Preface
iii
Contents
2.5 Using WindTrim mode ........................................................... 23
Selecting WindTrim mode ...................................................... 23
Operating hints for WindTrim mode ....................................... 25
Chapter 3: Maintenance & Fault Finding ..............................27
3.1 General maintenance .............................................................. 27
3.2 Product support ....................................................................... 28
3.3 Fault finding ............................................................................ 28
Chapter 4: Installing the Tiller Pilot ......................................33
4.1 Planning the installation .......................................................... 33
4.2 Installing the tiller pin and mounting socket ........................... 36
Measuring the critical dimensions .......................................... 36
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iv
6.2 Calibrating the tiller pilot ........................................................ 64
Calibration Level 1: Rudder gain ............................................ 64
Calibration Level 5: cruise speed ............................................ 64
Calibration Level 6: off course alarm angle ............................ 64
Calibration Level 9: magnetic variation ................................. 65
Calibration Level 10: heading error correction ....................... 65
Calibration Level 11: boat’s current latitude ........................... 66
Calibration Level 13: rudder damping .................................... 66
Controlling access to calibration ............................................. 66
Index ..................................................................................... 69
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Chapter 1: Introduction
1
Chapter 1: Introduction
1.1 Overview
Your Raymarine tiller pilot is a totally self-contained autopilot
designed for tiller steered sailboats. The autopilot is mounted
between the tiller and a single attachment point on the boat’s
structure. It is designed for owner installation and is ready for use
after connection to the boat’s 12 V electrical system.
Operating modes
The tiller pilot has four basic operating modes:
•
•
•
Standby mode: autopilot off
Auto mode: autopilot engaged and locked onto a heading
Track mode: autopilot on and maintaining a track between two
waypoints created on a navigation system
•
WindTrim mode: autopilot on and maintaining a course relative
to an apparent wind angle
SeaTalk and NMEA compatibility
The tiller pilot is SeaTalk compatible, so it can share data transmitted
from other Raymarine SeaTalk instruments:
•
•
•
•
wind information from a wind instrument can be used for
wind vane steering without the need to install a separate vane
track information, from a navigator, enables the autopilot to
provide waypoint control
boat speed from a speed instrument can provide optimum track
keeping performance
SeaTalk compatibility also allows additional fixed and hand-held
autopilot control units to be easily connected at secondary
steering and control positions
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2
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
The ST1000 Plus and ST2000 Plus tiller pilots can also be used with
any navigator transmitting NMEA 0183 or NMEA 0180 data.
The tiller pilot can be calibrated to suit each installation to provide
maximum performance with many types of boat.
1.2 Specifications
General specifications
Power supply:
10 V to 15 V DC
Drive unit thrust torque:
ST1000 Plus: 57 kg (125 lb)
ST2000 Plus: 77 kg (170 lb)
Maximum boat
displacement:
ST1000 Plus: 3 000 kg (6 600 lb)
ST2000 Plus: 4 500 kg (10 000 lb)
Drive mechanism:
ST1000 Plus: lead-screw and nut drive
ST2000 Plus: re-circulating ball drive
Helm speed (lock to lock): ST1000 Plus: 8 seconds
ST2000 Plus: 4.5 seconds
Current consumption:
• Standby: 40 mA (90 mA with full lighting)
• Auto: 0.5 A to 1.5 A depending on boat trim,
helm load and sailing conditions
Operating temperature:
Main features:
0°C to +70°C (32°F to 158°F)
• 6 button digital keypad
• Backlit LCD display of heading, locked course
and navigational information
• User calibration for optimum performance
• WindTrim control in WindTrim mode
• SeaTalk compatible
• Automatic compass deviation correction
• Northerly/Southerly heading compensation
•Automatic heading deadband –seastate control
• Automatic tack
• Built-in navigator interface (NMEA and SeaTalk)
• Waypoint advance feature
EMC conformance
All Raymarine equipment and accessories are designed to the best
industry standards for use in the recreational marine environment.
The design and manufacture of Raymarine equipment and
accessories conform to the appropriate Electromagnetic
Compatibility(EMC)standards, butcorrectinstallationis required to
ensure that performance is not compromised.
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Chapter 1: Introduction
1.3 About this handbook
Part 1: Using the Tiller Pilot
This part of the handbook explains how to use your tiller pilot:
Chapter 2: Using the Tiller Pilot
page 7
2
3
How to use the tiller pilot.
Chapter 3: Maintenance & Fault Finding
Provides maintenance and fault finding information.
page 27
Part 2: Installing the Tiller Pilot
This part of the handbook explains how to install your tiller pilot:
Chapter 4: Installing the Tiller Pilot
How to install your tiller pilot and its components.
page 33
4
Chapter 5: Commissioning the Tiller Pilot
How to check the tiller pilot and perform an initial sea trial.
page 51
5
Chapter 6: Adjusting Tiller Pilot Settings
How to change the tiller pilot calibration settings.
page 61
6
Note: This handbook contains important information about
installing, using and maintaining your new Raymarine product. To
get the best from the product, please read this handbook thoroughly.
Important Information
Warranty
ToregisteryournewRaymarineproduct,pleasetakeafewminutesto
fill out the warranty card. It is important that you complete the owner
information and return the card to us to receive full warranty benefits.
Handbook information
To the best of our knowledge, the information in this handbook was
correct when it went to press. However, Raymarine cannot accept
liability foranyinaccuracies oromissionsit maycontain. In addition,
our policy of continuous product improvement may change
specifications without notice. As a result, Raymarine cannot accept
liability for any differences between the product and the handbook.
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4
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Safety notices
WARNING: Product installation
This equipment must be installed and operated in accordance
with the instructions contained in this handbook. Failure to do so
could result in poor product performance, personal injury
and/or damage to your boat.
WARNING: Electrical safety
Make sure the power supply is switched off before you make any
electrical connections.
WARNING: Navigation aid
Although we have designed this product to be accurate and
reliable, many factors can affect its performance. As a result, it
should only be used as an aid to navigation and should never
replace common sense and navigational judgement. Always
maintain a permanent watch so you can respond to situations as
they develop.
Your Raymarine autopilot will add a new dimension to your boating
enjoyment. However, it is the skipper’s responsibility to ensure the
safety of the boat at all times by following these basic rules:
•
•
•
Ensure that someone is present at the helm AT ALL TIMES, to
take manual control in an emergency.
Make sure that all crew members know how to disengage the
autopilot.
Regularly check for other boats and any obstacles to navigation –
nomatterhow clear the sea mayappear, a dangeroussituationcan
develop rapidly.
•
•
Maintain an accurate record of the boat’s position by using either
a navigation aid or visual bearings.
Maintain a continuous plot of your boat’s position on a current
chart. Ensure that the locked autopilot heading will steer the boat
clear of all obstacles. Make proper allowance for tidal set – the
autopilot cannot.
•
Even when your autopilot is locked onto the desired track using a
navigationaid,alwaysmaintainalogandmakeregularpositional
plots. Navigation signals can produce significant errors under
some circumstances and the autopilot will not be able to detect
these errors.
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Chapter 2: Using the Tiller Pilot
7
Chapter 2: Using the Tiller Pilot
2.1 Overview
WARNING:
Passage making under autopilot control is an enjoyable
experience that can, if you are not careful, lead to the relaxation
of the permanent watch. Alwaysmaintain apermanent watch no
matter how clear the sea may appear to be.
•
The tiller pilot always powers upinStandby mode (indicated bya
flashing ‘C’ alongside the boat’s current compass heading).
The tiller pilot is controlled using simple push-button operations,
all of which are confirmed with a short beep. In addition to the
main single key functions, there are several dual key operations.
To select automatic steering:
•
•
•
•
steady the boat on the required heading
place the pushrod over the tiller pin (if necessary, extend or
retract the pushrod using the -1, +1, -10, and +10 keys)
press auto: the display will then show an ‘A’ alongside the
current heading
•
•
•
To return to manual steering at any time:
•
•
press standby
remove the pushrod from the tiller pin
You canusethe -1, +1, -10, and +10keys to make course changes
when the boat is under autopilot control.
D355-2
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8
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
2.2 Using Auto mode
Engaging the autopilot (Auto mode)
D354-2
1. Steady the boat on the required heading.
2. Placethepushrodoverthetillerpin. Ifnecessary, extendorretract
the pushrod using the -1, +1, -10, and +10 keys.
3. Press auto: the tiller pilot will enter Auto mode and the display
will show an‘A’(for auto)alongside thelockedautopilot heading.
Disengaging the autopilot (Standby mode)
D353-2
To return to hand steering:
1. Press standby.
2. Remove the pushrod from the tiller pin to return to hand steering:
the display will show a flashing ‘C’ and the boat’s current
compass heading.
3. The last heading is memorized and can be recalled (see page 11).
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Chapter 2: Using the Tiller Pilot
9
Changing course
In Auto mode, use the -1 and -10 (port) and +1 and +10 (starboard)
keys to change course in steps of 1° and 10°.
Port
Starboard
or
or
D3320-2
For example: press -10 three times for a 30° course change to port:
Original
30˚ to port
course
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10
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Automatic tack feature (AutoTack)
Theautopilothasabuilt-inautomatictackfacility(inAuto,Trackand
WindTrim modes) that turns the boat through 100°:
•
to AutoTack 100° to port, press -1 and -10 together
to AutoTack 100° to starboard, press +1 and +10 together
AutoTack - Port
AutoTack - Starboard
Wind
Wind
AutoTack
angle
AutoTack
angle
D5399-1
Dodging obstacles
1. To avoid an obstacle when you boat is under autopilot control,
select a course change in the appropriate direction. For example,
press -10 three times for a 30°dodge to port.
Obstacle
30˚ dodge
Original
course
to port
2. When safely clear of the obstacle, you can either:
•
reverse the previous course change (for example, by pressing
+10 three times), or
•
return to the previous heading (see below)
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Chapter 2: Using the Tiller Pilot
11
Returning to the previous heading
1. Press auto for 1 second: the previous heading will flash for
10 seconds.
2. To accept the previous heading, press auto again while the
previous heading is flashing.
Resumed
course
Obstacle
Original
course
Dodge
SECOND
Note: If you do not press auto while the display is flashing, the
autopilot will maintain the current heading.
Off course alarm
The off course alarm sounds if the locked autopilot heading and the
boat’s current heading differ by more than the value set in
calibration level 6 (see page 64) for 20 seconds.
D191-2
Cancelling the off course alarm
To cancel the off course alarm, press standby to return to manual
steering.
Note: If the off course alarm sounds, thisis usually an indication that
the boat is carrying too much sail, or that the sails are badly
balanced. In these conditions, you can usually obtain significant
improvements in course keeping by improving the sail balance.
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12
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Displaying navigation information pages
If navigation information (e.g. distance to waypoint, crosstrack error
andbearingtowaypoint)isavailable, youcandisplayitinAutomode
orStandbymodebypressingeither-1and+10or+1and-10together
momentarily. The display will then cycle through the navigation
information pages:
Locked heading
Distance to waypoint
(if available)
Bearing to waypoint
(if available)
Cross track error
D178-2
You can revert to normal operation by pressing either -1 and +10 or
+1 and -10 together again.
Automatic deadband control (Auto Seastate)
In Auto, WindTrim or Track modes, the tiller pilot is set to
AutoSeastate (automatic deadband control) as a default. This causes
the pilot to gradually ignore repetitive movements of the boat and
respond only to true course variations.
By preventing unnecessary rudder movement, AutoSeastate
provides the best compromise between power consumption and
course keeping accuracy.
If you want to switch off the AutoSeastate feature:
1. FromAuto, WindTrimorTrackmode, press-1 and +1 togetherto
switch from AutoSeastate to Fixed Minimum Deadband.
2. The “°”sign flasheswhen Fixed Minimum Deadbandisselected.
Minimum deadband provides the tightest course keeping
possible, at the expense of increased power consumption and
drive unit activity.
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Chapter 2: Using the Tiller Pilot
13
D360-3a
To switch back to AutoSeastate, press -1 and +1 again.
Note: The autopilot reverts to Automatic Deadband Control each
time you select Standby mode.
Operating hints – trim changes
CAUTION:
Only make major course changes when steering MANUALLY.
This ensures that the boat will safely clear any obstructions or
other boats, and you can take into account the changed wind and
sea conditions on the new heading before engaging the autopilot.
Large course changes which change the apparent wind direction can
produce large trim changes. When a sudden trim change occurs (for
example due to weather helm or sail imbalance) there will be a delay
ofuptooneminutebeforetheautomatictrimappliesruddertorestore
the locked heading.
Inthesesituations, theautopilotwillnotimmediatelyassumethenew
automatic heading, and will only settle onto course when the
automatic trim has been fully established. To minimize this problem,
use the following procedure to make major course changes:
1. Note the required new heading.
2. Press standby, remove the pushrod from the tiller pin, and steer
manually.
3. Bring boat ontothe new heading and fit the pushrodback ontothe
tiller pin.
4. Press auto and let the boat settle on course.
5. Bring your boat onto the final course in 1° steps using -1 or +1.
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14
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Gusting conditions
In gusting conditions, the course may tend to wander slightly,
particularlyifthesailsarebadlybalanced.Byimprovingsailbalance,
you can improve course keeping.
If you take the following precautions, the autopilot will be able to
maintain competent control even in gale force conditions:
•
Do not allow the boat to heel over excessively.
Ease the mainsheet traveller to leeward to reduce heeling and
weather helm.
•
•
If necessary, reef the mainsail a little early.
It is also advisable (whenever possible) to avoid sailing with the
wind dead astern when there are very strong winds and large seas.
Ideally, the wind should be at least 30° away from a dead run.
In severe conditions, it may be advisable to remove the mainsail
altogether and sail under headsail only.
•
•
2.3 Switching display illumination on and off
You can switch the display illumination on and off when the tiller
pilot is in Standby mode:
•
from Standby mode, press -1 and +1 together to switch the
illumination between on (L1) and off (L0)
•
to return to the previous mode either wait 10 seconds or press the
appropriate mode key
D364-2
Note: The tiller pilot normally powers-up with the illumination
switched on (L1).
If other SeaTalk instruments or autopilot control units are connected
via SeaTalk, you can also control the tiller pilot’s illumination from
these units.
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Chapter 2: Using the Tiller Pilot
15
2.4 Using Track mode
In Track mode, the tiller pilot maintains a track between waypoints
created on a navigation system. The tiller pilot computes any course
changes to keep your boat on track, automatically compensating for
tidal streams and leeway. To operate in Track mode, the tiller pilot
must receive cross track error information from either:
•
•
a SeaTalk navigator, or
a non-SeaTalk navigation system transmitting NMEA 0180 or
0183 data
Selecting Track mode
When you select Track mode, the tiller pilot can acquire the track in
one of two ways:
•
automaticacquisition–whenbothcrosstrackerrorandbearingto
waypoint data are available
•
manualacquisition–whenCrossTrackErroristheonlyavailable
information
Automatic track acquisition
If cross track error and bearing to waypoint data are both available
(via SeaTalk or NMEA), the pilot can acquire a track automatically:
1. Bring the boat to within 0.1 nm of track.
2. Press auto.
3. Press -10 and +10 together to enter Track mode.
4. An alarm will sound and the display will alternate between:
•
•
the bearing to waypoint, and
the direction the boat will turn to take up the new track
Waypoint
at 058˚
Current
heading
D3277-2
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16
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
5. Check that it is safe to turn the boat onto the new course.
6. Press -10 and +10 together:
•
•
the boat will now turn on to the new course
the alarm will cancel
Waypoint
at 058˚
D3257-2
7. The display will continuously cycle through the following
navigation information pages:
Locked heading
Distance to waypoint
(if available)
Bearing to waypoint
(if available)
Cross track error
D178-2
Manual track acquisition
If your navigator only provides cross track error information, you
must acquire the track manually:
1. Steer the boat to within 0.1 nm of track.
2. Bringtheheadingtowithin5° ofthebearingtothenextwaypoint.
3. Press auto.
4. Press -10 and +10 together to enter Track mode:
•
•
the autopilot will start tracking to the waypoint
the display will alternate between cross track error and the
locked pilot heading
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Chapter 2: Using the Tiller Pilot
17
Manual track acquisition at low speeds
Using manual acquisition at low speeds requires additional care as
tidal streams have a far more significant effect at lower speeds than at
higher speeds.
In general terms, if the tidal flow is less than 35% of the boat’s speed,
you will not notice any difference in the tiller pilot’s performance in
Track mode. However, you should take extra care during manual
acquisition, as follows:
•
before you select Track mode, make sure that the boat is as close
as possible to track, and that the direction made good over the
groundisasclose aspossible tothe directionof the next waypoint
positive checks of the boat’s position at regular intervals are vital,
especially if you are close to potential navigational hazards
•
Returning to Auto from Track mode
To return to Auto mode from Track mode:
•
•
press auto, or
press -10 and +10 together.
Cross track error (XTE)
Cross track error (XTE) is the distance between your current position
and the planned route. This is displayed in nautical miles (nm) and is
taken directly from your navigator.
Cross track error
(XTE)
Waypoint 2
Waypoint 1
D3260-2
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18
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
The tiller pilot displays the cross track error in the following ways:
On track
Off track to port
(steer to starboard)
Off track to starboard
(steer to port)
D3294-2
Tidal stream compensation
Under most operating conditions, Track mode will hold the selected
track to within ±0.05 nm (300 ft) or better.
The autopilot takes account of the boat’s speed when computing
course changes to ensure optimum performance over a wide range of
boat speeds. If speed data is available, the autopilot will use the
measured boat speed. Otherwise it will use the default cruise speed
entered in Calibration Level 5 (see page 64).
Waypoint 2
T
idal component
Boat's speed over ground
ater
Boat's speed through w
Waypoint 1
D3261-2
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Chapter 2: Using the Tiller Pilot
19
Waypoint arrival and advance
IMPORTANT NOTE:
Waypoint advance will only operate if the tiller pilot receives
valid bearing to waypoint and waypoint name information.
The tiller pilot can only decode the first FOUR characters of a
waypoint name. It will not be able to decode names longer than
four characters, which will stop the waypoint advance feature
from working.
If your navigator transmits valid waypoint name and bearing to
waypoint data, you can advance from one waypoint to the next
by pressing -10 and +10 together.
Arrival
As the boat passes the target waypoint, the navigator manually or
automatically selects the next target waypoint. The pilot will then:
•
•
•
detect the new target waypoint name
sound the waypoint advance alarm
display the new bearing to waypoint and the direction the boat
will turn to acquire it
Advance
When the waypoint advance alarm is sounding, the tiller pilot will
suspend Track mode and maintain the current heading:
•
•
check that it is safe to turn onto the new track
press the -10and +10keys together: thiswill cancel the waypoint
arrival alarm and turn the boat towards the next waypoint
Unless you accept the waypoint advance in this way, the alarm will
continue to sound and the tiller pilot will maintain the current course.
Dodges in Track mode
In Track mode, you still have full control from the keypad:
•
•
to make a dodge maneuver: use the -1, +1, -10 or +10 keys
after you have avoided the hazard, reverse the course change
selected for the dodge maneuver by selecting an equal course
change in the opposite direction
•
if the boat remains within 0.1 nm of track, there is no need to steer
back towards the track
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20
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Safety in Track mode
WARNING:
Track mode provides accurate track keeping even in complex
navigational situations. However, it is still the skipper’s
responsibility to ensure the safety of their boat at all times
through careful navigation and frequent position checks.
Passage making in Track mode assists precise navigation and
removesthe tasks of compensating for windand tidal drift. However,
you MUST still maintain an accurate log with regular plots:
Confirming position at the start of a journey
•
Atthestartofajourneyyoumustalwaysuseaneasilyidentifiable
fixed object to confirm the fix given by the navigation system.
Check for fixed positional errors and compensate for them.
•
Verifying computed positions
•
Always verify the computed position with a dead reckoned
position, calculated from the average course steered and the
distance logged.
Plot frequency
•
•
In open water, you should make plots at least every hour.
In confined waters or when near to potential hazards, you should
make plots more frequently.
Setting waypoints
•
Local variations in radio signal quality and changes in the tidal
stream can produce deviations from the desired track. When
setting waypoints, remember that deviations can occur.
Thoroughlycheckalongeachtrack. Checkupto0.5 nmeachside
of the track to ensure that there are no hazards within this zone.
For the waypoint advance function to work, the last four
characters of adjacent waypoint names must be different.
•
•
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Chapter 2: Using the Tiller Pilot
21
Warning messages in Track mode
Track data not received
D167-4
The tiller pilot displays this message if you select Track mode when
the autopilot is not receiving any navigation data.
Track data error
D167-5
The tiller pilot displays this message if you select Track mode when
the navigator has lost its fix.This display will clear as soon as the
navigator regains its fix.
Large cross track error
D234-2
This alarm sounds if cross track error exceeds 0.3 nm.
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22
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Waypoint advance
D208-2
The waypoint advance alarm sounds whenever the target waypoint
number changes:
•
the pilot continues on its current heading, and the display
alternates between the bearing to the next waypoint and the
direction the boat will turn to take up that bearing
make sure that the turn will be safe and, when you are ready to
make the turn, momentarily press -10 and +10 together.
the pilot will turn onto the new bearing and track towards the next
waypoint
•
•
Note: Waypoint advance will only operate if yourpilot receives valid
bearing to waypoint and waypoint number information.
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Chapter 2: Using the Tiller Pilot
23
2.5 Using WindTrim mode
Note: You can only use WindTrim mode if the tiller pilot is connected
to a suitable wind sensor/instrument providing wind direction data.
TouseWindTrimmode,thetillerpilotmustreceivewindinformation
from one of the following sources:
•
•
•
SeaTalk wind instrument
NMEA wind instrument
Raymarine pushpit wind vane (part number Z159) connected via
supplied SeaTalk interface
In WindTrim mode the tiller pilot maintains a course relative to an
apparentwindangle.ThepilotusesWindTrimtoeliminatetheeffects
of turbulence and short term wind variations. This provides smooth
precise performance with minimum power consumption.
WindTrim mode uses the fluxgate compass as the primary heading
reference. When changes in the apparent wind angle occur, the tiller
pilot adjusts the locked compass heading to maintain the original
apparent wind angle.
InWindTrimmode,thetillerpilotignoresshort-termchangesinwind
direction, yet still tracks real wind shifts as subtle as 1°.
Selecting WindTrim mode
From Standby mode or Auto mode, press standby and auto
together to select WindTrim. The tiller pilot will then maintain the
current apparent wind angle.
Note:Thetillerpilotbeepsonce every30secondsinWindTrimmode.
D5558-1
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24
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Exiting WindTrim mode
To exit WindTrim mode:
•
•
press standby to return to Standby mode
press auto to return to Auto mode
Returning to the previous apparent wind angle
If you have steered the boat away from the selected apparent wind
angle (for example, performing a dodge maneuver or selecting
Standby) you can return to the previous apparent wind angle:
D360-3
1. Press and hold standby and auto together for 1 second.
2. The display flashes the previous locked heading for 10 seconds.
3. While the display is flashing, press standby and auto together
to select the previous heading:
•
when you select the previous heading, the “W” flashes for 10
seconds to confirm the selection
Wind shift alarm
If changes in apparent wind angle alter the original locked compass
heading by more than 15°, the wind shift alarm will sound.
ThedisplayalternatesbetweenthecurrentWindTrimheadingandthe
direction of wind shift.
D209-2
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Chapter 2: Using the Tiller Pilot
To cancel the wind shift alarm:
25
•
•
check that the new course does not take the boat into danger
press standby and auto together momentarily to accept the
alarm and reset the wind shift alarm value to the current compass
heading
Operating hints for WindTrim mode
•
WindTrim filters the wind vane output. This provides optimum
response for offshore conditions where genuine shifts in wind
direction occur gradually.
•
In gusting and unsteady inshore conditions, it is best to sail a few
degrees further off the wind so that changes in apparent wind
direction can be tolerated.
•
•
It is important to minimize the amount of standing helm through
careful sail trimming and positioning of the mainsheet traveller.
Itis recommendedthat theheadsail andmainsail arereefeda little
early rather than too late.
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26
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
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Chapter 3: Maintenance & Fault Finding
27
Chapter 3: Maintenance & Fault Finding
This chapter provides information about maintaining your tiller pilot
system, obtaining product support and solving common problems.
3.1 General maintenance
CAUTION:
Theworkingparts of thetillerdrivearesealed and lubricated for
life duringmanufacture.The tiller pilot does not contain any user
serviceable parts. It should be repaired only by authorized
Raymarine service representatives.
Display condensation
•
In certain conditions, condensation may appear on the LCD
window. This will not harm the unit, and can be cleared by
switching on the illumination for a while.
Routine cabling checks
•
•
Make sure all connections are firmly attached.
Examine the cable for signs of wear or damage – replace any
damaged cables.
Cleaning the tiller pilot
•
•
If the tiller pilot is dirty, wipe it with a clean, damp cloth.
Never use chemical or abrasive materials to clean the tiller pilot.
EMC advice
•
When powered up, all electrical equipment produces
electromagnetic fields. These can cause adjacent pieces of
electrical equipment to interact with one another, with a
consequent adverse effect on operation.
•
To minimize these effects and enable you to get the best possible
performance from your Raymarine equipment, guidelines are
given in the installation instructions, to enable you to ensure
minimum interaction between different items of equipment, i.e.
ensure optimum Electromagnetic Compatibility (EMC).
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
•
•
Always report any EMC-related problems to your nearest
Raymarine dealer. We use such information to improve our
quality standards.
In some installations, it may not be possible to prevent the
equipment from being affected by external influences. In general
this will not damage the equipment but it can lead to spurious
resetting action, or momentarily may result in faulty operation.
3.2 Product support
Raymarine products are supported by a worldwide network of
distributors and Authorized Service Representatives.
Before youconsiderreturningthe autopilot, make surethatthe power
supply cable is sound and that all connections are tight and free from
corrosion. If the connections are secure, refer to the following Fault
Finding section.
If you cannot trace or rectify the fault, contact either your national
distributor, service representative, or the Raymarine Technical
Services Call Center. Refer to the back cover or the Worldwide
Distributor List for contact details.
Alwaysquotetheproductserialnumber(thisnumberisprintedonthe
underside of the tiller pilot).
3.3 Fault finding
All Raymarine products are designed to provide many years of
trouble-free operation. We also put them through comprehensive
testing and quality assurance procedures before shipping.
In the unlikely event that a fault does occur with your autopilot, use
the following table to help identify the problem and provide a
solution. If you cannot resolve the problem yourself, contact either
your national distributor, service representative, or the Raymarine
Technical Services Call Center.
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Chapter 3: Maintenance & Fault Finding
29
SYMPTOM
SOLUTION
The autopilot display is blank.
No power – check the fuse/circuit
breaker.
Thedisplayedcompassheadingdoes The compass has not been corrected for
not agree with the boat’s compass. deviation – carry out the deviation and
alignment procedures (see page 56).
Boat turns slowly and takes a long
time to come on to course.
Rudder gain too low (see page 58).
Boat overshoots when turning on to Rudder gain too high (see page 58).
a new course.
The autopilot appears to be unstable Northerly/Southerly heading correction
on Northerly headings in the
Northern hemisphere (or Southerly
headings in the Southern
hemisphere).
not set up (see page 65).
Display shows ‘CAL OFF’ when
entering calibration.
Calibration access has been prevented
(see page 66).
The autopilot will not ‘talk’ to other Cabling problem – make sure all the
SeaTalk instruments.
cables are connected properly.
Position information not received.
Navigator not transmitting the correct
position data.
The autopilot will not auto advance No bearing to waypoint information
to the next waypoint. received from the navigator.
The screen shows a series of rotating Compass deviation correction is running.
dashes.
The display shows a series of
stationary dashes.
Data is not being received – check the
cabling.
The display shows ‘Err’.
The navigator haslost its fix–refertothe
navigator handbook for further action.
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
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Chapter 4: Installing the Tiller Pilot
33
Chapter 4: Installing the Tiller Pilot
4.1 Planning the installation
Before you start installing your tiller pilot system, use the illustration
to check the parts supplied. Then read through the following
information and the relevant installation sections in this chapter.
ST1000 Plus and ST2000 Plus Pack Contents
Tiller
pin
Mounting
socket
Self-tapping screw
No 6 x 3/4 in (x6)
Cable clip and
cable clamp
Tiller pilot socket
Gasket
Rubber cap
ST1000+ and ST2000+ Quick Reference Guide
ST1000 Plus &
ST2000 Plus
Owner's
Worldwide
Distributors
Handbook
Owner's handbook
Quick reference guide
Worldwide distributor list
D3361-2
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34
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Cabling guidelines
•
•
•
consider how you will run cables to and from each component
avoid running cables through bilges where possible
avoid running cables close to fluorescent lights, engines, radio
transmitting equipment etc.
EMC installation guidelines
All Raymarine equipment and accessories are designed to the best
industry standards for use in the recreational marine environment.
Their design and manufacture conforms to the appropriate
Electromagnetic Compatibility (EMC) standards, but correct
installationisrequiredtoensurethatperformanceisnotcompromised.
Although every effort has been taken to ensure that they will perform
under all conditions, it is important to understand what factors could
affect the operation of the product.
The guidelines given here describe the conditions for optimum EMC
performance, but it is recognized that it may not be possible to meet
all of these conditions in all situations.
To ensure the best possible conditions for EMC performance within
theconstraintsimposedbyanylocation,alwaysensurethemaximum
separation possible between different items of electrical equipment.
For optimum EMC performance, we recommend that:
Raymarine equipment and cables connected to it are:
•
At least 3 ft (1 m) from any equipment transmitting or cables
carrying radio signals e.g. VHF radios, cables and antennas.
In the case of SSB radios, increase the distance to 7 ft (2 m).
More than 7 ft (2 m) from the path of a radar beam. A radar
beam can normally be assumed to spread 20 degrees above
and below the radiating element.
•
•
•
The equipment is supplied from a separate battery from that used
for engine start. Voltage drops below 10 V, and starter motor
transients, can cause the equipment to reset. This will not damage
the equipment, but may cause the loss of some information and
may change the operating mode.
Raymarine specified cables are used. Cutting and rejoining these
cables can compromise EMC performance and must be avoided
unless doing so is detailed in the installation manual.
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Chapter 4: Installing the Tiller Pilot
35
•
Ifa suppressionferriteisattachedtoacable, thisferriteshouldnot
be removed. If the ferrite needs to be removed during installation
it must be reassembled in the same position.
EMC suppression ferrites
We supply the fluxgate compass and power cables with suppression
ferrites fitted. Always use these ferrites supplied by Raymarine.
D3548-2
Connections to other equipment
If your Raymarine equipment is to be connected to other equipment
usingacablenotsuppliedbyRaymarine, asuppressionferriteMUST
always be attached to the cable near to the Raymarine unit.
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
4.2 Installing the tiller pin and mounting socket
CAUTION:
Asthetillerpilothasabuilt-incompass,makesurethattheboat’s
steering compass is at least 750 mm (2 ft 6 in) away to avoid
deviation.
Measuring the critical dimensions
The tiller pilot is mounted between the tiller and a fixed point on the
structure of your boat.Two dimensions are critical to ensure correct
installation:
•
Dimension A = 589 mm (23.2 in): the distance from the
mounting socket to the tiller pin
Note: This dimension increases if your installation requires a
pushrod extension (see page 38) or cantilever mount (see page 41).
•
Dimension B = 460 mm (18 in): the distance from the rudder
stock’s center line to the tiller pin
47.5 mm
(1.9 in)
'A'
589 mm (23.2 in)
445 mm (17.5 in)
95 mm
(3.7 in)
610 mm (24.0 in)
'B'
460 mm
(18 in)
90˚
Rudder axis
Sloping rudderstock
D3198-2
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Chapter 4: Installing the Tiller Pilot
To measure the critical dimensions:
37
1. Clamp the tiller on the boat’s center line.
2. Mark dimensions A and B and use masking tape to locate the
fixing points.
Note: For standard installations, dimension A is measured on the
starboard side of the cockpit. If you need to mount the tiller pilot on
the port side of the cockpit, you can measure dimension A to port.
However you will need to reverse the tiller pilot’s operating sense
when you have completed installation (see page 52).
3. Make sure that:
•
dimensions A and B are at right angles to each other (as
shown on the diagram opposite)
•
the tiller pilot is mounted horizontally
Basic installation
After establishing control dimensions A and B, you can usually
mount the tiller pilot directly onto the cockpit seat.
12.5 mm
(0.5 in)
Mounting socket
Tiller pin
D3192-2
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Installing the tiller pin
1. Drill a 6mm (1/4 in) diameterhole to a depth of 25mm (1 in)at the
fixing point you have marked on the tiller.
2. Use a two part epoxy (e.g. Araldite) to fix the tiller pin in place.
3. Position the shoulder of the pin so it is 12.5 mm (1/2 in) above the
tiller surface.
Installing the mounting socket
1. Drilla 12.5mm(1/2 in) hole to a depth of 25 mm (1 in) atthe fixing
point you have marked on the cockpit seat.
2. If the structure at the mounting position is less than 25 mm (1 in)
thick, reinforce the underside with plywood bonded into position.
3. Fix the mounting socket in place using a two part epoxy.
CAUTION:
As thetillerpilotiscapableofgeneratinghighpushrodloads, you
MUST:
• drill all holes to the specified size and reinforce where necessary
• allow the epoxy to harden thoroughly before applying a load
Installation accessories
If you are not able to install the tiller pilot directly onto the cockpit
seat or tiller as described, one (or a combination) of the following
installation accessories:
•
•
•
•
pushrod extensions
tiller brackets
cantilever sockets
pedestal sockets
alternative tiller pins
Pushrod Extensions
If you need to increase the pushrod length (because of the distance
from the mounting socket location to the center line), use a
Raymarine pushrod extension.
Identifying the correct pushrod extension
1. Clamp the tiller on the boat’s center line.
2. Measure dimension C.
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Chapter 4: Installing the Tiller Pilot
39
3. Select the appropriate pushrod extension length (and part
number) using the following table.
Dimension C
Pushrod extension length L
Part no.
-
589 mm (23.2 in)
615 mm (24.2 in)
640 mm (25.2 in)
665 mm (26.2 in)
691 mm (27.2 in)
716 mm (28.2 in)
742 mm (29.2 in)
Standard dimension
25 mm (1 in)
D003
D004
D005
D006
D007
D008
51 mm (2 in)
76 mm (3 in)
102 mm (4 in)
107 mm (5 in)
152 mm (6 in)
C
L
D3193-2
Mounting the pushrod extension
To mount the pushrod extension:
1. Unscrew the end of the tiller pilot’s pushrod.
2. Screw the extension into the pushrod.
3. Screw the pushrod end into the pushrod extension.
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Tiller brackets
If the tiller is higher or lower than the mounting socket, you can use a
Raymarine tiller bracket to vary the tiller pin offset so the pilot is
horizontal.
Identifying the correct tiller bracket
1. Clamp the tiller on the boat’s center line.
2. Measure dimension D (if the pushrod is above the tiller) or
dimension E (if the pushrod is below the tiller).
3. Select the appropriate bracket from the following table:
Dimension D
(pushrod below tiller)
Dimension E
(pushrod above tiller)
Bracket
part no.
25 mm (1 in)
51 mm (2 in)
76 mm (3 in)
102 mm (4 in)
127 mm (5 in)
51 mm (2 in)
76 mm (3 in)
102 mm (4 in)
127 mm (5 in)
152 mm (6 in)
D009
D010
D011
D159
D160
D
D3194-2
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Chapter 4: Installing the Tiller Pilot
41
E
D3195-2
Mounting the tiller bracket
1. Position the tiller bracket on the center line of the tiller (above or
below) and establish the critical dimensions A and B
Note: To measure dimension B on a boat with a sloping rudderstock,
refer to the diagram on page 36.
2. Mark the centers of the two bracket mounting holes.
3. Drill two 6 mm (1/4 in) diameter holes through the center line of
the tiller at the positions you have marked.
4. Attach the tiller bracket using two 6 mm (1/4 in) diameter bolts,
nuts and washers.
5. Bond the fixing bolts in place with two part epoxy adhesive
6. When the epoxy is completely hardened, fully tighten the nuts.
7. Attach the tiller pin to the bracket.
Cantilever mounting
If you need to attach the tiller pilot to a vertical face (such as the
cockpit sidewall), use a Raymarine cantilever socket assembly
(part number D031):
•
•
the maximum possible extension offset is 254 mm (10 in)
you cut the cantilever to the exact length during mounting
Cutting the cantilever rod to length
1. Clamp the tiller on the boat’s center line.
2. Measure dimension F (actual).
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42
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
3. Refer to the table to establish a cutting length for the cantilever
rod – double check measurements before cutting.
4. Measure the rod from threaded end, then cut the cantilever rod
to length L using a hacksaw. Remove any sharp edges with a file.
Dimension F
Cut length L
51 mm (2 in)
102 mm (4 in)
152 mm (6 in)
203 mm (8 in)
229 mm (9 in)
654 mm (25.75 in)
705 mm (27.75 in)
743 mm (29.75 in)
806 mm (31.75 in)
832 mm (32.75 in)
F
L
D3196-2
Mounting the cantilever assembly
To mount the cantilever assembly:
1. Temporarily assemble the cantilever by screwing the rod into the
mounting ring.
2. Ensure the tiller pilot is horizontal and then mark the location of
the mounting ring and its mounting holes.
3. Drill three 6 mm (1/4 in) diameter holes at the positions you have
marked.
4. Bed the mounting ring on a thin coat of silicon sealant.
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Chapter 4: Installing the Tiller Pilot
43
5. Use three 6 mm (1/4 in) diameter bolts, nuts and washers to attach
the mounting ring to the backing plate (with the backing plate on
the other side of the mounting surface, as shown above).
6. Screw the rod firmly into place.
7. Roughen the end of the cantilever rod and the inside of the cap to
provide a key. Then apply two part epoxy adhesive to the rod end
and the cap.
8. Placethecapovertherodend,makingsuretheholeforthetiller
pilotmountingpinfacesupwards. Allow the epoxyadhesive to
harden fully before applying a load.
Note:Whenthetiller pilotis notinuse, youcanunscrewthecomplete
rod assembly to leave the cockpit unobstructed.
Pedestal socket mounting
If youneed to raise the height ofthe mounting socket to keepthe tiller
pilot horizontal, use a Raymarine pedestal socket assembly.
Identifying the correct pedestal socket
L
G
D3197-2
1. Clamp the tiller on the boat’s center line.
2. Establish the standard control dimensions A and B.
3. With the tiller pilot horizontal, measure dimension G.
4. Select the appropriate pedestal socket assembly from the table.
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Dimension G
64 mm (2.5 in)
102 mm (4.0 in)
114 mm (4.5 in)
127 mm (5.0 in)
140 mm (5.5 in)
153 mm (6.0 in)
Pedestal socket length L
Standard dimension
38 mm (1.5 in)
Part no.
-
D026
D027
D028
D029
D030
50 mm (2.0 in)
64 mm (2.5 in)
76 mm (3.0 in)
89 mm (3.5 in)
Mounting the pedestal socket
1. Mark the mounting ring’s position on the cockpit seat or counter.
2. Ensure that control dimensions A and B are correct.
3. Mark the bolt holes on the mounting ring and then drill three
6 mm (1/4 in) diameter holes.
4. Bed the mounting ring on a thin coat of silicon sealant.
5. Use three 6 mm (1/4 in) diameter bolts, nuts and washers to attach
the mounting ring to the backing plate (with the backing plate on
the other side of the mounting surface, as shown above).
6. Screw the mounting socket firmly into place.
Note:Whenthetiller pilotisnotinuse, youcanunscrew thecomplete
rod assembly to leave the cockpit unobstructed.
Alternative tiller pins
Your Raymarine dealer can also supply the following alternative
lengths of tiller pin for other non-standard installations.
Description
Size
Part no.
D014
Small threaded tiller pin
Extra length tiller pin
Extra length threaded tiller pin
25 mm (1.0 in)
72 mm (2.8 in)
72 mm (2.8 in)
D020
D021
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Chapter 4: Installing the Tiller Pilot
45
4.3 Cabling and socket installation
Both power and data are supplied to the tiller pilot via a waterproof
plug and socket. The plug comes ready assembled and the socket can
be mounted in the cockpit area adjacent to the tiller pilot.
NMEA + (white, pin 6)
+12 V DC (brown, pin 1)
0 V (blue, pin 2)
NMEA - (green, pin 5)
SeaTalk data (yellow, pin 4)
D305-3
Mounting the socket
Install the tiller pilot socket as follows:
Floating nut
Plug
Socket
Retaining ring
Gasket
Cable
Installed socket
Screw
Rubber cap
D3296-2
1. Attach the template (provided at the back of this handbook) to the
selected bulkhead.
2. Carefully drill a 21 mm (53/64 in) clearance hole for the cable boss.
3. Drill 4 pilot holes (2.5 mm or 3/32 in) for the self-tapping screws.
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
4. Remove the template.
5. Pass the power cable and any other cables (SeaTalk and NMEA)
through the bulkhead and the gasket.
6. Use a small flat-bladed screwdriver to connect the cable(s) to the
socket – refer to the illustrations on the following pages.
D3297-2
7. Assemble the rubber cap to one of the 4 self-tapping screws.
8. Secure the socket to the bulkhead using the 4 self-tapping screws.
9. Secure the cable(s) at regular intervals using suitable clips.
10. Assemble the plug to the socket by screwing the ‘floating’ nut
onto the threaded part of the socket by hand.
11. The retaining ring is designed as a stop for the plug nut to prevent
accidental disassembly. Afteryouhavetightenedthe floatingnut,
slide the retaining ring back up the plug to retain the nut.
Power supply
Supply (0 V)
Socket
12 A fuse
Supply (+12 V DC)
D3265-2
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Chapter 4: Installing the Tiller Pilot
47
•
•
Thetillerpilotrequiresitsowndedicatedpowersupply–itcannot
source its power from SeaTalk.
Power should be taken directly from the boat’s central
distribution panel and protected with a 12 A fuse or equivalent
circuit breaker.
The followingtable showstheminimumcable sizeacceptable for the
power supply:
Cable length
Up to 2.5 m (8 ft)
Up to 4 m (13 ft)
Copper area
1.5 mm2
2.5 mm2
AWG
16
14
IMPORTANT:
Correct power cable size is critical for correct autopilot
operation. If in doubt, use a heavier gauge cable than specified. A
lighter gauge cable might cause a voltage drop between the
supply and the autopilot. This will reduce the power at the tiller.
SeaTalk cabling
Supply (0 V)
Socket
Yellow (SeaTalk data)
Screen (SeaTalk 0 V)
12 A fuse
Supply (+12 V DC)
Red (SeaTalk 12 V)
with 5 A fuse
SeaTalk
interface cable
SeaTalk
instruments
D366-2
CAUTION:
Protect the power supply for the SeaTalk 12 V (red) line with a
5 A fuse (or equivalent circuit breaker) fitted as close to the tiller
pilot as possible.
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
If required, the tiller pilot can be wired to the SeaTalk bus using a
suitable SeaTalk interface cable (part numbers: D229 flat moulded
plug, D179 male round plug, D181 female round plug).
Connect the SeaTalk cable to the tiller pilot socket as shown below.
As well as sharing SeaTalk data, the tiller pilot can also be used to
supply power to the SeaTalk instruments.
Raymarine produce a range of SeaTalk accessory cables you can use
to connect the tiller pilot to SeaTalk instruments and control units:
•
•
flat plugs for recent SeaTalk equipment (e.g. ST30, ST40, ST60)
round plugs for older SeaTalk equipment (e.g. ST50)
Extension cables - flat moulded plugs at each end
Part no. Type
Length
D284
D285
D286
D287
D288
Flat moulded plugs at each end
1 m (3 ft 3 in)
3 m (9 ft 10 in)
5 m (16 ft 5 in)
9 m (29 ft 6 in)
20 m (65 ft 6 in)
Flat moulded plugs at each end
Flat moulded plugs at each end
Flat moulded plugs at each end
Flat moulded plugs at each end
Conversion cables - flat moulded plug to round plug
Part no. Type
Length
D187
D188
Flat moulded plug to male round plug
Flat moulded plug to female round plug 0.3 m (12 in)
0.15 m (6 in)
Extension cables - round plugs at each end
Part no. Type
Length
D124
D125
D126
D154
Male round plug to female round plug
Male round plug to female round plug
Male round plug to female round plug
Male round plug to female round plug
1 m (3 ft 3 in)
3 m (9 ft 10 in)
6 m (19 ft 8 in)
9 m (29 ft 6 in)
Interface cables - flat moulded/round plug to bare ends
Part no. Type
Length
D229
D179
D181
Flat moulded plug to bare ends
Male round plug to bare ends
Female round plug to bare ends
1 m (3 ft 3 in)
3 m (9 ft 10 in)
3 m (9 ft 10 in)
D5554-1
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Chapter 4: Installing the Tiller Pilot
49
Remote control cabling
If required, you can operate the tiller pilot using:
•
•
a full-function ST600R remote control unit (part no: A12016), or
a SeaTalk hand-held remote control (part no: Z101)
The following illustration shows how to connect a remote control.
Supply (0 V)
Socket
Yellow (SeaTalk data)
Screen (SeaTalk 0 V)
12 A fuse
Supply (+12 V DC)
Red (SeaTalk 12 V)
with 5 A fuse
SeaTalk
instruments
SeaTalk cable
ST600R remote
Z101 remote
SeaTalk
socket
SeaTalk
cable*
or
*If you only need to connect a remote, wire
this SeaTalk cable into the tiller pilot socket
D3279-2
NMEA cabling
Ifrequired,youcanconnectaNMEAnavigatororwindinstrumentto
the tiller pilot. It can then use this information for Track and
WindTrim modes.
Recognized NMEA data
The following table lists the recognized NMEA sentences.
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Information
NMEA 0183 data
Cross Track Error
APB, APA,RMB, XTE, XTR
APB, BPI, BWR, BWC, BER, BEC, RMB
Bearing to Waypoint
Distance to Waypoint
WDR, WDC, BPI, BWR, BWC, BER,
BEC, RMB
Waypoint Number
APA, APB,BPI, BWR, WDR, BWC,
WDC, RMB, BOD, WCV, BER, BEC
Speed Through Water
VHW
Apparent Wind Angle and Speed VWR
Supply (0 V)
Socket
NMEA -
Navigator
or wind
instrument
with NMEA
output
12 A fuse
Supply (+12 V DC)
NMEA +
Connecting NMEA and SeaTalk
Supply (0 V)
NMEA -
NMEA +
Screen (0 V)
12 A fuse
Supply (+12 V DC)
Red (12 V)
with 5 A fuse
Yellow
(SeaTalk
data)
Navigator
or wind
instrument
with NMEA
output
SeaTalk
instruments
D3280-2
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Chapter 5: Commissioning the Tiller Pilot
51
Chapter 5: Commissioning the Tiller Pilot
This chapter explains how to commission your tiller pilot after
installation. This consists of a number of simple functional tests
followed by a short sea trial.
5.1 Functional tests
Switch on
1. Switch on the main power breaker.
2. The autopilot should beep and display the pilot number (ST1000
or ST2000).
3. Within 2 seconds, the display should show a flashing ‘C’ followed
by the compass heading (for example, C 234). This shows the
autopilot is active.
Note: If the tiller pilot does not beep or display the compass heading,
please refer to the Fault Finding section (see page 28).
Operating sense
The operating sense defines the direction the tiller pilot will apply
helm when a course change key is pressed or the boat goesoffcourse.
To check the operating sense:
1. Place the pushrod end over the tiller pin.
2. Press +10.
3. The helm should move to produce a turn to starboard.
D168-3
4. If the helm produces a turn to port, refer to the following
instructions on reversing the operating sense.
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52
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Reversing the operating sense
If necessary, reverse the operating sense can be reversed as follows:
1. Press -1 and +1 together for 5 seconds.
2. The display showsthe new operating sense (port or starboard) for
5 seconds, and then the autopilot reverts to normal operation.
Checking the navigation interface
If you have connected the tiller pilot to a navigator, check the
interface as follows:
1. Set up a track on the navigator to give a Cross Track Error
between 0 nm and 0.3 nm.
2. Enter Auto mode by pressing auto.
3. Enter Track mode by pressing -10 and +10 together.
4. An alarm will sound and the display will alternate between the
bearing to waypoint and the direction the boat will turn to
acquire it.
D208-2
5. Make sure that it is safe to turn onto the new course, then press
-10 and +10 again.
6. If the navigator is connected correctly, the display will begin to
cycle through the available navigation data:
Locked heading
Distance to waypoint
(if available)
Bearing to waypoint
(if available)
Cross track error
D3267-2
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Chapter 5: Commissioning the Tiller Pilot
53
Navigation error screens
If thedisplayshowseitherofthe followingerrordisplays, thecauseis
either:
•
•
a wiring error, or
the navigator is not configured to transmit the required data
format
Track data not received
D3268-2
This error message indicates that data has not been received. The
most likely reason is a cabling error– either open circuit, short circuit
or wires reversed.
Track data error
D3269-2
Thiserrormessageindicatesthatthenavigatorhaslostitsfix.Referto
the navigator handbook for further action.
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54
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Checking the wind instrument interface
If you have connected the tiller pilot to a wind instrument, check the
data link as follows:
1. Press standby and auto together.
2. The tiller pilot should display a ‘W’ followed by the locked
heading.
D3270-2
Ifthedisplaycontinuestoshow aflashing‘C’andthecurrent heading,
thetillerpilotis notreceivinganywinddata. Themostlikelyreasonis
a cabling error – either open circuit, short circuit or wires reversed.
Checking the SeaTalk interface
If you have linked the tiller pilot to other instruments or control units
via SeaTalk, check the link as follows:
1. Press standby.
D3271-2
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Chapter 5: Commissioning the Tiller Pilot
55
2. Select display illumination level 0 (LAMP 0) on any other SeaTalk
instrument or autopilot control unit.
D170-2
3. The tiller pilot should immediately respond by switching off its
display illumination. If the illumination does not switch off, there
is a cabling fault between the tiller pilot and the instruments or
control unit.
5.2 Initial sea trial
CAUTION:
Failure to carry out the sea trial may result in impaired autopilot
performance on some compass headings.
When you have checked that the system is operating correctly, you
must complete a short sea trial to calibrate the compass.
The tiller pilot has a built-in calibration capability so you can
fine-tune it to suit your boat, its steering system and its dynamic
steering characteristics.
As supplied from the factory, the autopilot is calibrated to provide
safe, stable control for most boats.
•
Do not attempt to make any permanent changes to the
recommended calibration values until you have completed the
sea trial.
•
You must carry out the initial sea trial in conditions of light wind
and calm water – so you can assess the autopilot’s performance
without the influence of strong winds or large waves.
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Before starting the sea trial
Before carrying out the sea trial, you should:
•
check the calibration settings and, if necessary, reset them to the
default values (see page 63)
•
check the installation to make sure that it is not affected by radio
transmissions, engine starting, etc.
Calibrating the compass
Automatic compass deviation correction
Bycompleting thefollowingcompasscorrectionprocedure, the tiller
pilot cancorrect its owninternal fluxgate compassfor most deviating
magnetic fields. You should complete the Compass Deviation
Correction at the beginning of your sea trial.
To complete the compass correction:
1. Extend or retract the pushrod so you can place the pushrod end
onto the tiller pin.
2. Press and hold standby for 1 second – a series of dashes will
cycle around the display.
SECOND
D3272-2
3. Keeping boat speed below 2 knots, use the -10 and +10 keys to
turn the boat in slow circles. You should take at least 3 minutes to
complete each 360°.
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Chapter 5: Commissioning the Tiller Pilot
57
• boat's speed below 2 knots
• each complete circle should take 3 minutes
11/2 – 2 circles
D3273-2
4. Keep turning your boat until the display changes to show the
amount of deviation the autopilot has detected (this should take
between 11/2 t o2 complete circles). The deviation alternates with
the autopilot’s current heading every second.
Current heading
Deviation
D3274-2
Heading alignment
1. Use the -1 and +1 keys to increase or decrease the displayed
heading until it agrees with the heading on the boat’s steering
compass, or a known transit bearing.
2. Exit compass linearization and heading alignment and store the
compass correction/alignment values as follows:
•
•
press and hold standby for 1 second until the pilot beeps
or, to exit without saving any new settings, press standby
momentarily
Note: For installations where an ST50 or ST30 Steering Compass
instrument is connected to the SeaTalk bus, and the Steering
Compass has a fluxgate transducer connected, it is only necessary to
carry out the auto deviation correction on the Steering Compass
Instrument (refer to Steering Compass handbook instructions).
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58
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Further adjustments to heading alignment
If the heading alignment requires further adjustment, enter Compass
Deviation Correction again by pressing standby for 1 second.
1. Press auto to skip Deviation Correction and proceed to Heading
Alignment.
2. Adjust the heading as described above.
Autopilot operation
Having calibrated the compass, the following procedure is
recommended to familiarize yourself with autopilot operation:
1. Steer onto a compass heading and hold the course steady.
2. Place the pushrod end over the tiller pin.
3. Pressautotolockontothecurrentheading.Thetillerpilotshould
achieve a constant heading in calm sea conditions.
4. Alter course to port or starboard in multiples of 1° and 10°.
Port
Starboard
or
or
D3320-2
5. Press standby and remove the pilot to return to hand steering.
5.3 Adjusting autopilot performance
The factory setting for rudder gain provides stable control for initial
sea trials. However, different boats can vary widely in their response
tothehelmandfurtheradjustmenttotheruddergainmayimprovethe
autopilot’s steering characteristics.
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Chapter 5: Commissioning the Tiller Pilot
59
The following test will determine whether the rudder gain is set too
high or too low.
1. In clear water and with the autopilot in Auto mode, alter course to
starboard by 40° by pressing +10 four times.
•
•
•
At cruising speeds, a course change of 40° should result in a
crisp turn followed by an overshoot of no more than 5°.
If this occurs the rudder gain is set correctly.
Ifruddergainistoohigh, the 40°course change will result in a
distinct overshoot of more than 5° (A).
Correct this oversteer by reducing the rudder gain setting.
If rudder gain is too low, the boat’s steering performance will
be sluggish – it will take a long time to make the 40° turn and
there will be no overshoot (B).
Correct this understeer by increasing the rudder gain setting.
New
heading
B
New
heading
A
Rudder gain
too low
New
heading
too high
Correct
rudder gain
D3262-2
Note: It is easier to recognize these actions in calm sea conditions
where wave action does not mask basic steering performance.
2. Refer to the calibration menu diagram in Chapter 6: Adjusting
Tiller Pilot Settings, for instructions on how to adjust the rudder
gain setting.
3. Repeat the test until you achieve crisp course changes with no
more than 5° of overshoot.
You should set the rudder gain to the lowest setting consistent with
accurate course keeping. This will minimize drive movements and
reduce power consumption and wear and tear.
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
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Chapter 6: Adjusting Tiller Pilot Settings
61
Chapter 6: Adjusting Tiller Pilot Settings
6.1 Introduction
The tiller pilot is calibrated at the factory to provide stable
performance for most boats. However, you can fine tune many of the
calibration features to match your personal preferences, and the type
of boat and steering system.
Note:You should carryout aninitialseatrialbefore adjustingany of
the calibration features.
You might need to adjust the tiller pilot calibration settings if:
•
•
the pilot does not maintain a selected heading
the rudder activity is too high or the course keeping is not tight
enough.
•
the boat appears to be unstable on Northerly headings (or
Southerly headings in the southern hemisphere)
you operate in Track Control mode without a speed instrument
you wish to change the Off Course alarm angle
•
•
The calibration menu allows you to adjust the following parameters
from their factory default settings:
•
•
•
•
•
•
•
rudder gain
average cruise speed
off course alarm limit
variation
Northerly/Southerly turning error compensation
boat’s current latitude
rudder damping
Adjusting calibration values
The flow chart on the next page shows how to:
enter the calibration menu
scroll through the calibration menu
•
•
•
•
adjust the calibration values
quit calibration
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Calibration menu
1
5
6
9
=
=
=
=
Rudder gain
Average cruise speed
Off course alarm angle
Local magnetic variation
SECONDS
10 = Northerly/Southerly
turning error correction
11 = Current boat latitude
13 = Rudder damping
REPEAT THE ABOVE KEYPRESS
WITHIN 10 SECONDS TO ENTER CALIBRATION
SECONDS
ADJUSTING CALIBRATION
FEATURES
OR
QUITTING CALIBRATION AND
SAVING ANY CHANGES
SECOND
QUITTING CALIBRATION
WITHOUT SAVING CHANGES
Does not appear if Level 10 is set to 0.
D3344-2
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Chapter 6: Adjusting Tiller Pilot Settings
63
Calibration features
Calibration feature
Value
D167-07a
•
•
The number on the left identifies the calibration feature and the
number on the right the currently selected value.
You can enter the calibration menu to view the existing values
without altering them. After viewing the value, a momentary
press of standby returns the pilot to its normal operating mode
without affecting the previous settings.
•
If the display shows CAL OFF when you try to enter calibration,
refer to page 66.
D214-1
Default calibration values
The following table shows the default calibration values. These will
provide safe performance for initial sea trial.
No. Feature Default setting Adjusted values
1
Rudder gain
5
5
Average cruise speed
Off course alarm angle
Local magnetic variation
8
6
20
9
Off (– –)
Off (0)
10
North/South turning error
correction
11
13
Boat’s current latitude
0
3
Rudder damping
Note: Calibration Levels 2,3,4,7,8 and 12 are not available. If
Calibration Level 10 is set to 0, level 11 will also be omitted.
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64
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
6.2 Calibrating the tiller pilot
Calibration Level 1: Rudder gain
Use Calibration Level 1 to adjust the rudder gain. This must be set
Calibration Level 5: cruise speed
Use Calibration Level 5 to set the boat’s normal cruising speed for
operation in Track mode.
When interfacing with a navigation system, the tiller pilot uses the
boat’s average cruising speed to perform track calculations.
Note: If a SeaTalk speed instrument is connected, boat speed data
will be transmitted directly to the autopilot.
Calibration Level 6: off course alarm angle
Use Calibration Level 6 to set the off course alarm angle. This alarm
warns you if the autopilot is unable to maintain its set course.
The off course alarm operates if the autopilot strays off course, by
more than the set value, for more than 20 seconds.
You can set the limit in 1° increments between 15° and 40°.
Locked heading
Boat heading
15˚ minimum
D3264-2
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Chapter 6: Adjusting Tiller Pilot Settings
65
Calibration Level 9: magnetic variation
Use Calibration Level 9 to input the level of magnetic variation
present at the boat’s current position.
•
•
-ve variation = west
+ve variation = east
The tiller pilot transmits this value onto the SeaTalk bus, so it can be
picked up by other SeaTalk instruments.
Calibration Level 10: heading error correction
UseCalibrationLevel10toswitchonNortherlyorSoutherlyheading
error correction:
•
•
0 = Off
1 = Northern Hemisphere, 2 = Southern Hemisphere
You might notice that the autopilot tends to be a little less stable on
NortherlyheadingsinthehigherlatitudesoftheNorthernhemisphere
(or Southerly headings in the Southern hemisphere).
This is caused by the increasing angle of dip of the earth’s magnetic
field at higher latitudes, which has the effect of amplifying rudder
response on Northerly (Southerly) headings. This error affects all
magnetic compasses and gets worse further away from the equator.
With heading error correction switched on, the tiller pilot can
compensate for this error by automatically adjusting the autopilot
gain (depending on heading). This will provide precise course
keeping on all headings.
North
without
compensation
North
with
compensation
D3263-2
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66
ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Calibration Level 11: boat’s current latitude
When you have switched on heading error correction (Level 10), you
need to use Calibration Level 11 to input the boat’s current latitude
(to the nearest degree).
Note: If the correction is switched off in Calibration Level 10 (i.e. set
to ‘0’),Level 11 will be omitted. When you press the auto key in
Calibration Level 10 you will advance to Level 13.
Calibration Level 13: rudder damping
Adjust the value in Calibration Level 13 if the tiller drive ‘hunts’
when trying to position the rudder.
•
you can select 9 stages of rudder damping – initially, this option
should be set to 3
•
if the autopilot is over-active in calm conditions, increase the
damping
•
•
if the course keeping is not tight enough, decrease the damping
adjust the damping one stage at a time
Controlling access to calibration
You can prevent unauthorized access to calibration as follows:
1. Press and hold -1 and standby together for 10 seconds until the
display shows CAL OFF:
D214-1
2. TogglethecalibrationaccessbetweenOn andOFF usingthe-1 and
+1 keys.
3. Store the setting by pressing -1 and standby for 10 seconds until
the tiller drive returns to normal operation.
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ST1000+ and ST2000+
tiller drives: socket template
Drill 21 mm (53/64 inch)
diameter hole
Drill 2.5 mm (3/32 inch)
diameter pilot hole (4 positions)
D3362-2
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Index
69
Index
Cantilever mounting 41
Adjusting rudder gain 58
Deviation correction 56
Heading alignment 57
A
Adjusting autopilot performance 58
Adjusting tiller pilot settings 61–66
Alarms and warnings
Large XTE 17, 21
Off course alarm 11
Track data error 21
Track data not received 21
Waypoint advance 19, 22
Wind shift 24
Current latitude 66
Auto mode 8–14
Automatic deadband 12
AutoTack 10
Changing course 9
Dodging obstacles 10
Entering Auto mode 8
Exiting Auto mode 8
Navigation information pages 12
Off course alarm 11
Display illumination 14
Dodging obstacles 10, 19
Installation guidelines 34
Servicing and safety guidelines 27
Return to previous heading 11
Auto Seastate 12
Automatic deviation correction 56
B
Boat’s current latitude 66
Navigation interface 52
C
Cabling
NMEA 49
Power 47
Remote control (optional) 49
SeaTalk 47
H
Heading alignment 57
Heading error correction 65
Calibration 61–66
Access 66
Default values 63
I
Level 01 - Rudder gain 58, 64
Level 05 - Cruise speed 64
Level 06 - Off course alarm angle 64
Level 09 - Magnetic variation 65
Level 10 - Heading error 65
Level 11 - Boat’s current latitude 66
Level 13 - Rudder damping 66
Illumination 14
Initial sea trial
Checking autopilot operation 58
Compass deviation correction 56
Heading alignment 57
Installation 33–50
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ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Cabling
NMEA 49
Return to previous heading 11
Rudder damping 66
Power 47
SeaTalk 47
EMC guidelines 34
Parts supplied 33
Socket 45
Tiller drive 36–44
SeaTalk
Accessory cables 48
Servicing 27
L
Southerly heading error correction 65
Specifications 2
Lighting 14
M
T
Magnetic variation 65
Maintenance 27
Mounting socket 38
Cantilever mounting 41
Mounting socket 38
Pedestal socket mounting 43
N
Navigation information pages 12
NMEA
Pushrod extensions 38
Tiller brackets 40
Cabling 49
Recognized data 49
Northerly heading error correction 65
Tiller pin (Non-standard) 44
Track mode 15–22
Cross track error 17
O
Dodging obstacles 19
Entering Track mode 15
Automatic acquisition 15
Manual acquisition 16
Exiting Track mode 17
Tidal stream compensation 18
Warning messages 21
Waypoint arrival/advance 19
Off course alarm 11
Off course alarm angle 64
Operating modes 7–25
Auto mode 8–14
Track mode 15–22
WindTrim mode 23–25
Operating sense, reversing 52
P
W
Parts supplied 33
Pedestal socket mounting 43
Power
WindTrim mode 23–25
Entering WindTrim mode 23
Exiting WindTrim mode 24
Return to previous wind 24
Wind shift alarm 24
Cabling 47
Socket installation 45
Product support 28
Pushrod extensions 38
X
R
XTE (Cross track error) 17
Recognized NMEA data 49
Remote control cabling 49
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Limited Warranty Certificate
Raymarine warrants each new Light Marine/Dealer Distributor Product to be of good materials and
workmanship, and will repair or exchange any parts proven to be defective in material and
workmanshipundernormalusefor aperiodof 2years/24monthsfromdateof saletoenduser, except
as provided below.
Defects will be corrected by Raymarine or an authorized Raymarine dealer. Raymarine will, except
asprovidedbelow,acceptlaborcostforaperiodof2years/24monthsfromthedateofsaletoenduser.
During this period, except for certain products, travel costs (auto mileage and tolls) up to 100 round
trip highway miles (160 kilometres) and travel time of 2 hours, will be assumed by Raymarine only
on products where proof of installation or commission by authorized service agents, can be shown.
Warranty Limitations
RaymarineWarrantypolicydoesnotapplytoequipmentwhichhasbeensubjectedtoaccident, abuse
or misuse, shipping damage, alterations, corrosion, incorrect and/or non-authorized service, or
equipment on which the serial number has been altered, mutilated or removed.
Except where Raymarine or its authorized dealer has performed the installation, it assumes no
responsibility for damage incurred during installation.
This Warranty does not cover routine system checkouts or alignment/calibration, unless required by
replacement of part(s) in the area being aligned.
A suitable proof of purchase, showing date, place, and serial number must be made available to
Raymarine or authorized service agent at the time of request for Warranty service.
Consumable items, (suchas: Chart paper, lamps, fuses, batteries, styli, stylus/drive belts, radar mixer
crystals/diodes, snap-in impeller carriers, impellers, impeller bearings, and impeller shaft) are
specifically excluded from this Warranty.
Magnetrons, Cathode Ray Tubes (CRT), TFT Liquid Crystal Displays (LCD) and cold cathode
fluorescentlamps(CCFL),hailerhornsandtransducersarewarrantedfor1year/12monthsfromdate
of sale. These items must be returned to a Raymarine facility.
All costs associated with transducer replacement, other than the cost of the transducer itself, are
specifically excluded from this Warranty.
Overtime premium labor portion of services outside of normal working hours is not covered by this
Warranty.
Travel cost allowance on certain products with a suggested retail price below $2500.00 is not
authorized. When/or if repairs are necessary, these products must be forwarded to a Raymarine
facility or an authorized dealer at owner’s expense will be returned via surface carrier at no cost to the
owner.
Travel costs other than auto mileage, tolls and two (2) hours travel time, are specifically excluded on
all products. Travel costs which are excluded from the coverage of this Warranty include but are not
limited to: taxi, launch fees, aircraft rental, subsistence, customs, shipping and communication
charges etc. Travel costs, mileage and time, in excess to that allowed must have prior approval in
writing.
TO THE EXTENT CONSISTENT WITH STATE AND FEDERAL LAW:
(1) THIS WARRANTY IS STRICTLY LIMITED TO THE TERMS INDICATED HEREIN, AND
NO OTHER WARRANTIES OR REMEDIES SHALL BE BINDING ON RAYMARINE
INCLUDING WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABLE OR
FITNESS FOR A PARTICULAR PURPOSE.
(2) Raymarine shall not be liable for any incidental, consequential or special (including punitive or
multiple) damages.
All Raymarine products sold or provided hereunder are merely aids to navigation. It is the
responsibility of the user to exercise discretion and proper navigational skill independent of any
Raymarine equipment.
Document number: 84064-8
April 2001
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Factory Service Centers
United States of America
UK, Europe, Middle East, Far East
Raymarine Inc
22 Cotton Road, Unit D
Nashua, NH 03063-4219, USA
Raymarine Ltd
Anchorage Park, Portsmouth
PO3 5TD, England
Telephone: +1 603 881 5200
Fax: +1 603 864 4756
Telephone: +44 (0)23 9269 3611
Fax: +44 (0)23 9269 4642
Sales & Order Services
Telephone: +1 800 539 5539 Ext. 2333 or
+1 603 881 5200 Ext. 2333
Customer Support
Telephone: +44 (0)23 9271 4713
Fax: +44 (0)23 9266 1228
Email: [email protected]
Technical Support
Telephone: +1 800 539 5539 Ext. 2444 or
+1 603 881 5200 Ext. 2444
Email: [email protected]
Product Repair Center
Telephone: +1 800 539 5539 Ext. 2118
Stick barcode label here
Purchased from
Dealer address
Purchase date
Installed by
Installation date
Commissioned by
Commissioning date
Owner’s name
Mailing address
This portion should be completed and retained by the owner.
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