Raymarine autopilot + ST4000+ 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.[...]

ST400 0+ Wheel & Tiller Autop ilot s Owne r’ s Handbo ok Doc ument num ber: 81131 -6 Date : Au gust 20 01[...]

ii ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook Autohe lm, HSB (High Speed Bu s), Sai lPilot, S eaT alk and SportP ilot are registered trademarks of Raymarine Ltd. Raymarine, AST (Advanced Steering T echnology), AutoAdapt, AutoLearn , AutoRel ease, Au toSeasta te, AutoT ack, Auto T rim, FastT ri m, Gyro Plus, RayGy ro, RayPilot an[...]

Preface iii OR Boat's electrical distribution panel Rudder position sensor (optional fit for wheel pilot only) ST4000+ control unit Fluxgate compass SeaTalk instrument NMEA instrument or navigator Tiller drive Wheel drive ST4000+ autopilot system layout D5332-1[...]

iv ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook[...]

Preface v Contents About this ha ndbook ..... ...... ...... ...... ..... ...... ... ...... ...... ...... .... ix Import ant In formatio n ..... ...... ...... ...... ..... ...... ...... ... ...... ...... .. x Warran ty ...... ....... ....... ....... ........ ... ....... ........ ....... ....... ........ ....... .... x Safety notices ........ .......[...]

vi ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 3.2 Using W ind V a ne mode .......................................................... 27 Selecting W ind V ane m ode ..................................................... 27 Exiting W ind V ane mode ........................................................ 28 Adjusting the locked win[...]

Preface vii 5.5 Wheel drive (wheel pilots only) .............................................. 70 Installation stages ................................................................ .... 70 Drilling the spoke clam p holes ............................................ .... 71 Securing the wheel drive to the wheel ....................................[...]

viii ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 7.2 Dealer setup .......................................................................... 106 Calibration lock (CA L LOCK) ............................................. 108 Pilot type (4000 WHL/TILL) ............................................... 108 Rudder gain (RUDD GAIN) ....[...]

Preface ix About this ha ndbook W elcome to the handbo ok for the ST4000+ wheel and tiller autopi lot sy stems. Thi s handbo ok contains two mai n parts: P a rt 1: U sing the ST4000+ Autopilot P a rt 2: Install ing the ST4000+ Autopilot At the end o f this h andbook we h ave incl uded pr oduct specifications , a g lossar y and index, and templates [...]

x ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook Important Information War ran t y T o register you r new Raymarine product, please t ake a few minutes to fill out the warranty card. It is importa nt that you complete the owner information and return the card to us to receive full warranty b enefits. Sa fety n otic es W ARNING: Pr o[...]

Preface xi • Make sure that all members of crew know how to disengage the autop ilot. • Regularly check fo r other boats and any obst acles to navigation – no matter how c lear the sea may appear , a dangerous situation can de vel op rapi d ly . • Maintain an accurate record of the boat ’ s positio n by using ei ther a navigation aid or v[...]

xii ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook[...]

Pa r t 1 : Using the ST4000+ P art 1: Usi ng the ST 4000+[...]

P art 1 : Using the ST40 00+[...]

Chapter 1: I ntroduc tion 1 1 I ntroduction Chapter 1: Intr oduction 1.1 Fe atures The Raymarin e ST4000 Plus (ST4000+) is a SeaT alk ® compatib le autopilo t available i n versio ns suita ble for boats with either tiller or wheel steerin g systems. This autopi lot system will steer your boat to a heading automatic ally , accuratel y and reliably [...]

2 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 1 Introduct ion 1.2 Extende d syst ems The ST4000+ is comp atible with all other SeaT alk in struments. Y ou c an connect it to additional fixed or handh eld SeaT alk autopilot control unit s located at secondary steeri ng and control pos itions (see page 52 ). Y ou can also use the S[...]

Chapter 2: B asic Opera tion 3 2 Basic Operation Chapter 2: Basic Oper ation The sections in this chapter explain how to use the basic functions on your autopi lot: CA UTION: Important note for wheel d rive systems After each trip, f lush i nside t he drive unit b y inser ting a h ose pipe in the fr ee slot on the back cover . This will pr event an[...]

4 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 2 Basic O pera tion 2.1 Using the contr ol unit Key functions • The autopilot alway s powers up in S tandby mod e. • Y ou control the autopilot by press ing the buttons on the control unit. The control unit confirms each button press with a short beep. • Y ou access the main fun[...]

Chapter 2: B asic Opera tion 5 2 Basic Operation Display layout The ST4000 + autopilot displ ay provid es the following informat ion: • If the display shows no distance unit all distances are in kilometres (Km), otherwise dista nces are in nautical miles (nm ) or statute/land miles ( SM ). • The bar g raph at the bottom of the screen is normall[...]

6 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 2 Basic O pera tion 2.2 Using Auto mode Engaging the autopilot (Auto mode) 1. St eady the boat on the required headi ng. 2. Wheel Pilot: Engage the wheel drive clutch by rotating t he clutch lever clockwise (s o the lever engages full y onto t he locating pip). Ti ller Pilot: Plac e t[...]

Chapter 2: B asic Opera tion 7 2 Basic Operation CA UTION: Autop ilot cours e control ma kes it eas ier to sai l a boat , but it is NOT a subs titute for good seamansh ip. AL W A YS ma intain a permanent watch, n o matter how clear the sea appears to be. Disengaging the autopilot (Standby mode) 1. Pres s standb y . • in S tandby mode, th e displa[...]

8 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 2 Basic O pera tion Changing course in Auto mode In Auto m ode, use the -1 and -10 (port) and +1 an d +10 (starboard) keys to change the locked heading in steps of 1 ° or 10 ° . For example: press -1 0 three times for a 30 ° cour se change to port. Dodging obstacles in Auto mode T [...]

Chapter 2: B asic Opera tion 9 2 Basic Operation Returning to the previous locked heading (LAST HDG) If you have steered the boat away from the selected locked heading for any reason (for example, executing a dodge maneuver or selecting St andby), you can return t o the previous l ocked heading as follows: 1. Pres s auto for 1 second. Th e display [...]

10 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 2 Basic O pera tion Automatic tack (AutoT ack) The ST4000+ has a built i n automatic tack facility (AutoT ack) that turns the boat thro ugh a pre-determined angle in the required direction. The default AutoT ac k angle is 100 ° , but you can adjust t his in Dealer setup (see page 10[...]

Chapter 2: B asic Opera tion 11 2 Basic Operation 1. No te t he re qui re d new he ad in g. 2. Sel ect standb y for manual steering, s o you can bring th e boat to the new head ing MANUAL L Y . 3. Sel ect aut o: allo w the boa t to settl e onto co urse, then br ing the boat to the final course in 1 ° steps us in g the -1 or +1 keys Gusting conditi[...]

12 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 2 Basic O pera tion 2.3 Adjusting autopi lot performa nce During normal autopi lot operation in any mode you can make temporary adju stm ents t o: • response le vel • rudder gain Note: You will lose these temporary chang es to response level and rudder gain whenever the sys tem i[...]

Chapter 2: B asic Opera tion 13 2 Basic Operation Note: If you have set up the RE SPONSE scr een as a default data pag e (see page 104) you can al so access it by pres sing disp and then scrol ling throug h the data pages . 2. Pres s -1 or +1 to change the res ponse le vel. 3. Pres s disp or wait for 5 seconds to return to the pr evious disp lay . [...]

14 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 2 Basic O pera tion 2.4 Autopilot al arms Responding to alarms The ST4000+ activates the alar ms listed on the following pages : • Unless otherwi se stated, you should deal with alarms by pressing standb y to clear the alarm and return to hand steering. • In som e situat ions, th[...]

Chapter 2: B asic Opera tion 15 2 Basic Operation Win d Shift alar m (WINDSH IFT) The ST4 000+ activates the W i ndshift al arm when it detects a change in the apparent wind angl e of more than 15 ° (see pag e 29 ). Lar ge Cr oss T r ack Err or alar m (LAR GE XTE) The ST4000+ activates this alarm when the c ross track error exceeds 0.3 nm (see pag[...]

16 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 2 Basic O pera tion • the boat arrives at the target waypoint and the navigator accepts the next waypoi nt • you activate the Man Overboard (MOB) function i n T rack mode When the alarm sounds, t he pilot continues on its current heading but disp lays: • the bearing to the nex [...]

Chapter 2: B asic Opera tion 17 2 Basic Operation 3. Pres s the disp key un til you see the WA TC H data page: • the watc h time r will st art coun ting • when the timer reaches 3 minutes, the WA TCH text sta rt s flashing to indicate that the timer is in the last minute • when the timer reaches 4 minutes, the ST4000+ activates the audible W [...]

18 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 2 Basic O pera tion 2.5 Adjus ting dis play and keyp ad lightin g Note: When t he di splay l ighting is off, t he cont rol unit still illum inates the keys at a courtesy level. T o adjust the di splay and k eypad lighting: 1. Pre ss disp for 1 second from any mode to access the LAMP [...]

Chapter 3: Adv an ced Operation 19 3 Advanced Operation Chapter 3: A dvanced Op er ation The sections in this chapter explain how to use the more advanced function s on your aut opilot: 3.1 Using T ra ck mode T racking b etwe en waypoints c rea ted on na vigatio n equi pment con necte d to the aut opilot system . pag e 20 3.2 Using W ind V a ne mod[...]

20 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 3 Advanced Ope ration 3.1 Using T rac k mode Note: You can on ly use Track mode if you have conn ected the ST4000+ to a s uitable na vigation s ystem providin g SeaTalk or NMEA navigat ion inform ation. The ST4000+ can receive track and cross track error info rmation from either: •[...]

Chapter 3: Adv an ced Operation 21 3 Advanced Operation 4. W ai t for the W aypoi nt Advance alarm to soun d. The display will show the bearing to the next planned waypoint and the direction the boa t will turn to reach t his way point. Note: If the boat is more than 0.3 nm from the tra ck, the Larg e Cross Track Error alarm wil l sound (see page 2[...]

22 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 3 Advanced Ope ration Note: Tidal streams have a far m ore signi ficant eff ect at lower speeds than at h igher speeds. If the tidal flow is less than 3 5% of t he boat ’ s speed, you will no t notice any difference in the autopil ot ’ s performance in Track mode. However, you sh[...]

Chapter 3: Adv an ced Operation 23 3 Advanced Operation If the cross track error is g reater than 0.3 nm, the ST4000+ wi ll sound the Lar ge Cross T rack Error alarm and shows whether you are t o the por t (P t) or s tarboard (St b) of the planned track. T o cancel the Large Cross T rack Error alarm: • pre ss standby to return to hand steering, o[...]

24 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 3 Advanced Ope ration W aypoint arrival and advance Arri val As the boat arrives at the tar get waypoint the navi gation aid should manually or autom aticall y select the n ext target wayp oint. The ST4000+ will then detect the new tar get waypoint number , sound the W aypoint Advanc[...]

Chapter 3: Adv an ced Operation 25 3 Advanced Operation Note: When you re ach the last waypoint in the track, the NO D A T A alarm will so und to indicate t hat there i s no further wa ypoint inform atio n. Pre ss auto t o continue on the s ame heading, or standby to retur n to hand st eering. Ski ppi ng a w ayp oin t – Se aT alk na viga tors onl[...]

26 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 3 Advanced Ope ration Conf irmi ng p ositio n at the start of a jou rney At the start of a journ ey you must always use an easi ly identifiable fixed object to confirm the fix given by the navigation system. Check for fixed posi tional errors and comp ensate for them. V e rifying co [...]

Chapter 3: Adv an ced Operation 27 3 Advanced Operation 3.2 Using Wind V ane mode Note: You can only use Wind Va ne mode if you have connected t he ST40 00+ to a suit able wind i nstrument /vane providi ng SeaTalk or NMEA wind d irection i nformati on. T o use W ind V ane mode (also known as V a ne mode), the ST400 0+ must receive wi nd information[...]

28 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 3 Advanced Ope ration Exiting Wind V ane mode Y ou can return to Auto or S tandby mode from W ind V ane mode by: • pressing au to to ret urn to A uto mod e • pressing sta ndby to s teer manually in S tandby mod e Adjusting the locked wind a ngle Y ou can adjust the locked wind an[...]

Chapter 3: Adv an ced Operation 29 3 Advanced Operation 2. Ch eck tha t it is s afe to t urn on to this co urse. 3. T o accept this a pparent wind angle, press standb y and auto together within 7 s econds. Note: If you do not accept the previous wind w ithin 7 seconds, the autopi lot will lock onto t he current appar ent wind angle. Dodges in Wind [...]

30 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 3 Advanced Ope ration Using AutoT ack in Wind V a ne mode After using the AutoT ack function (see page 10 ) to tack in W ind V ane mode, you may need to adjust the locked heading until you achieve the required apparent win d angle. Note: Bef ore you use the Aut oTack functi on in Win[...]

Chapter 3: Adv an ced Operation 31 3 Advanced Operation 3.3 Displa ying da ta pag es Use th e disp key to show ‘ d ata pages ’ of SeaT alk or NMEA data: 1. Pres s disp t o access the first data page, and p ress it again to cycle through each data page in turn: • to retur n to a prev ious dat a page, press disp for 1 second within 2 seconds of[...]

32 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 3 Advanced Ope ration[...]

Chapter 4: Ma int enance & F ault F inding 33 4 M aintenanc e & F ault F inding Chapter 4: Maintenance & F ault Finding This chapter p rovides inform ation about identif ying common problems, mai ntaining y our autopilot s ystem and obtaini ng product suppo rt: 4.1 Fault findin g T his section provides a c hecklist to h elp you iden tif[...]

34 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 4 Main tena nc e & F ault F inding 4.1 F aul t f indin g All Raymarine pr oducts are designed to p rovide many years of trouble-free operati on. W e also put t hem through comprehensive testi ng and quality assur ance procedures befo re shipping. In the unlikely event that a faul[...]

Chapter 4: Ma int enance & F ault F inding 35 4 M aintenanc e & F ault F inding The au topilo t wi ll no t ‘ talk ’ to other Sea T al k instrum ents Cablin g problem – m a ke s u r e a l l t h e cables are connec ted pr operly . P osi tion i nfor matio n not r eceived Navigato r not t ransm itting the co rrec t po sit ion d ata. The a[...]

36 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 4 Main tena nc e & F ault F inding 4.2 Gener al mainten ance CAUTION: The cont rol un it, fluxgat e compass, till er drive and rudder position sensor do no t contain any user serviceab le parts. These pr oducts sh ould be servi ced only by a uthorized Raymari ne service tech nici[...]

Chapter 4: Ma int enance & F ault F inding 37 4 M aintenanc e & F ault F inding Ad just ing th e clut ch Y ou n eed to adju st the c lutch if t he drive bel t slips in Auto mo de or drags in S tandby mo de. In normal us e, you can tell if th e clutch is slipping if the motor operates but the drive does not turn the wheel . T o adjust the cl[...]

38 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 4 Main tena nc e & F ault F inding Repl acing the belt The drive belt is designed to be user serviceable. If there is insufficient adjust ment to cu re a slippi ng clutch , or if the dri ve belt is damaged in any way (if i t is broken, fray ed or stretched), you s hould replace t[...]

Chapter 4: Ma int enance & F ault F inding 39 4 M aintenanc e & F ault F inding Cl eani ng the disp lay CA UTION: T ake care when cleaning the display . D o not wipe the d isplay scr een with a dry cloth as this could scratch the scr een coating. Do not use acid , amm onia b ased or ab rasi ve produc ts. • Never use chemical or abrasive m[...]

40 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 4 Main tena nc e & F ault F inding 4.3 Pr oduct suppo rt Raymarine pr oducts are supported by a w orldwide network of distribut ors and Authori zed Service Represent atives. If you encounter any diffi culties with thi s product, pl ease contact either your nation al distributor ,[...]

Pa r t 2 : Installing the ST4000+ P art 2: Insta llin g the ST4000 +[...]

P art 2: Instal ling th e ST40 00+[...]

Chapter 5: I nstall ing the ST4000+ 43 5 I nstalling t he ST4000+ Chapter 5: Installing the ST4000+ The sections in this chapter explain how to instal l and connect the components of your autopi lot system: 5.1 Planning the installati on Preparation steps , t ools required and EMC installation guid elines . pag e 44 5.2 Control u nit How to install[...]

44 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ 5.1 Plan nin g the in stal latio n Before you start i nstalling the autopi lot system, read through the relevant inst allation sections in this chapter . After reading through t he following EMC inst allation guidelines, identify suitabl e locations for each [...]

Chapter 5: I nstall ing the ST4000+ 45 5 I nstalling t he ST4000+ D5438-1 ! Stud (x2) T humb screw (x2) Sun cover Control unit and compass (all systems) Control unit M4 x 25 mm screw No8 x 3/4 in screw (x4) Spade connector (x12) Fluxgate compass with 8 m (26 ft) cable Also pack ed: Handbook, Quick Reference Card, Worldwide Distributor List Compass [...]

46 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ EMC installation guidelines All Raymarine equipment and acces sories are designed to the best industry st andards for use in the recreation al marine environment. Their design an d manufacture conforms to the appropri ate Electromagnetic Co mpatibility (EMC) [...]

Chapter 5: I nstall ing the ST4000+ 47 5 I nstalling t he ST4000+ • Raymarine equipment and cables connected to it are: • At least 3 ft (1 m) from any equipment t ransmitting o r cables carrying radio sig nals e.g. VHF radios, cables and ante nnas. In the case of SSB radios, the distance sh ould be increased to 7f t ( 2m ) . • More than 7 ft [...]

48 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ 5.2 Contr ol unit Location Locate the ST4000+ control un it so it is: • within easy reach from the ste ering position • viewable straight on, or with a maximum viewing angl e of 30 ° • protected from phy sical damage • at least 230 mm (9 in) from any[...]

Chapter 5: I nstall ing the ST4000+ 49 5 I nstalling t he ST4000+ Mounting pr ocedure Control units are available in surface mount and flush mount styles. Surfa ce moun t co ntrol units T o fit a surface mount control unit: 1. Apply the surface mount template (supp lied at th e back of this handbook ) to the selected bulkhead. 2. Mark the centers o[...]

50 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ Flush m ount co ntrol unit s T o fit a f lush mount contro l unit: 1. Ensure that the intended mounting location is between 3 mm ( 1 / 8 in) and 20 mm ( 3 / 4 in) th ic k. 2. Apply the fl ush mount templa te (supplied at the back of this handbook) to the sel [...]

Chapter 5: I nstall ing the ST4000+ 51 5 I nstalling t he ST4000+ Cable connectors W ith th e exception of the SeaT alk cables, spade connectors are used to m ake al l co nn ecti ons to th e con tro l un it . When fitting the spade connectors, make su re the connector fits securely over the blade and not between the connector and its plastic insula[...]

52 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ • As standard, we supply a 1 m (3 ft 3 in) power cable terminated with 1 / 4 inch spade connectors. • Y ou can extend the power cable if required. The followi ng table shows the minimum acceptable cable sizes: Note: If you need to extend the cable, you MU[...]

Chapter 5: I nstall ing the ST4000+ 53 5 I nstalling t he ST4000+ T ypi cal Se aT alk co nnec tion s NMEA connections ST4000 + can receive wind and navigation d ata in NMEA 0183 format for use i n T rack and W i nd V ane modes. Rec eiving NMEA data NMEA cabling Connect the NMEA navig ator or wind instrument to the NMEA IN terminals on t he rear of [...]

54 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ Note: If you need to connect m ore than one it em of NMEA equipment, you will need to connect one of them to the SeaTalk syst em using a SeaTalk/NMEA Interf ace (part number: E850 01). NMEA data forma ts TheST4000+ can decode the foll owing NMEA 0183 navig at[...]

Chapter 5: I nstall ing the ST4000+ 55 5 I nstalling t he ST4000+ 5.3 Fluxg ate co mpass Location The compass contains a self-levelling mechanism. This enable s the compass to provide accurate readings with pitch and ro ll movements up to +/ - 35 ° . Note: The r attle that the fluxgat e compass makes when shaken is normal . It is caused by the pen[...]

56 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ Compass - rec ommen ded location for non-steel h ulls Findin g the m ost sui table location T o identif y the best compass location on your boat , start at the pi tch and roll center then move the compass up and/ or aft until you fin d a locatio n with m inim[...]

Chapter 5: I nstall ing the ST4000+ 57 5 I nstalling t he ST4000+ Compass - recommended locatio n for steel-hulls Mounting Fluxga te compass - orienta tion CA UTION: Y ou mus t mount the fl uxgate compass on a vertical b ulkhead, with the cable exitin g at the base. 1. Hold the compass against the mounting location. 2. Mark the four mount ing holes[...]

58 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ 4. Making sure the cable exits at the bottom of the compass, secure the fluxgate compass using the sel f-tapping screws p rovided (No 8 x 3 / 4 i n, pan-head). Note: Stick the supplied warning la bel near to the compa ss, where it is clearly vi sible. Connect[...]

Chapter 5: I nstall ing the ST4000+ 59 5 I nstalling t he ST4000+ 5.4 Tiller d rive (tiller p ilots only) Critical dimensions Installi ng the till er drive inv olves mountin g it between the tiller and a fixed poi nt on the boat ’ s structure. T wo dimensions are critical for correct installati on: • Dimens ion A = 620 m m (24.5 i n) : t he dis[...]

60 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ 1. Clamp the till er on the boat ’ s center line and mark dimensi ons A and B .Use mas king ta pe to l ocate the fix ing poi nts fo r the til ler pi n and mounting socket. Note: You can measure dimen sion A on either the port or starboa rd side of the cockp[...]

Chapter 5: I nstall ing the ST4000+ 61 5 I nstalling t he ST4000+ Inst allin g the mou nting socke t (par t no . D002) 1. Dril l a 12.5 m m ( 1 / 2 in) diameter hole to a dept h of 25 mm (1 in) at the fixing poi nt you have marked on t he cockpit seat. 2. If the structure at t he mounting positi on is less th an 25 mm (1 in) thick, reinforce t he u[...]

62 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ Mounting the pushr od extension T o mount the pu shrod extens ion: 1. Uns crew the e nd of th e tille r drive ’ s pushr od. 2. Sc rew the exte nsion into the p ushrod . 3. Screw the pus hrod end into the pushrod ex tension. Dimens ion C Push rod extension l[...]

Chapter 5: I nstall ing the ST4000+ 63 5 I nstalling t he ST4000+ Til ler b r ack ets If the tiller i s higher or lowe r than the mounting socket, you can use a Raymari ne till er bracket to vary th e tille r pin offset so th e drive i s h ori zo nt al. Identif ying the corr ect tiller br acket 1. Cl amp the ti ller on th e boat ’ s center line. [...]

64 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ D286-2 D E D287-2[...]

Chapter 5: I nstall ing the ST4000+ 65 5 I nstalling t he ST4000+ Ca ntile ver m oun ting If you need to attach the tiller drive to a ve rtical face (such as the cockpit sidewall), use a Raymarine c antilever socket assembly (part number D031): • the maximum pos sible extensi on of fset is 254 mm (10 in) • you cut the cantilever to the exact le[...]

66 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ Mounting the ca ntilever a ssembly T o mount the canti lever assem bly: 1. T emporarily assemb le the cantilever by screwing t he rod into the mounting r ing. 2. Ensure the drive unit is h orizontal and then mark the location of the mounting ri ng and its mo [...]

Chapter 5: I nstall ing the ST4000+ 67 5 I nstalling t he ST4000+ Pe dest al socke t mounti ng If you need to rai se the height of the drive uni t mounting socket t o keep the tiller drive horizontal, us e a Raymarine pedestal socket assembly . Identifying the correct pedestal socke t 1. Cl amp the ti ller on th e boat ’ s center line. 2. Establi[...]

68 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ 4. Bed the mounting r ing on a thin coat of s ilicon sealant. 5. Use three 6 mm ( 1 / 4 in) diameter bolts, nuts and washers to attach the mounting ri ng to the backing plate (with the backing plate on the other side of the mounting surface, as sh own above).[...]

Chapter 5: I nstall ing the ST4000+ 69 5 I nstalling t he ST4000+ In stall ing th e so cke t 1. Apply the te mplate (suppl ied at the rear of this handbo ok) to the bul khe a d. 2. Ca refu l ly d ri ll a 18 mm ( 23 / 32 in) clearance hole and tw o 2.5 mm ( 3 / 32 in) pilot h oles. Rem ove the temp late. 3. Pass the cable through the bu lkhead and a[...]

70 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ 5.5 Whe el dr ive ( wh eel pil ots o nly ) The Raymarine wheel drive will fit 3, 4, 5 , 6, 7 or 8 spok e wheels. It is designed to operate with steering sys tems with between 1 t o 3.5 turns lock to lo ck. Note: In the following cases , you must fit a rudder [...]

Chapter 5: I nstall ing the ST4000+ 71 5 I nstalling t he ST4000+ Drilling the spoke clamp holes 1. Remove the wheel drive front cover: • the front cov er is held onto the wheel drive by three ‘ pu sh-fit ’ posts wh ich sit i n three so ckets o n the driv e ring • to remove the cover , hold the motor in one hand and use you r other hand to [...]

72 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ Note: The wheel drive is designed to wo rk with 3 sp oke clamps on 4 or 8 s poke wheels. For cosmetic reasons, however, you may want to fit an extra spoke clamp to the four th spoke. Raymarine dealers can supply an extra s poke clamp (part num ber A18089). 3.[...]

Chapter 5: I nstall ing the ST4000+ 73 5 I nstalling t he ST4000+ 4. Ali gn the cover with th e wheel d rive: • the two pre-dril led holes (marked with an arrow ) must line up with their matching pair of threaded inserts on t he drive ring (also marked with an arrow) • make sure that the other spoke clamp holes align wit h their threaded insert[...]

74 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ Securing the wheel drive to the wheel 1. Remove the wheel from the pedestal and place it on top of the drive unit, with the front of the wheel and drive both facing up. 2. Using the wheel drive template at the end of t his book, select the correct set of sp o[...]

Chapter 5: I nstall ing the ST4000+ 75 5 I nstalling t he ST4000+ Attaching the pedestal bracket Note: If your wheel is bulkhead or box pedestal mounted, you w ill need t o obtain a bulkhead f itting kit (part n umber E1 5017) from you r Raymari ne dealer. Fi tting i nstruction s are suppli ed wi th the kit. Moto r tube locat ion Depending o n the [...]

76 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ Ped esta l br acket – length and posit ion Note: If you are replacing a n existing 400 0 wheel drive, you need to: remove the old pedestal bracket, cut the n ew bracket pin to the correct length (see st eps 2 and 3 below), then secu re it in the standard or[...]

Chapter 5: I nstall ing the ST4000+ 77 5 I nstalling t he ST4000+ Note: You can install the pedestal bracket either way up. In the standar d orientat ion the pin is at the bottom (bel ow the mounti ng hole s – see diagram). If obstructions on the pedestal prevent you from usi ng the stand ard orienta tion, you can inst all the bracket so th e pin[...]

78 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ 8. When the pedestal bracket is correctly posi tioned and aligned, mark around the insi de of the slots, t hen remove the bracket. 9. Use a center-punch to mark the center of each slot, then use the sma ller suppl ied dr ill bit to drill a 4 .0 m m ( 5 / 32 i[...]

Chapter 5: I nstall ing the ST4000+ 79 5 I nstalling t he ST4000+ Note: If the w heel is bent or the wheel dri ve is off center, t he pin will move up and dow n in the back plate slot. As long as the pin do es not hit the to p or bottom of the slot, th is pin movement wi ll not affect t he dri ve unit ’ s perfor mance. 13. When you have checked a[...]

80 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ 2. Route the cable through the pedestal (or guard rail) and back to the control unit : • if the pedestal h as a cab le duct, use this for t he drive cable to make sure that it cannot foul the steering mechanis m 3. Run the drive cable back to the c ontrol u[...]

Chapter 5: I nstall ing the ST4000+ 81 5 I nstalling t he ST4000+ 5.6 Rudder positi on sensor (wheel pilot option) If you conn ect the optional R aymarine rudder pos ition sensor ( part number: M81 105) to your wheel drive syst em, the autopilot will use the accurate rudder position information to improve performance. The ST4000+ wil l also use thi[...]

82 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ Horizon tal alignm ent When vie wed f rom abov e (as sh own in the illu strat ion abov e): • the sensor ar m must be between 75 mm (3 in) and 310 mm (12 in) from th e tiller arm • with the rudder amidships, the s ensor arm should be at 90 ° to t he conne[...]

Chapter 5: I nstall ing the ST4000+ 83 5 I nstalling t he ST4000+ Securing the sensor to the boa t Location Mount the rudder pos ition sensor on a suitable base alongs ide the rudder s tock and tiller arm. Note: If necessary, you can install the sensor upside down. If you mount the s ensor in this way, you m ust swap the red a nd green cable connec[...]

84 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 5 Installing the ST4000+ Atta ching th e con nector r od 1. Use a hacksaw to cut th e threaded connector rod to leng th. 2. Screw the l ock nuts onto the ro ad and then the ball-pin so ckets. 3. Press the s ockets onto the pins on the sensor arm and tiller pin. Note: To give the prec[...]

Chapter 6: Set ting-up the ST4000+ 85 6 Setting-up th e ST4000+ Chapter 6: Setting-up the ST4000+ When you ha ve installed the system, you need to check that the system is wi red correctly and set up to suit your type of boat. Th e se cti ons in thi s ch ap ter p ro vid e in str uct ion s fo r t he fo ll ow ing post-i nstallation procedures : Note:[...]

86 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 6 Setting-up the ST4000+ 6.1 Functiona l test Swi tc h o n 1. When you have inst alled your ST4000+ aut opilot s ystem, swit ch on the main power breaker . 2. If the control unit is active and the s ystem operating, the control unit will beep and display t he pilot type ( 4000 WHL or[...]

Chapter 6: Set ting-up the ST4000+ 87 6 Setting-up th e ST4000+ WA RNING: Wheel drive clutch Always r each AROUND (not through) the wheel to operate the wheel dr ive clutch l ever . 2. Pres s the +10 key . The helm should move to produ ce a turn to starboard. 3. If the helm produces a t urn to port, reverse the drive conn ections on t he ba ck of t[...]

88 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 6 Setting-up the ST4000+ Checking connections Navi gation inter face (G PS , Decc a, Loran) If you have connected the ST4000+ to a NMEA navigator , check the links b y displayi ng the default data pages ( XTE, BT W and DTW ): • press disp t o display the first d ata page, and check[...]

Chapter 6: Set ting-up the ST4000+ 89 6 Setting-up th e ST4000+ SeaT alk inte rfa ce If you have con nected the ST4000+ to ot her SeaT alk instrument s or control units , check the links as follows: 1. Pres s standby . 2. Select displ ay lighting l evel 3 ( LAMP 3 ) on any ot her SeaT alk instru ment or control uni t. 3. The ST4000 + should immedia[...]

90 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 6 Setting-up the ST4000+ 6.2 Check rudder sensor ope r ation (if fitted) Note: This procedure is only r equired if you have fitted a rudder position s enso r to a wheel pilot s ystem. If you have fit ted a rudder position sens or to a wheel pilot, before commencing the initial sea tr[...]

Chapter 6: Set ting-up the ST4000+ 91 6 Setting-up th e ST4000+ 6.3 Ini tial sea t rial Ov er vi ew When you have checked that the system is function ing correctly , you must compl ete the setup by taking the boat on a s hort sea trial to: • correct the compass deviation • adjust the heading alignment • check autopilot operation • adjust th[...]

92 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 6 Setting-up the ST4000+ Corr ecting the compass deviation Depending on your boat type, deviat ing magnetic fields can cause compass errors up to 15 ° . The correction procedure reduces these errors to a few degrees, so you MUST perform this procedure as the first item in your initi[...]

Chapter 6: Set ting-up the ST4000+ 93 6 Setting-up th e ST4000+ 4. Pres s the -1 or +1 key to change the setting from OFF to YES . Y ou will then see the TU RN BOA T page. 5. Keeping the boat speed bel ow 2 knots, turn your b oat in slow circles. Y ou should take at least 3 minutes to complete each 360 ° . What if I turn the boat too quickl y? If [...]

94 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 6 Setting-up the ST4000+ Note: If you want to attempt deviation correction again, you can st ep back to the Swi ng Compass page or keep pres sing disp to cycle through t he calibrati on options u ntil the page i s displa yed again. (To step ba ck to the previous screen, pr ess and ho[...]

Chapter 6: Set ting-up the ST4000+ 95 6 Setting-up th e ST4000+ 9. Pres s an d hol d stan dby for 2 seconds to exit calibration and save the new s ettings. Note: Setup options ar e always saved on exit. Adjusting the heading alignment Y ou should always check the compass alignment after completing the deviation correct ion procedure (swinging the c[...]

96 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 6 Setting-up the ST4000+ Checking the rudder gain The rudder gain l evel set at the factory wi ll provide st able control for initial sea trials. How ever , bo ats can vary widely in their respons e to helm, and by adjust ing the rudder gain you can impro ve the autopilo t ’ s ste [...]

Chapter 6: Set ting-up the ST4000+ 97 6 Setting-up th e ST4000+ 3. T o make a temporary adjustment t o the rudder gain: • press t he -1 and +1 keys together for 1 second to displ ay the rudder gain ( RUDD GAIN ) screen • then press -1 or +1 to ch an ge th e le vel • pres s di sp or wait for 5 seconds to return to the pr evious display and sav[...]

98 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 6 Setting-up the ST4000+ 6.4 Autopilot cal ibr ation techniques The autopilot ’ s factory default s ettings w ill provi de adequate st eering for mos t boats. If you still experience p roblems with autopi lot performance after completing the Post Install ation Pr ocedur es , follow[...]

Chapter 6: Set ting-up the ST4000+ 99 6 Setting-up th e ST4000+ Step 3 - Adjust the rudder damping If you have con nected a rudder positio n sensor to a wheel drive autopilot system, adjust the rudder damping. Check the rudder damping wh en your boat is moored docks ide: • pre ss auto and then +10 • if the helm over shoots and has to dri ve bac[...]

100 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 6 Setting-up the ST4000+[...]

Chapter 7: C ustomizing th e ST4000+ 101 7 Customizing the ST4000+ Chapter 7: Customizing the S T4000+ The ST4000 + provides calibration op tions that you can use t o adjust the sett ings fo r the co ntrol un it, the compass and th e autop ilot sy stem. W e cal ibrate the ST4000+ duri ng manufacture to provid e stable performance for most boats so [...]

102 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 7 Custom izing the ST4000+ 7.1 User set up User setup allows you to calibrat e and align the autopilot compass, select the type of b ar graph shown on t he ST4000+ disp lay , and control the in formation shown o n the data pages. The flowchart on the following page explains how to acc[...]

Chapter 7: C ustomizing th e ST4000+ 103 7 Customizing the ST4000+ 2 SECONDS D3341-2 Adjusting User setup values Quitting User setup OR SECONDS[...]

104 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 7 Custom izing the ST4000+ Bar selection ( R U D D BA R / S T E E R BA R / N O BA R ) Use this screen to s elect the type of bar graph s hown on the disp lay: • STEER B AR: This is t he default setting. It us es the bar graph to indicate dif feren t information in di ff erent operat[...]

Chapter 7: C ustomizing th e ST4000+ 105 7 Customizing the ST4000+ • Press disp t o move to th e next data page you want to change, or press and hold standby for 2 seconds to exit and save changes. The available pages are: Data Displayed a s Sp eed K no ts SPE ED K TS Log LOG XXXX .X T ri p TRIP XX X.X Ave rag e Sp eed, Kn ots A V . SPD K TS Wind[...]

106 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 7 Custom izing the ST4000+ 7.2 Deal er se tup Dealer setup allows you to customize the autopi lot to your boat. However , the factory default settings will provi de safe performance for the initial sea t rial, and fine tuning i s not normally required. The flowchart on t he next page [...]

Chapter 7: C ustomizing th e ST4000+ 107 7 Customizing the ST4000+ SECONDS Adjusting Dealer setup values Quitting Dealer setup + SECONDS OR D5333-1[...]

108 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 7 Custom izing the ST4000+ Calibratio n lock (CAL LOCK) Calibration lock controls whether it is possible to access User setup or display the s oftware version. It is intended fo r charter boat users. Pilot type (4000 WHL/TILL) Retain t he de fault s etting of 4000 WHL for wheel drive [...]

Chapter 7: C ustomizing th e ST4000+ 109 7 Customizing the ST4000+ Rudder limit (RUD LIMIT) Use th e rudder l imit fun ction t o set the lim its of au topi lot rud der control just in side th e mechanica l end st ops. Th is will avoid put ting the steering syst em under unnecessary load. The adjustment range is from 15 ° to 40 ° of rudder movemen[...]

110 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 7 Custom izing the ST4000+ Aut oT ri m (A UT O TRIM) The AutoTrim settin g determin es the rate at whi ch the auto pilot applies ‘ sta ndi ng h elm ’ to correct for trim changes cau sed by varying wind loads on the sails o r superstructu re. The possible se ttings are: The default[...]

Chapter 7: C ustomizing th e ST4000+ 111 7 Customizing the ST4000+ AutoAdapt (A UT OAD APT) The patented AutoAdapt feature allows the ST4000+ t o compensate for heading errors at higher latitudes , which are caused by the increasing dip of the earth ’ s magnetic field. The increased dip has t he effect of ampl ifying rudder response on northerly [...]

112 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 7 Custom izing the ST4000+ Rudder damping (RUDD D AMP) Set this op tion if your sys tem includes a ru dder position s ensor and the driv e ‘ hun ts ’ when tr ying to positio n the rudder . Increasing the rudder damping val ue will reduce hunting. Check the rudder dampi ng when you[...]

Spec ifica tions 113 Specifica tions ST4000+ auto pilot syst em Nominal supply voltag e: 12 V DC Operating voltage ran ge: 10 V to 15 V DC Note: reduced volt ages will severe ly degrade dr ive performa nce . Auto pilot p ower con sumpti on Standby: 0.7 2 W Auto : 10 W at 25% duty cycle (depending on bo at trim, helm load an d sailing conditio ns) C[...]

114 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 1 10 mm (4.33 in) 1 1 5 mm (4.53 in) 90 mm (3.55 in) 24 mm (0.95 in) 17 mm (0.67 in) D3242-2 Control unit dimensions Tiller drive dimensions midstroke 620 mm (24.5 in) 468 mm (18.4 in) 38 mm (1.5 in) D5436-1 D5370-2 361 mm (14.2 in) diameter 228 mm (9.0 in) diameter 135 mm (5.3 in) 17[...]

Glossar y 115 Glossary Te r m M e a n i n g ° Deg re es AA m p AutoT rim T he A utoT r im se tting determ ines the r ate at wh ich the au topilot a pplies ‘ sta nd in g h el m ’ to co rrect for t rim c hanges caus ed by varying wind loads on the sails or supers tructu re . AWG Amer ican Wi re Gauge CE Marked on prod ucts tha t com ply with def[...]

116 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook oz Ounce (1 o z = 0.028 kg) response T h e autopilo t response level c ontrols the relationsh ip between course k e eping accuracy and the amount of helm/drive activity . rudd er ga in Rudder gai n is a m easur e of how much h elm t he au topi lot w ill app ly t o correc t course erro[...]

Index 117 A Adjusting autopi lot pe rformanc e Response leve l 12 Rudd er gain 13 Alarms 14 DRIVESTOP 15 LARGE XTE 15 LOW BATT 16 MOB 17 NEXT WPT? 15 NO DATA 15 OFFCOURSE 14 SHALLOW 17 STLK FA IL 14 WATCH 16 WINDSHIFT 15 Appa r e nt w ind ang le Adjusting 28 Previou s 28 Auto mode 6 AutoAdapt 11 1 Automa tic dead band 12 Automatic track acquisition[...]

118 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook G Gusty con ditions 11 H Heading 9 Heading a lignme nt 10 2 Adjustme nt 95 Headin g mod e 102 I Illumina tion 18 Initial se a trial 91 Installation 43 Compass 55 Cont rol un it 48 EMC guideli ne s 46 NMEA co nne ct ion s 53 Power supply 51 Rudder po sitio n sensor 81 SeaTalk con necti[...]

Index 119 Steerin g ba r 104 Steering direction 86 Swingi ng the co mp ass 92 T Testing au topil ot operat i on 95 Testing the syste m 86 Tidal st ream co mpensa tion 23 Tiller drive insta llation 59 Track mode 20 Safety ad vi ce 25 Turn limit 108 U User setup 102 V Vane mo de see W ind V ane m ode Variation 110 W Watch mo de Watch a larm (WATCH) 1[...]

120 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook[...]

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 Drill 2.5 mm (3/32 inch) diameter hole (2 positions) Drill 18 mm (23/32 inch) diameter hole Tiller drive - plug template D5411-1[...]

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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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Spoke clamp Spoke diameters Wheel drive - spoke clamp template Center of wheel Spoke clamp insert D5410-1 135 mm (5.3 in) 16 mm (5/8 in) 12 mm (1/2 in)[...]

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Aft Cable position Drill 3 mm (1/8 in) diameter hole (3 positions) D3440-2 Rudder positioned amidships Rudder position sensor template Maximum permitted travel: +/- 60 ˚[...]

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Do cument numb er: 8406 4-8 Ap ril 20 01 Limited W arranty Certificate Raymarine warrants ea ch new Light Marine/De aler Distri butor Produ ct to be of good mater ials and workmanship, an d will repair or exc hange any parts proven to be defective in material and workma nship un der no rmal use for a period of 2 yea rs/24 months f rom date of sale [...]

Factory Service Centers United States o f America UK, Euro pe , Middl e East, F ar East Raymar ine Inc 22 Cotton Road, U nit D Nas hua, NH 030 63-4 219, USA Raym ar in e Ltd An chora ge P ark , P ort smo uth PO3 5TD , Engla nd T elep hone: + 1 6 03 881 5200 F ax: +1 60 3 864 475 6 www .ra ym ar in e . co m T e lephone: +44 (0)23 92 69 3611 F ax: +4[...]