...]

62 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 6 C ommissioning t he Autopilot Adjust the rudder damp ing Note: You only need to adjust the ru dder damping valu e if the autopi lot ‘ hunts ’ when trying to po sition the rudder. In creasing the rudder dampin g value reduces hunting. T o adjust the rudder damping: 1. Use the disp key t [...]

Chapter 6: Commissi oning the Autopilo t 63 6 Com mi ssio nin g the Auto pi lot 6.2 Seatr ial Cali brat ion When you have complete d the dockside calibration, you mus t complete the setup by t aking the boat on a short seatrial to: 1. Calibrate t he compass: • complete the automatic deviati on correction • align the compass heading 2. Adjust th[...]

64 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 6 C ommissioning t he Autopilot Calibrating the compass Note: This section does not apply if you ha ve connected an NMEA compass to your autopilot syst em. Refer to the handbook sup plied with the NMEA compas s for inform ation about calibrat ion. Depending on your bo at type, deviating magne[...]

Chapter 6: Commissi oning the Autopilo t 65 6 Com mi ssio nin g the Auto pi lot 2 sec x2 2 sec D5476-1 Compass calibration Enter Seatrial Calibration 1 Complete the compass deviation correction 2 Align the autopilot heading 3 a b Save changes 4 Turn boat in slow circles so: • boat's speed stays below 2 knots • each circle takes at least 2 [...]

66 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 6 C ommissioning t he Autopilot 4. Start turni ng the boat in slow circles (with the boat ’ s speed below 2 knots). Y ou will need to comple te at least two circles, taki ng at least 2 minutes to complete each 360 ° : • the display wi ll show a T OO F AST message if y ou turn the b oat t[...]

Chapter 6: Commissi oning the Autopilo t 67 6 Com mi ssio nin g the Auto pi lot Adjusting the head ing alignment If you experience dif ficulties with compass alignment , you can check the compass alignment after completing the deviati on correction procedure (swinging t he compass). After completing t he initial compass calibration, y ou can make f[...]

68 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 6 C ommissioning t he Autopilot Adjusting autopilot settings The next stage of the seatrial is to set key autopilot paramet ers that affect the autopilot ’ s steeri ng characteristics. Y ou ca n do this in one of two ways: • using AutoLearn: T ype 150G and T ype 400G autopilot systems use[...]

Chapter 6: Commissi oning the Autopilo t 69 6 Com mi ssio nin g the Auto pi lot 2 sec x2 x4 2 sec D5479-1 To prepare for the AutoLearn: • steer straight ahead at cruising speed (planing boats – off the plane) • head into wind and waves Check you have sufficient clear sea space before proceeding AutoLearn in progress AutoLearn successful If yo[...]

70 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 6 C ommissioning t he Autopilot 1. Access the AU TO L E A RN screen in Seatrial Cali bration: • from Standb y mode, press standby for 2 seconds, then disp twice to see t he SEA TRIAL CAL sc ree n • then press auto to ente r Seatrial Ca libratio n, and disp 4 times until you see the AU TOL[...]

Chapter 6: Commissi oning the Autopilo t 71 6 Com mi ssio nin g the Auto pi lot Manual set-up: T ype 150/400 & T ype 100/300 If you have a T ype 15 0/400 (non-GyroPl us) or T ype 100/300 autopilot syst em you need to manually adjust the rudder gai n, counter rudder and AutoT rim settings, based on your o bservations of t he bo at ’ s performa[...]

72 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 6 C ommissioning t he Autopilot • if the rudder gain sett ing is too high , the 40 ° cours e change will result in a dis tinct overshoot of more than 5 ° and there may be a distinct ‘ S ’ in the cour se ( A ) Correct this oversteer by redu cing the rudder gain sett ing. • if the rud[...]

Chapter 6: Commissi oning the Autopilo t 73 6 Com mi ssio nin g the Auto pi lot • when gain and counter rudder are both set correctly , the boat performs a smoot h continuous turn with mi nimal overshoot • if the counter rudder is too low , the boat will still overshoot • if counter rudder is to o high, the boat will ‘ fig ht ’ the turn a[...]

74 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 6 C ommissioning t he Autopilot[...]

Chapter 7: Adju sting Autopilo t Settings 75 7 Adjusting Au topilot Settings Chapter 7: Adjusting Autopilot Settings This chapter explains all of the calibration settings you can adjus t on the autopilo t system . Y ou w ill have ad justed m any of these s ettings when commissioni ng the system (see Chapter 6), and they should no t requ ire fur the[...]

76 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings 7.1 Calibr ation bas ics Calibratio n groups Note: If you are connecting the ST6001+ t o a non-150/400 autopil ot system, the calibr ation groups are different. Refer to the Appendix fo r full de tails. The Calibration mode has 4 m ain calibration groups: Disp[...]

Chapter 7: Adju sting Autopilo t Settings 77 7 Adjusting Au topilot Settings 2 seconds 2 seconds (saves changes) Calibration Mode Overview Calibration Mode 1 second 1 second 1 second 1 second Within DISPLAY CAL, USER CAL, SEATRIAL CAL and DEALER CAL: - - press disp to move forwards through items ( * sail boats only) - - press disp for 1 second to m[...]

78 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings Accessing the Calibration mode Y ou can only access Calibration mo de from Standby mo de: 1. W i th the autopilot in S tandby mode, press and hold the standby key for 2 seconds. The di splay will change to sh ow DISPLA Y CAL . 2. Press t he disp key to scroll [...]

Chapter 7: Adju sting Autopilo t Settings 79 7 Adjusting Au topilot Settings 7.2 Displa y Calibr ation Display Cali bration allows you to select the type of bar graph and heading shown on the ST6001+ displ ay , and control the information shown on the data pages. Display Calibration scr eens Disp lay bar s electi on This screen allows you to sel ec[...]

80 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings Accessing Display Calibration Display Calibration D5482-1 2 seconds 2 seconds (saves changes) Calibration Mode 1 second 1 second 1 second 1 second 1 second 1 second 1 second or or To adjust values use To exit and save changes 2 seconds Data pages 1-7 Press dis[...]

Chapter 7: Adju sting Autopilo t Settings 81 7 Adjusting Au topilot Settings Data p ages 1- 7 The next 7 screens allow you to modify the s ettings for the data pages. These define the SeaT alk/N MEA data pa ges that will be available during normal operat ion (see page 29 ). Each data page setup screen initially shows t he title DAT A PAG E and t he[...]

82 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings Heading HEADING W ater T emperatu re , Degr ees C* WATER ° C W ater T emperatu re , Degr ees F* WA TER ° F Course Over Ground COG Speed Over Gro und, Knots SOG KTS Cross T rack Error XTE Distance t o W aypoint DTW Bearing to Waypoint BTW Rudder Gain RUDD GAI[...]

Chapter 7: Adju sting Autopilo t Settings 83 7 Adjusting Au topilot Settings 7.3 Use r Calibr ati on Note: If you are connecting th e ST6001+ to a non-150/ 400 autopilot system, the User Calib ration group is not ava ilable. Refer to the Appendix for full details. The User Calibrati on group includes setting s that you may need to adjust on a regul[...]

84 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings Accessing User Calibration User Calibration D5483-1 or or To adjust values use To exit & save changes 2 seconds 1 second 2 seconds 2 seconds (saves changes) 1 second 1 second 1 second 1 second 1 second Calibration Mode 1 second 1 second 1 second Sail boats[...]

Chapter 7: Adju sting Autopilo t Settings 85 7 Adjusting Au topilot Settings Win d select ion Note: O nly availab le if vessel t ype = SAIL BOA T and appropriate wind data is available. This screen determines whether the bo at steers to apparent or true wind in W ind V ane mode. WindT rim (wind response) Note: Only available if vessel type = SAIL B[...]

86 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings T ype 150G/40 0G a utopilot s ystems T ype 150G/400G autop ilot systems have 9 pos sible response lev els. T ype 150/400 autopilot syste ms T ype 150/400 (non -GyroPlus) aut opilot systems have 3 possible response levels: Magnetic variat ion If require d, set [...]

Chapter 7: Adju sting Autopilo t Settings 87 7 Adjusting Au topilot Settings 7.4 Seatr ial Cali brat ion The Seatrial Cali bration group has been designed specificall y for use during the initi al seatrial when commissioning you r autopilot. Refer to C hapter 6: Commissioni ng the Autopilot for f ull details. CAUTION: Y ou should n ot need to acces[...]

88 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings 7.5 D ealer Ca libratio n The Dealer Calibration group includes items that have a significant impact on autopilot oper ation and can affect yo ur boat ’ s s afety . CAUTION: After you have commissioned the autopilot, you should not normally need to alter the[...]

Chapter 7: Adju sting Autopilo t Settings 89 7 Adjusting Au topilot Settings Accessing Dealer Calibration Dealer Calibration D5485-1 2 seconds 2 seconds (saves changes) 1 second Sail boats only Stern drives only Not sail boats 1 second or or To adjust values use To exit & save changes 2 seconds Calibration Mode 1 second[...]

90 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings V essel type V essel type shoul d be set when commissio ning the autopilot (see page 59 ). Note: When yo u select th e vessel type, th e autopil ot will set appropriate defaults for several other calibr ation settings. Refer to the table on page 97 for default[...]

Chapter 7: Adju sting Autopilo t Settings 91 7 Adjusting Au topilot Settings Rudder limit Use the rudder limit screen to set the limits of autopilot rudder control just insi de the mech anical end sto ps. This w ill avoid putt ing the steering system under unnecess ary load. Y ou should adjust this setting when commissioning the autopilot (see page[...]

92 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings Rudder damping Adjust the rudder d amping value if the autopilot ‘ h unts ’ when t rying to position the rudd er (see page 62 ). Increasing the rudd er damping value reduces hunting. Aut oT r im The AutoTrim setting d etermines th e rate at whi ch the auto[...]

Chapter 7: Adju sting Autopilo t Settings 93 7 Adjusting Au topilot Settings Respon se leve l This screen determines t he default response setting. This sc reen also appears in User Calibration – see page 85 for full details (or refer to the Appendix fo r T ype 100/300 autopilots). T urn r ate limit Note: Not a vailabl e if vessel t ype = SAI L B[...]

94 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings AutoRelease provides emer gency manual over -ride in situations when you need to avoid an obstacle at the last moment. Auto T ack angl e Note: Only a vailable if vessel t ype = SAIL BOA T (Type 150/150G or Type 400/400G) or DISPLACEMENT (T ype 100/300). This s[...]

Chapter 7: Adju sting Autopilo t Settings 95 7 Adjusting Au topilot Settings Cr uise s peed Set the cruise speed to t he boat ’ s typical cruising speed. I f both the boat ’ s speed through the water and s peed over ground are unavailabl e via SeaT alk or N MEA, the autopilot will use this default cruis e speed when computing course changes. Au[...]

96 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings Latitude The ST6001+ only dis plays this screen if yo u have set AutoAdapt to nth or Sth . Use the -1 , +1, -10 and +10 keys to set the value to your boat ’ s current latitude, to t he nearest degree. Note: If valid latitude data is avail able via SeaTalk or[...]

Chapter 7: Adju sting Autopilo t Settings 97 7 Adjusting Au topilot Settings Dealer Calibration defaults: T ypes 150/150G & 400/4 00G Calib ration setti ng Ve ss el t y p e F a ctory d efa ult Displace ment Semi Dis placeme nt Planing Ster n driv e (I/O) Wo rk b o a t Sail boat Calibration lock OFF OFF OFF OFF O FF OFF OFF V essel type 0 DISPLA[...]

98 ST6001+ Autopilot Control Unit - Owner ’ s Handbook 7 Adjusting Au topilot S ettings Dealer Calibration options: T ypes 150/150G & 400/400G Calibr ati on settin g Ve s s e l ty p e F a ctory d efa ult Displace ment Semi Dis placeme nt Planing Ster n driv e (I/O) Wo rk b o a t Sail boat Yo u r s e t t i n g s Calibration lock OFF , ON V ess[...]

Appendix: Using the ST6001+ With Non-150/400 Autopilots 99 Appendix Appendix: Us ing the ST6001+ With Non-150/400 Autopilo ts Introduction The information in thi s Appendix explains the key dif ferences when using, commiss ioning and calibrating the aut opilot if you have connected the ST6001+ to a Raymarine autopilo t other than a T ype 150/150G o[...]

100 ST6001+ Autopilot Control Unit - Owner ’ s Handbook Appendix Using the autopilot (non- 150/400 systems) The operating procedures when using the ST6001+ control unit with a non-150/400 autopilot are basically the same as the procedures for using a 150/400 system without a Gyro Plus. Follow the instru ctions in Chapter 2: Basic Operation and Ch[...]

Appendix: Using the ST6001+ With Non-150/400 Autopilots 101 Appendix Commission ing the a utopilot (non-150 /400 sys tems) Using the ST6001 + to commission a non- 150/400 autopilot is basicall y the same as the commis sioning a 150/ 400 system wit hout a GyroPlus. I t involves a series of docksi de checks, then a seatrial to calibrate th e compass [...]

102 ST6001+ Autopilot Control Unit - Owner ’ s Handbook Appendix Calibrat ion mo de (non -150 /400 s yst ems) Calibratio n groups When connected to an autopi lot other than a T ype 150/150G or 400/400G , the Calibration mode provides 3 main calibrat ion groups: Display Cali bration (DISPLA Y CAL) The items in Display Calibratio n only affect the [...]

Appendix: Using the ST6001+ With Non-150/400 Autopilots 103 Appendix 2 seconds 2 seconds (saves changes) Calibration Mode Overview 100/300 Autopilot Systems Calibration Mode 1 second 1 second 1 second Within DISPLAY CAL, COMPASS CAL and DEALER CAL: - - press disp to move forwards through items - - use -1, +1, -10, +10 to adjust settings - - press s[...]

104 ST6001+ Autopilot Control Unit - Owner ’ s Handbook Appendix Dealer Calibration scr eens The illustra tion sho ws the scr eens that ap pear in the c alibrati on groups when the ST 6001+ is connected to a T ype 100/30 0 course computer . V essel type V essel type shoul d be set when commissio ning the autopilot (see page 59 ). Note: When yo u [...]

Appendix: Using the ST6001+ With Non-150/400 Autopilots 105 Appendix Count er rudder Counter rudd er is the amount of rudder the autopi lot applies to try t o prevent the boat fro m yawing off cour se. Higher counter rudder settings result in more rudder being applie d. Y ou should set the default counter rud der when commissioning the autopi lot ([...]

106 ST6001+ Autopilot Control Unit - Owner ’ s Handbook Appendix Off course warn ing angle This screen determines the angle used by the OFF COURSE warni ng (see page 10 ). The OFF COURSE warning operates if the pilot strays of f course by more than t he specified angle for more than 20 seconds. Aut oT r im The AutoTrim setting d etermines th e ra[...]

Appendix: Using the ST6001+ With Non-150/400 Autopilots 107 Appendix Drive t ype The drive ty pe setting controls how the autop ilot drives th e steering system. Y ou should se t the drive type when commissioning the autopilot (see page 61 ). Rudder damping Set this opti on during the initial dockside ch ecks if the aut opilot ‘ hunt s ’ when t[...]

108 ST6001+ Autopilot Control Unit - Owner ’ s Handbook Appendix Note: If you set A UT O ADAPT to nth or Sth , you then need to enter your current la titude in the nex t screen ( LATITUDE ), so that the a utopilo t can provide accurate course keeping by automatically adjusting the rudder gai n depending on the heading. Latitude The ST6001+ only d[...]

Appendix: Using the ST6001+ With Non-150/400 Autopilots 109 Appendix Auto Release (I /O drive s only) Note: Only available if vessel type = STERNDRV . If the vess el type is set to STERN DR V (I/O or stern d rive), you will s ee the AutoRelease screen (AU T O RELSE) set to ON as a defa ul t. AutoRelease provides emer gency manual over-ri de in situ[...]

110 ST6001+ Autopilot Control Unit - Owner ’ s Handbook Appendix Dealer Calibration: possible settings with T ype 100/300 Calib ration se ttin g V essel type Displac ement Semi Disp lacement Planing Stern drive (I/ O) Y o ur settings V essel type DISPLACE SEMIDIS P PLANING STERNDRV Calibration lock OFF OFF OFF OFF R u d d e r g a i n 5543 C o u n[...]

Specif ications 111 Specifica tions ST6001+ contr ol unit Cou rse co mput er f uncti ons Nominal supply voltage: 12 V DC via SeaT alk Oper ating volta ge ra nge: 10 V t o 15 V DC Current consumptio n (in Standby mode) 60 m A (less t han 200 mA with full lightin g) Operating temperatur e: 0 ° C to +70 ° C (32 ° F to 158 ° F) W ater p rotecti on:[...]

112 ST6001+ Autopilot Control Unit - Owner ’ s Handbook Glossary T erm Meaning ° Degree s AA m p AST (Advanced Stee ring Te c h n o l o g y ) AST ( Adv anced Steerin g T echno logy) is Raymarin e ’ s unique ad vanced ste ering algo rithm. It us es in puts from a wide vari ety o f sens ors t o tune the autopilot ’ s ope ration t o provide sup[...]

Glossary 113 MOB Man overboard nm Nautic al mile NMEA T he NMEA (National Maritime Ele ctronics Association) protocol is an inter nationa lly acce pted se rial com municatio n interfa ce stan dard for shari ng data be tween el ectron ic equi pment. Ra ymarin e product s can shar e information with non-S eaT alk e quipment usin g the NMEA 0183 p rot[...]

114 ST6001+ Autopilot Control Unit - Owner ’ s Handbook[...]

Index 115 A Adjusting a utopilot set tings 75 – 98 Accessing Cali bration mod e 78 Calibr atio n groups 76 Deal er Cal ibra t i on 88 – 96 Aligni ng ru dder 90 AutoAdapt 95 Autopilot rese t 96 AutoRelease 93 AutoTrim 92 Counter rudder 91 Cruise speed 95 Drive type 90 Latitud e 96 Off course warning angle 93 Rudd er da mping 92 Rudd er gain 91 R[...]

116 ST6001+ Autopilot Control Unit - Owner ’ s Handbook B Bar graph 5 Selecting bar type 79 C Calibrati on mode 75 – 98 Accessing 78 Calibr ation g roups 76 Dealer Calibrat i on 88 – 96 Display Calib ration 79 – 82 Non-15 0 / 40 0 au to pil ots 102 – 110 Seatrial Calib ration 63 – 73 , 87 User Calibration 83 – 86 Commissio ning 55 –[...]

Index 117 Location 44 NMEA connect ions 50 Parts supplied 43 Power supply (vi a SeaTalk) 49 SeaTalk co nnection s 49 Tools required 43 K Keypad Functi ons 4 Illumina tion 14 L Large cross track error warning 17 Last (previous) heading 11 Last (previous) wind 25 Latitud e, Setting 96 Learn fail alarm 35 Lighting 14 Low batte ry alarm 35 M Magnetic v[...]

118 ST6001+ Autopilot Control Unit - Owner ’ s Handbook Software version 39 Specificatio ns 111 Standb y mo de , Se le ct ing 6 Steering bar 79 Swingi ng the compa ss 64 T Testing the system see Commissioning Tidal stream compensati on 18 Timer (Watch ti mer) 30 Track mod e 16 – 22 Dodgin g obstacl e s 21 Entering Track mod e 16 Exiting T rack [...]

D3441-3 Machine hole 90 mm (3.55 inch) diameter Drill 5 mm (3/16 inch) diameter hole Drill 5 mm (3/16 inch) diameter hole Control unit - surface mount template[...]

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Remove the shaded area TOP 109 mm (4.3 in) Control unit - flush mount template 114 mm (4.5 in) 4 holes 6 mm (0.25 in) diameter D4437-3[...]

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Docume nt n umber: 84064- 8 Apri l 2001 Limited Warr anty Certifi cate Raymarine warrants each new Light Marine/Dealer Distributor Produ ct to be of good materi als and workmanship, and will re pair or exchange a ny parts proven to be d e fective in materia l and workma nship under no rmal use fo r a period of 2 years/24 mon ths from date of sale t[...]

Factory Service Centers United States of Ameri ca UK, E urope , Middle East, Far E ast Raymari ne Inc 22 Cotton Road, Unit D Nashu a, NH 03063- 4219, USA Raym ari ne Lt d Anch orage P ark, P ort smouth PO3 5TD, Engla nd T elephone: +1 603 881 52 00 Fax: +1 603 864 475 6 www .r aym ari ne . com T elep hone: +44 ( 0)23 9269 3 611 F ax: +44 (0 )23 926[...]