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.
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ii
ST6001+ Autopilot Control Unit - Owner’s Handbook
Autohelm, HSB (High Speed Bus), SailPilot, SeaTalk and SportPilot
are registered trademarks of Raymarine Ltd.
Raymarine, AST (Advanced Steering Technology), AutoAdapt,
AutoLearn, AutoRelease, AutoSeastate, AutoTack, AutoTrim,
FastTrim, GyroPlus, RayGyro, RayPilot and WindTrim are
trademarks of Raymarine Ltd.
Handbook contents © Raymarine Ltd 2001.
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Preface
iii
Contents
Tidal stream compensation ..................................................... 18
Waypoint arrival and advance ................................................. 19
Waypoint Advance warning – summary ................................. 20
Dodges in Track mode ............................................................ 21
Safety in Track mode .............................................................. 22
3.2 Using Wind Vane mode – sail boats ........................................ 23
About Wind Vane mode .......................................................... 23
Selecting Wind Vane mode ..................................................... 24
Exiting Wind Vane mode ........................................................ 24
Adjusting the locked wind angle ............................................. 24
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iv
Warning messages .................................................................. 31
Receiving NMEA data ............................................................ 50
5.5 Functional test – repeater units only ....................................... 53
Chapter 6: Commissioning the Autopilot ............................55
6.1 Dockside Checks .................................................................... 56
Step 1 - Switch on ................................................................... 56
Step 2 - Check the SeaTalk and NMEA connections .............. 57
Step 3 - Check the autopilot operating sense ........................... 58
Step 4 - Adjust basic autopilot settings ................................... 59
6.2 Seatrial Calibration ................................................................. 63
Calibrating the compass .......................................................... 64
Adjusting autopilot settings .................................................... 68
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Preface
Display Calibration screens .................................................... 79
Dockside Checks .................................................................. 101
Seatrial Calibration ............................................................... 101
Calibration mode (non-150/400 systems) ...............................102
Calibration groups ................................................................ 102
Dealer Calibration screens .................................................... 104
Dealer Calibration: possible settings with Type 100/300 ..... 110
Specifications .....................................................................111
ST6001+ control unit ..............................................................111
Course computer functions .....................................................111
Glossary ..............................................................................112
Index ....................................................................................115
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vi
ST6001+ Autopilot Control Unit - Owner’s Handbook
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Preface
vii
About this handbook
Welcome to the handbook for the ST6001+ autopilot control unit.
This handbook contains two main parts:
Chapter 1: Introduction
page 1
page 3
1
Introduces the autopilot, its features and its use.
Chapter 2: Basic Operation
Covers basic autopilot operation: using Auto mode,
2
unit lighting.
Explains how to use Track and Wind Vane modes, adjust
page 15
page 33
3
rudder gain and display data pages.
Provides general maintenance procedures and
trouble-shootinginformation (including alarm messages).
4
Chapter 5: Installing the ST6001+
Explains how to install your ST6001+ control unit and
page 43
page 55
5
connect it to your autopilot system.
Chapter 6: Commissioning the Autopilot
Covers dockside checks after installation, and the initial
6
seatrial calibration.
Chapter 7: Adjusting Autopilot Settings
Providesdetailsonadjustingthecontrolunitandautopilot page 75
settings in Calibration mode.
7
At the end of this handbook we have included an appendix, product
specifications, a glossary, an index, installation templates, and
warranty information.
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.
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viii
ST6001+ Autopilot Control Unit - Owner’s Handbook
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.
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
WARNING: Electrical safety
Make sure the power supply is switched off before you make any
electrical connections.
WARNING: Calibration
We supply this product calibrated to default settings that should
provide initial stable performance for most boats. To ensure
optimum performance on your boat, you must completeChapter
6: Commissioning the Autopilot before use.
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.
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Preface
ix
•
•
Make sure that all members of crew know how to disengage the
autopilot.
Regularly check for other boats and any obstacles to navigation –
no matterhowclear thesea 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.
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, but correctinstallationisrequired to
ensure that performance is not compromised.
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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x
ST6001+ Autopilot Control Unit - Owner’s Handbook
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Chapter 1: Introduction
1
Chapter 1: Introduction
The Raymarine ST6001 Plus (ST6001+) is a SeaTalk® compatible
autopilot control unit. It is designed as the main control unit for
Raymarine Type 150, 150G, 400 and 400G course computers.
The ST6001+ control unit has the following modes:
1. Standby: autopilot off (see page 6)
2. Auto: autopilot steers the boat to maintain a locked heading
(see page 6)
3. Track: autopilot steers the boat to maintain a track between two
waypoints created on a navigation aid (see page 16)
4. WindVane:autopilotsteerstheboattomaintainacourserelative
to a true or apparent wind angle (see page 23)
5. Calibration: so you can adjust the autopilot to give optimum
performanceforyourboat (see page 76).Thisincludesautomatic
compass deviation correction (all autopilots) and AutoLearn
automatic steering calibration (Type 150G/400G systems only)
The ST6001+ also provides:
•
•
•
automatic tack (AutoTack) in Auto and Wind Vane modes
Northerly/Southerly heading compensation
waypoint advance feature in Track mode
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2
ST6001+ Autopilot Control Unit - Owner’s Handbook
Functions with Type 150/150G and 400/400G autopilots
The functions provided with Type 150/150G and Type 400/4000G
autopilots depend on whether the course computer contains an
internal GyroPlus yaw sensor:
Type 150G/400G (with GyroPlus) Type 150/400 (without GyroPlus)
Internal GyroPlus yaw sensor provides Fullbasicfunctionality:uses Raymarine
enhanced course keeping using AST
(Advanced Steering Technology)
steering algorithm without AST
Improved track-keeping
Improved track-keeping
Steering to true and apparent wind in Steering to true and apparent wind in
Wind Vane mode Wind Vane mode
Improved calibration access, including Improved calibration access, but
AutoLearn (self-learning calibration) without AutoLearn
Extended systems
You can connect the ST6001+ to other Raymarine SeaTalk
equipment so it can send and receive SeaTalk data:
•
•
•
it can use wind information from a SeaTalk wind instrument for
Wind Vane steering
it can use waypoint information from a SeaTalk navigation
instrument to provide track control
it can use boat speedfroma SeaTalkspeedinstrument tooptimize
track-keeping performance
You can also use the ST6001+ autopilot with any navigator
(GPS, Decca, Loran) or wind instrument that transmits National
Marine Electronics Association (NMEA) 0183 data.
The ST6001+ can display SeaTalk and NMEA instrument data in a
user-defined selection of data pages. When you are using the
ST6001+ to repeat instrument data, it shows a ‘pop-up’ pilot page for
5 seconds whenever you make a change in autopilot control.
Compatibility with other autopilots
The ST6001+ is also compatible with Raymarine Type 100 and
Type 300 course computers (see the Appendix for more details).
You can also use it as an additional repeater control unit for any
SeaTalk autopilot system, allowing autopilot control from a
secondary location.
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Chapter 2: Basic Operation
3
The sections in this chapter explain how to use the basic functions on
your ST6001+ autopilot control unit:
Using the control unit
Summarizesthe key functionsandscreenlayouton the
page 4
page 6
page 14
2.1
2.2
2.3
ST6001+ control unit.
Using Auto mode
Provides instructions for engaging/disengaging the
autopilot, using Auto mode and adjusting the
autopilot’s performance.
Adjusting display/keypad lighting
Explainshowtochange the lighting on the controlunit
display and keypad.
Note: If you are using the control unit with a non-150/400 autopilot
system, refer to the notes in the Appendix.
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4
ST6001+ Autopilot Control Unit - Owner’s Handbook
2.1 Using the control unit
Start-up mode
The autopilot always powers up in Standby mode with the display
Note: You can press standby at any time to return to manual
steering.
Keypad functions
Theautopilotiscontrolledusingsimplepush-buttonoperations,allof
which are confirmed with a short beep. In addition to the main
single-key functions, there are several dual key operations.
-1 plus +1
Press for Response level
Press for 1 second
for Rudder Gain
-1 plus -10
Press together
for AutoTack
to port
+1 plus +10
Press together
for AutoTack
to starboard
TRACK
DISP
Press for Track
mode from Auto
(if a navigator is
connected)
Press to display
data pages
Press for 1 second
for lamp control
Press to accept
waypoint advance
Press for 1 second
to skip waypoint
Course change keys
Port 1˚ Starboard 1˚
Port 10˚ Starboard 10˚
AUTO
Press for Auto mode
STANDBY
Press for
Standby mode
Press for 2 seconds
to enter Calibration mode
Press for 1 second
for Last Heading
Press again to
accept Last Heading
STANDBY plus AUTO
Press for Wind Vane mode
(if a wind vane is connected)
Press for 1 second for Last Wind
Press again to accept Last Wind
D5449-1
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Chapter 2: Basic Operation
5
Display layout
The ST6001+ display screen provides the following information:
Variable text region (up to 9 characters/digits)
Heading indicators
Distance units:
• no units = kilometres
• nm = nautical miles
• SM = statute miles
Autopilot mode
indicators
Port and Starboard
direction-to-steer
indicators
Calibration mode
calibration pages)
Rudder position indicator or error bar
D5457-1
Thebargraphatthebottomofthescreenisnormallyarudderposition
indicator. This indicates the current position of the rudder, as
measured by the rudder position sensor.
Note: Youcan change this to aheading/cross track/winderror bar in
Display Calibration, see page 79.
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6
ST6001+ Autopilot Control Unit - Owner’s Handbook
2.2 Using Auto mode
CAUTION:
Before using Auto mode, make sure that the pilot has been
correctly commissioned.
Engaging the autopilot (Auto mode)
To engage the autopilot:
1. Steady the boat on the required heading.
2. Press auto:
•
in Auto mode, the display shows the locked autopilot heading
D3560-3
CAUTION:
Autopilot course control makes it easier to sail a boat, but it is
NOT a substitute for good seamanship. ALWAYS maintain a
permanent watch by the helm.
Disengaging the autopilot (Standby mode)
Press standby to disengage the autopilot:
•
in Standby mode, the display shows the boat’s current compass
heading.
•
the last heading is memorized and can be recalled (see page 11).
D3561-3
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Chapter 2: Basic Operation
7
Changing course in Auto mode
In Auto mode, use the -1 and -10 (port) and +1 and +10 (starboard)
keys to change the locked heading in steps of 1° or 10°. For example:
press -10 three times for a 30° course change to port.
Port
Starboard
or
or
D3320-2
Adjusting performance – Type 150G/400G
The main way you can adjust the performance of Type 150G/400G
(GyroPlus) autopilot systems is by changing the response level. This
is the only user adjustment you should need to make to the autopilot
on a regular basis.
The response level controls the relationship between the autopilot’s
course keeping accuracy and the amount of helm/drive activity.
Type 150G and 400G autopilot systems have 9 levels of response:
•
level 1 gives the least pilot activity to conserve power, but may
compromise short-term course-keeping accuracy
levels 4 to 6 should give good course keeping under normal
operating conditions – with crisp, well controlled turns but
without being over-aggressive
•
•
level 9 gives the tightest course keeping and greatest rudder
activity, but may lead to a rough passage in open waters as the
autopilot may ‘fight’ the sea
When you require extra tight course keeping (e.g. for pilotage in
confined and sheltered waters), increase the setting. If you want to
minimize drive activity and conserve battery power, decrease
the setting.
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8
ST6001+ Autopilot Control Unit - Owner’s Handbook
You can adjust the default response level in either User or Dealer
Calibration (see page 85). This determines the default power-up
response level.
However, when using your autopilot on a day-to-day basis, you can
you can match autopilot performance to different conditions.
With these points in mind, you should use the following procedure to
make temporary adjustments to the response level when required:
1. Display the RESPONSE screen by pressing the -1 and +1 keys
together momentarily.
Decrease
response
Increase
response
D5452-1
Note: The RESPONSE screen is set as a default data page (see
page 81)soyoucanalsoaccessitbypressingdispandthenscrolling
through the data pages.
2. Press -1 or +1 to change the response level.
3. Press disp or wait for 5 seconds to return to the previous display.
Note: You will lose these temporary changes to response level
whenever the system is powered off. You can make permanent
adjustments in User or Dealer Calibration (see page 85).
Adjusting performance – Types 150/400 and 100/300
To adjust the performance of Type 150/400 (non-GyroPlus) and
Type 100/300 autopilot systems you can change the response level.
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Chapter 2: Basic Operation
9
Response level – Types 150/400 and 100/300
The response level controls the relationship between the autopilot’s
course keeping accuracy and the amount of helm/drive activity.
You can adjust the default response level in either User or Dealer
Calibration (see page 85). This determines the default power-up
response level.
However, when using your autopilot on a day-to-day basis, you will
need to make temporaryadjustmentsto theresponselevel. By doing
this you can match autopilot performance to different conditions.
Type 150/400 (without GyroPlus) and Type 100/300 autopilot
systems have three different response levels:
•
Response Level 1: AutoSeastate on (Automatic deadband)
This setting causes the autopilot to gradually ignore repetitive
boat movements and only react to true variations in course. This
provides the best compromise between power consumption and
course keeping accuracy, and is the default calibration setting.
•
•
Response Level 2: AutoSeastate off (Minimum deadband)
This setting provides tighter course keeping. However, this
results in increased power consumption and drive unit activity.
Response Level 3: AutoSeastate off + yaw damping
This setting provides the tightest possible course keeping by
introducing counter rudder yaw damping. You can adjust the
counter rudder setting in Dealer Calibration (see page 91)
To make a temporary change to the response setting:
1. Display the RESPONSE screen by pressing the -1 and +1 keys
together momentarily.
2. Press -1 or +1 to change the response between levels 1 to 3.
3. Press disp or wait for 5 seconds to return to the previous display.
Note: You will lose these temporary changes to response level
whenever the system is powered off. You can make permanent
adjustments in User or Dealer Calibration (see page 85).
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10
ST6001+ Autopilot Control Unit - Owner’s Handbook
Off Course warning
= deviation to starboard
D3315-2
The ST6001+ activates the OFF COURSE warning when the boat has
been off course from the locked heading by more than the specified
angle*forlongerthan20seconds.Itshowswhetherthedeviationisto
port or starboard.
Note: * You can adjust this specified off course angle in Dealer
Calibration (see page 93).
1. Tocancel theoffcoursewarning, pressstandbytoreturntohand
steering.
2. Checkwhetheryourboatiscarryingtoomuchsail, orwhetherthe
sails are badly balanced. You can usually significantly improve
course keeping by improving the sail balance.
Note: The ST6001+ also clears the warning if the heading recovers,
if you change the course, or if you change the operating mode.
Dodging obstacles and then resuming course
To avoid an obstacle when your boat is under autopilot control, you
can dodge the obstacle and then resume your previous course.
Dodging an obstacle
Obstacle
Original
course
Dodge
D3303-2P
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Chapter 2: Basic Operation
11
Dodging an obstacle
1. Select a course change in the appropriate direction. For example,
press -10 three times for a 30° dodge to port.
2. When safely clear of the obstacle, you can either:
•
reverse the previous course change (for example, press +10
three times), or
•
returntothepreviouslockedheading(LASTHDG)asdescribed
below
Returning to the previous heading (LAST HDG?)
When the boat is in Auto mode and you have steered the boat away
from the selected locked heading for any reason (for example, to
execute a dodge maneuver), you can return to the previous locked
heading (the most recent heading held for 20 seconds). To do this:
1. Press auto for 1 second. The display flashes and shows the
previous locked heading (LAST HDG?) for 10 seconds. The
direction-to-steer indicator shows the direction the boat will turn.
2. To accept this heading, and resume this course, press auto when
the display is flashing.
Note: If you do not press auto while the display is flashing, the
autopilot will maintain the current heading.
Returning to last heading
Resumed
course
Obstacle
1 SECOND
Original
course
Dodge
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12
ST6001+ Autopilot Control Unit - Owner’s Handbook
Using sail boat features
Automatic tack (AutoTack)
The ST6001+ has a built in automatic tack facility (AutoTack) that
the vessel type to SAIL BOAT, you can adjust the default AutoTack
angle in User or Dealer calibration (see page 83).
•
•
to AutoTack to port: press the -1 and -10 keys together
to AutoTack to starboard: press the +1and +10 keys together
CAUTION:
When making major course changes, the trim on the boat may
change substantially. Because of this, the autopilot may take
some time to settle accurately onto the new course.
AutoTack - Port
AutoTack - Starboard
Wind
Wind
AutoTack
angle
AutoTack
angle
D5399-1
Preventing accidental gybes
Note: For the gybe inhibit feature to work, the autopilot needs
suitable wind information (see page 23).
The gybe inhibit feature stops the boat from performing an AutoTack
away from the wind – this will prevent accidental gybes. On Type
150/150G and 400/400G autopilots, you can turn off this feature if
required:
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Chapter 2: Basic Operation
13
•
with gybe inhibit on:
•
•
you will be able to perform an AutoTack into the wind
topreventaccidentalgybes, theautopilotwillpreventtheboat
from performing an AutoTack away from the wind
•
with gybe inhibit off:
you can perform an AutoTack into or away from the wind.
•
Note: Gybe inhibit is switched on as a default. On Type 150/150G
and Type 400/400G autopilotsyou can switch it off in User or Dealer
Calibration (see page 83).
Gusty conditions
In gusty conditions, the course may tend to wander slightly,
particularly if the sails are badly balanced. If you take the following
precautions, the autopilot will be able to maintain competent control
even in gale force conditions:
•
You can significantly improve course keeping by improving the
sail balance:
•
•
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
•
Invery strongwindsand large seas, youshouldavoid sailing with
the wind dead astern:
•
•
ideally, bring the wind at least 30° away from a dead run
in severe conditions, you may also need to remove the
mainsail and sail under headsail only
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14
ST6001+ Autopilot Control Unit - Owner’s Handbook
2.3 Adjusting display/keypad lighting
Note: When the display lighting is off, the control unit illuminates the
keys at a courtesy level.
To adjust the display and keypad lighting:
1. Press disp for 1second from any mode to access the LAMP screen
and turn on the lights.
settings: LAMP 3 (the brightest setting), LAMP 2, LAMP 1, OFF,
LAMP 1, LAMP 2, LAMP 3 and so on:
•
as you change the setting, the illumination on any other
SeaTalk instruments or control units will also change
.
SECOND
D3313-3
3. The display automatically returns to the previous mode if you do
not press a key for 10 seconds:
•
if you press another mode key within 10 seconds you will
select the mode assigned to that key (for example: auto
selects Auto mode, standby selects Standby mode)
Note: You can also adjust the lighting level from any other SeaTalk
instrument or control unit.
Note: When you switch off the unit you lose any changes you have
made to the lighting level.
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Chapter 3: Advanced Operation
15
functions on your autopilot:
Using Track mode
Tracking between waypoints created on navigation
page 16
page 23
page 27
3.1
3.2
3.3
Using Wind Vane mode – sail boats
Using the autopilot to maintain a course relative to a
true or apparent wind angle.
Adjusting the rudder gain
Explains how to adjust the rudder gain setting (mainly
applies to non-GyroPlus Type 150/400 systems).
Displaying data pages
DescribeshowtousedatapagestodisplaySeaTalkand
NMEAinformationonthecontrolunit. Thissectionalso
explains the Watch timer feature.
page 29
3.4
Note: If you are using the control unit with a non-150/400 autopilot
system, refer to the notes in the Appendix.
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16
ST6001+ Autopilot Control Unit - Owner’s Handbook
3.1 Using Track mode
Note: You can only use Track mode if you have connected the
autopilot to a suitable navigation system providing SeaTalk or
NMEA navigation information.
The autopilot system can receive track information from either:
•
a SeaTalk navigation instrument or chartplotter (see page 49 for
information on connecting to SeaTalk), or
•
a non-SeaTalk navigation system transmitting data in the
NMEA 0183 format (see page 50 for information on connecting
NMEA equipment)
In Track mode, the autopilot maintains a track between waypoints
created on the navigation system. The autopilot makes any course
changes necessary to keep your boat on track, automatically
compensating for tidal streams and leeway.
Selecting Track mode
CAUTION:
When you enter Track mode, the autopilot will bring the boat
onto the track in a controlled way. The closer the boat is to the
correctheadingandtrack,thequickertheautopilotwillsettlethe
boat onto the new course. To avoid an unexpected turn,
approximately align the boat with the required track before
entering Track mode.
To select Track mode:
1. Start with the autopilot in Auto mode.
2. Press track to enter Track mode.
3. Wait for the Waypoint Advance warning to sound. The display
will show the bearing to the next planned waypoint and the
direction the boat will turn to reach this waypoint.
4. Check that it is safe for the boat to turn onto the new course.
5. Press the track key:
•
the autopilot will turn the boat onto the new course in a
controlled way
•
the display shows the heading required to achieve the
required track
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Chapter 3: Advanced Operation
Note: The closer the boat is to the correct heading and track when
17
you press track, the quicker the autopilot will bring the boat onto the
new course. If the boat is more than 0.3 nm from the track, the Large
Cross Track Error warning will sound (see page 17).
Automatic track acquisition
From auto mode, press track to enter Track mode:
Then press track again to turn boat to waypoint:
Waypoint
Waypoint
at 270˚
at 270˚
Current
heading
Previous
heading
D5414-1
Exiting Track mode
You can exit Track mode and return to Auto or Standby mode by:
•
•
pressing auto to return to Auto mode
pressing standby to steer manually in Standby mode
Cross track error
Cross track error (XTE) is the distance between the current position
and a planned route. The autopilot receives the cross track error
information from the navigation equipment, and displays the XTE in
nautical miles (nm), statute miles (SM) or kilometres.
If the crosstrack error is greater than 0.3 nm, the ST6001+ will sound
theLargeCrossTrack Error warningandshow whetheryouaretothe
port (Pt) or starboard (Stb) of the planned track.
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18
ST6001+ Autopilot Control Unit - Owner’s Handbook
Cross track error (XTE)
more than 0.3 nm
Waypoint 2
Actual route
Planned route
Waypoint 1
Tidal stream compensation
Under most conditions, the autopilot 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.
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 3: Advanced Operation
In order of preference, the autopilot uses:
19
•
•
•
measured boat speed (speed through water)
if this is not available, it uses the speed over ground (SOG)
if this is not available, it uses the cruise speed specified in Dealer
Calibration (see page 95)
Waypoint arrival and advance
Note: Waypoint advance only operates if the ST6001+ is receiving
valid bearing to waypoint and waypoint name information.
Arrival
Astheboatarrivesatthetargetwaypointthenavigationaidwillselect
the next target waypoint and transmit this to the autopilot. The
autopilot will then detect the new target waypoint name, sound the
Waypoint Advance warning and display the Waypoint Advance
(NEXT WPT) screen. This shows the new bearing to the next waypoint
and the direction the boat will turn to acquire the new track.
Waypoint arrival and advance
Waypoint arrival
Waypoint advance
Next target
waypoint at 270˚
New target
waypoint at 270˚
Target
waypoint
Old target
waypoint
D5416-1
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20
ST6001+ Autopilot Control Unit - Owner’s Handbook
Advance
When the ST6001+ sounds the Waypoint Advance warning, it
suspends Track mode and maintains the current boat heading.To
advance to the next waypoint:
1. Check that it is safe to turn onto the new track.
2. Press the track key. This will cancel the Waypoint Advance
warning and turn the boat towards the next waypoint.
Note: If you do not press track to accept the Waypoint Advance, the
autopilot will maintain the current heading and continue sounding
the warning.
Skipping a waypoint – SeaTalk navigators only
If you want to advance to the next waypoint before you have arrived
1 second. The display will then show the Waypoint Advance screen
forthenextwaypoint. Checkitis safeto turn, then presstrackto turn
the boat towards the next waypoint.
WARNING:
Skipping a waypoint will take you straight to the next waypoint.
Check your navigation before making the turn.
Route Completed warning
The ST6001+ displays the ROUTE COMPLETED warning when you
have reached the last waypoint on a route in Track mode.
To respond to this message:
•
•
press auto to continue on the same heading
or press standby to return to hand steering
Waypoint Advance warning – summary
TheST6001+activatestheWaypoint Advancewarning(NEXTWPT?)
in Track mode whenever the target waypoint name changes. This
occurs when:
•
•
you select automatic acquisition by pressing track from Auto
you request waypoint advance by pressing track for 1 second in
Track mode (with SeaTalk navigators only)
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Chapter 3: Advanced Operation
21
•
•
the boat arrives at the target waypoint and the navigator accepts
the next waypoint
you activate the Man Overboard (MOB) function in Track mode
When the warning sounds, the pilot continues on its current heading
but displays:
•
•
the bearing to the next waypoint
the direction the boat will turn to take up that bearing
Responding to a Waypoint Advance warning
To respond to a Waypoint Advance warning:
•
check that it is safe to turn onto the new track, then press track to
accept the waypoint advance
•
alternatively, you can cancel the warning without accepting the
waypoint advance by pressing:
•
•
standby to return to hand steering
or auto to return to Auto mode
Dodges in Track mode
When the autopilot is in Track mode you still have full control from
the keypad.
Initiating a dodge maneuver
In Track mode, you can make a dodge maneuver by using the course
change keys (-1, +1, -10 or +10) to select the desired course change.
Cancelling a dodge maneuver
After you have avoided the hazard, you can cancel the dodge course
change by making an equal course change in the opposite direction.
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22
ST6001+ Autopilot Control Unit - Owner’s Handbook
Safety in Track mode
CAUTION:
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.
Sailing in Track mode assists precise navigation and removes the
tasks of compensating for wind and tidal drift. However, you MUST
still maintain an accurate log with regular plots.
Confirming position at the start of a journey
At the start of a journey you must always use an easily identifiable
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.
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Chapter 3: Advanced Operation
23
3.2 Using Wind Vane mode – sail boats
Note: You can only select Wind Vane mode if the autopilot is
receiving suitable SeaTalk or NMEA wind direction information.
About Wind Vane mode
When the autopilot is in Wind Vane mode it uses the fluxgate
compass as the primary heading reference. As changes in the true or
apparent wind angle occur, the autopilot adjusts the locked compass
heading to maintain the original wind angle.
Wind information
TouseWindVanemode, theautopilotmust receivewindinformation
from one of the following sources:
•
•
•
SeaTalk wind instrument connected to the autopilot via SeaTalk
NMEA wind instrument
Raymarine pushpit wind vane connected via a SeaTalk interface
True and apparent wind
Type 150/150G and 400/400G autopilots can maintain a course
relative to either an apparent or true wind angle in Wind Vane mode:
•
steering to apparent wind, the autopilot maintains the apparent
wind angle
•
steering to true wind, the autopilot maintains the true wind angle
400/400G autopilots you can change this to true wind in User or
Dealer Calibration (see page 85). Type 100/300 autopilots can only
maintain a course relative to apparent wind.
WindTrim
In Wind Vane mode the autopilot uses WindTrim to eliminate the
effects of turbulence and short term wind variations. This provides
smooth and precise performance with minimal power consumption.
You can adjust the wind response (WindTrim) level in User or Dealer
Calibration (see page 85) to control how quickly the autopilot
responds to changes in the wind direction. Higher wind trim settings
will result in a pilot that is more responsive to wind changes.
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24
ST6001+ Autopilot Control Unit - Owner’s Handbook
Selecting Wind Vane mode
You can select Wind Vane mode from either Standby or Auto mode:
1. Steady the boat onto the required wind angle.
2. Press standby andauto together to select Wind Vane mode and
lock the current wind angle:
•
the display shows the locked heading (e.g. 128°) and the wind
angle (e.g.WIND 145P indicates an wind angle of 145° to port)
if the autopilot does not enter Wind Vane mode, it is not
receiving wind data - check the instrument and connections
•
D3565-3
locked wind angle.
Exiting Wind Vane mode
You can exit Wind Vane mode by:
•
•
pressing auto to return to Auto mode
pressing standby to steer manually in Standby mode
Adjusting the locked wind angle
Youcanadjustthelockedwindanglebyusingthe-1, +1,-10and+10
keys to change course. For example, to bear away by 10° when the
boat is on a starboard tack:
•
press -10 to turn the boat 10° to port – the locked wind angle and
locked heading will both change by 10°
•
the autopilot will then adjust the locked heading as required to
maintain the new wind angle
Note: Because turning the boat affects the relationship between the
true and apparent wind angles, you should only use this method to
make minor adjustments to the wind angle. For major changes,
return to Standby mode, steer onto the new heading, then reselect
Wind Vane mode.
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Chapter 3: Advanced Operation
25
Returning to the previous wind angle (LAST WND)
If you have steered the boat away from the selected wind angle for
any reason (such as a dodge maneuver or selecting Standby mode),
you can return to the previous locked wind angle:
1. Press standby and auto together for 1 second to display the
previous wind angle (LAST WND?):
•
the LAST WND?text alternates with the previous wind angle
anddirection. The display showsthepreviouslocked heading
and an indication of which direction the boat will turn
SECOND
D3566-3
2. Check that it is safe to turn onto this course.
3. To accept this wind angle, press standby and auto together
within 10 seconds.
Note:Ifyou donot acceptthepreviouswind angle within10seconds,
the autopilot will lock onto the current wind angle.
Dodges in Wind Vane mode
When the autopilot is in Wind Vane mode you still have full control
from the keypad.
Initiating a dodge maneuver
In Wind Vane mode, you can make a dodge maneuver by using the
course change keys (-1, +1, -10 or +10) to select the desired course
change. The autopilot will adjust both the locked heading and locked
wind angle.
Cancelling a dodge maneuver
After you have avoided the hazard, you can reverse the previous
course change, or return to the previous wind angle (LAST WND?).
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26
ST6001+ Autopilot Control Unit - Owner’s Handbook
Wind Shift warning
If the autopilot detects a wind shift of more than 15° it will sound the
wind shift warning and display the WIND SHIFT message:
•
Tocancelthe warning, andretainthe existingwindangleandnew
heading, press standby and auto together.
Alternatively, to cancel the warning and return to the previous
heading, either:
•
•
adjust the locked wind angle using the -1, +1, -10 and
+10 keys,
or
•
press standby to return to hand steering, steer onto the
required heading, and press standby and auto together to
return to Wind Vane mode with the new wind angle
Using AutoTack in Wind Vane mode
Note: If you use the AutoTack function in Wind Vane mode, make
sure the wind vane has been centered accurately.
The ST6001+has a built in automatic tack facility (AutoTack) that
turns the boat through 100° in the required direction:
•
•
to AutoTack to port: press the -1 and -10 keys together
to AutoTack to starboard: press the +1and +10 keys together
AutoTack - Port
AutoTack - Starboard
Wind
Wind
AutoTack
angle
AutoTack
angle
D5399-1
Note: If you have set the vessel type to SAIL BOAT, you can adjust the
default AutoTack angle in User or Dealer calibration (see page 83).
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Chapter 3: Advanced Operation
27
When you AutoTack in Wind Vane mode, the boat turns through the
AutoTackangle.Theautopilotwillthentrimtheheadingtomirrorthe
locked wind angle from the previous tack.
Operating hints for Wind Vane mode
•
Always trim your sails carefully to minimize the amount of
standing helm.
•
•
Reef the headsail and mainsail a little early rather than too late.
In Wind Vane mode the pilot will react to long-term wind shifts,
but will not correct for short-term changes such as gusts.
In gusty and unsteady inshore conditions, it is best to sail a few
degrees further off the wind so that changes in wind direction can
be tolerated.
•
3.3 Adjusting the rudder gain
Note: Although this feature is available on all systems, you should
not need to adjust the rudder gain setting on Type 150G/400G
autopilot systems after completing the AutoLearn (see page 68).
Decrease
rudder gain
Increase
rudder gain
SECOND
D5400-1
On Type 150/400 (non-GyroPlus) and Type 100/300 systems, you
can make temporary adjustments to rudder gain to change the
autopilot’s steering characteristics. Rudder gain is a measure of how
much helm the autopilot will apply to correct course errors:
•
if rudder gain is adjusted correctly, the course changes should
result in a crisp turn followed by an overshoot of no more than 5°
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28
ST6001+ Autopilot Control Unit - Owner’s Handbook
•
•
if rudder gain is too high, courses change will result in a distinct
overshoot (A)
if rudder gain is too low, the boat will feel sluggish – it will take a
long time to make the turn and there will be no overshoot (B)
New
heading
B
New
heading
A
Rudder gain
too low
New
heading
Rudder gain
too high
Correct
rudder gain
D3262-2
Note: See page 71 for a full explanation of rudder gain and how to
adjust it correctly.
If necessary, you can make a temporary change to rudder gain
as follows:
1. Press the -1 and +1 keys together for 1 second to display the
rudder gain (RUDD GAIN) screen:
•
if you have set up the RUDD GAIN screen as a default data page
(see page 81) youcan alsoaccessit bypressing dispand then
scrolling through the data pages.
2. Press -1 or +1 to change the rudder gain.
3. Press disp or wait for 5 seconds to return to the previous display.
Note: You will lose these temporary changes to rudder gain
whenever the system is powered off. You can make permanent
adjustments in User or Dealer Calibration (see page 91).
WARNINGS:
1. You must set rudder gain correctly on planing craft. Incorrect
rudder gain will lead to poor steering performance and can be
dangerous at high speeds.
2. If you increase the rudder gain setting on a Type 150G/400G
autopilot, you must also increase the counter rudder setting.
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Chapter 3: Advanced Operation
29
3.4 Displaying data pages
Use the disp key to show ‘data pages’ of SeaTalk or NMEA data:
1. Press disp to access the first data page, and press it again to cycle
through each data page in turn:
•
•
•
to return to a previous data page, press disp for 1 second
within 2 seconds of displaying a page
when you cycle past the last data page, the display returns to
the current autopilot mode screen (for example, Auto)
4 data pages are set in the factory as a default (see diagram):
within User setup you can select up to 7 pages and control the
information they display (see page 81)
2. Select the data page you want to use as the main display:
•
the current autopilot mode is shown at the left of the display
and the autopilot bar graph remains in use
•
if you then select a new mode or make a course change, the
autopilot mode screen appears as a ‘pop-up’ for 5 seconds
Notes: 1. If the autopilot system cannot obtain the required
information, the data page will show dashes instead of a value.
2. The direction-to-steer arrows relate to the data page information.
3. Mostdatapagesshowrepeateddatasoyoucannotadjustthem:the
exceptions are the RESPONSE and RUDDER GAIN data pages, which
you can adjust using the -1 and +1 keys
t
Default data pages
Data page 4
Data page 1
Autopilot mode
Press for 1 sec to
return to previous
data page
Data page 3
Data page 2
D5455-1
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30
ST6001+ Autopilot Control Unit - Owner’s Handbook
Watch timer
The ST6001+ has a Watch timer controlled by the WATCH data page.
This timer sounds a warning every 4 minutes, requiring a keypad
press on the autopilot.
Setting the Watch timer
To set the Watch timer:
1. First, you must configure the WATCH screen as one of the data
pages for display (see page 81).
2. When you have done this select Auto, Track or Wind Vane mode.
3. Press the disp key until you see the WATCH data page:
•
•
the watch timer will start counting
when the timer reaches 3 minutes, the WATCH text starts
flashing to indicate that the timer is in the last minute
when the timer reaches 4 minutes, the ST6001+ activates the
audible Watch warning
•
Responding to a Watch warning
To respond to a Watch warning:
•
press auto to silence the warning and reset the timer to 4 minutes
or
•
press any other key to silence the warning, reset the timer and
perform that key’s normal function
Note:YoucannotengageAutomodedirectlywhentheWATCHscreen
is displayed – pressing auto will only reset the Watch timer. If you
want to enter Auto mode, you must first exit the WATCH screen
(see below).
Exiting the Watch screen
To exit the Watch screen:
•
press disp to display a different data page
or
•
press standby
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Chapter 3: Advanced Operation
31
Warning messages
Shallow warning (SHALLOW)
The ST6001+ shows the Shallow warning if it receives a shallow
depth message from an instrument on the SeaTalk system. Press
standby or disp to cancel the warning.
Man Overboard warning (MOB)
The ST6001+ activates the Man Overboard warning if it receives a
man overboard (MOB) message from another instrument on the
SeaTalk system. It displays the text MOB instead of the waypoint
number for the XTE, DTW and BTW data pages.
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32
ST6001+ Autopilot Control Unit - Owner’s Handbook
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Chapter 4: Fault Finding & Maintenance
33
Chapter 4: Fault Finding & Maintenance
All Raymarine products are designed to provide many years of
trouble-free operation. We also put them through comprehensive
This chapter provides information about identifying common
problems, interpreting alarm messages, maintaining your autopilot
system and obtaining product support.
section to help identify the problem and provide a solution.If you
cannot resolve the problem yourself, refer to the product support
information.
Fault finding
This section provides information to help you identify
and resolve common autopilot problems and error
messages.
page 34
4.1
General maintenance
This section explains how to maintain your autopilot
system.
page 37
page 38
4.2
4.3
Product support
This section outlines the product support available
from Raymarine worldwide.
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34
ST6001+ Autopilot Control Unit - Owner’s Handbook
4.1 Fault finding
Common autopilot problems
SYMPTOM
CAUSE and SOLUTION
Display is blank
No power –check thepowerandSeaTalkfuses
on course computer, then check main
fuse/circuit breaker.
Display shows stationary dashes
The control unit is not receiving data – check
cabling.
Display shows rotating dashes
Displayed compass heading does
Compass correction in progress (see page 64).
Youhavenotcalibratedthe compass. Carry out
not agree with the boat’s compass the deviation and alignment procedures (see
page 64).
No display bar on the display
Rudder bar switched off in Display Calibration
– select RUDD BAR or STEER BAR
Rudder bar display moves in
opposite direction to rudder
Reverse the red and green rudder position
sensor connections at the course computer
Boat turns slowly and takes a long Rudder gain too low (see page 71). Complete
time to come onto course AutoLearn or increase setting.
Boatovershootswhenturningonto Rudder gain too high (see page 71). Complete
a new course
AutoLearn or decrease setting,
The autopilot appears to be
unstable in Track mode, or
track-holding is slow
If tide speed exceeds 35% of boat speed, and
boatspeed isnotavailablevia SeaTalk, change
the Cruise Speed setting in Dealer Calibration
to the boat’s cruising speed (see page 95).
The autopilot appears to be
Northerly/Southerly heading correction
unstable on Northerly headings in (AutoAdapt) is not set up (see page 95). [Does
the Northern hemisphere (or
Southerly headingsin the Southern
not apply to 150G/400G systems.]
You cannot enter Seatrial
Calibration
Seatrial calibration lock is on – turn off the
calibration protection feature in Dealer
Calibration (see page 88).
Theautopilotwillnot‘talk’toother Cabling problem – make sure allthe cables are
SeaTalk instruments connected properly.
Position information not received Navigatornot transmittingthe correct position
data.
Theautopilotwillnotautoadvance No bearing to waypoint information received
to the next waypoint
from the navigator.
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Chapter 4: Fault Finding & Maintenance
35
Autopilot alarm messages
When the autopilot detects a fault or failure on the system, it will
activate one of the alarm messages listed in the following table.
•
Unless otherwise stated, you should respond to the alarm by
pressing standby to clear the alarm and return to hand steering,
before you attempt to resolve the problem.
•
In some situations, the autopilot will raise more than one alarm.
When you have dealt with the first alarm, the autopilot will
display the next alarm.
ALARM MESSAGE
CAUSE and SOLUTION
AUTO RELEASE
Possible fault with rudder position sensor – check connections.
OR
Stern (I/O) drives only – you have taken manual control of
steeringwithAutoReleaseon. Thealarmcancelsautomatically
after 10 seconds.
CURRENT and LIMIT
DRIVESTOP
Serious drive failure – the drive is taking too much current due
to short-circuit or jamming. Check the drive unit.
The autopilot is unable to turn the rudder (this occurs if the
weather load on helm is too high, or if the rudder position
sensor has passed beyond the preset rudder limits or rudder
end-stops).
Check drive and rudder position sensor.
LOW BATT
Supply voltage has dropped below acceptable limits.
To respond to a Low Battery alarm:
• press standby to clear the alarm and return to hand steering
• start the engine to recharge the battery
LRN FAIL 1, 2 or 4
AutoLearn not completed successfully.
Failure codes:
1 = AutoLearn has not been carried out (default setting)
2 = AutoLearn failed, usually due to manual interruption
4 = AutoLearn failed, probably due to drive or compass failure
Repeat the AutoLearn procedure.
MOT POW and SWAPPED Motor cables are connected to power terminals (and power
cables are connected to motor terminals) at course computer.
Turn off power and swap over connections.
[Table continues over page]
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36
ST6001+ Autopilot Control Unit - Owner’s Handbook
ALARM MESSAGE
CAUSE and SOLUTION
NO DATA
Caused by any of the following situations:
• the compass is not connected
• the autopilot is in Wind Vane mode and it has not received
wind angle data for 30 seconds
• the autopilot is in Track mode and:
• the autopilot is not receiving SeaTalk navigation data, or
• the position sensor (GPS, Loran, Decca) is receiving a low
strength signal – this will clear when the signal improves
Check the connections to the compass and/or wind instrument
and/or navigator.
Note: The autopilot stops adjusting the heading as soon as it
loses data.
NO PILOT
RG FAIL
The controlunitisnot receivingdatafrom the coursecomputer.
Check connections and check course computer is switched on.
GyroPlus yaw sensor has failed:
•If you have a Type 150G/400G course computer with internal
GyroPlus sensor – call a Raymarine service agent.
• If you have a Type 150/400 course computer with external
GyroPlus yaw sensor – check the sensor and connections,
then call a Raymarine service agent.
SEATALK and FAIL 1 or 2
STLK FAIL
SeaTalk data problem on one of the SeaTalk lines – check
connections.
The control unit cannot transmit data to the SeaTalk system.
Make sure all SeaTalk cables are connected properly.
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Chapter 4: Fault Finding & Maintenance
37
4.2 General maintenance
Routine checks
CAUTION:
The control unit does not contain any user serviceable parts.
It should be serviced only by authorized Raymarine service
technicians.
The control unit is a sealed unit. As a result, user maintenance is
limited to the following checks:
•
•
make sure all cable connectors are firmly attached
examine the cables for signs of wear or damage – replace any
damaged cables
Cleaning the display
CAUTION:
Take care when cleaning the display. Avoid wiping the display
screen with a dry cloth as this could scratch the screen coating.
If necessary, only use a mild detergent.
•
Neverusechemicalorabrasivematerialstocleanthecontrolunit.
If it is dirty, wipe it with a clean, damp cloth.
•
Incertain conditions, condensation may appear inside the display
screen. This will not harm the unit, and you can clear it by
switching on the illumination for a short time.
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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38
ST6001+ Autopilot Control Unit - 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.
4.3 Product support
Raymarine products are supported by a worldwide network of
distributors and Authorized Service Representatives. If you
encounter any difficulties with this product, please 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.
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 Fault Finding
section in this chapter (see page 34).
If you cannot trace or rectify the fault, contact your nearest
Raymarine dealer or Service Center, specifying:
•
•
the control unit and course computer serial numbers:
•
•
the control unit serial number is printed on its rear cover
the course computer serial number is printed under its
connector cover
the control unit and course computer software version numbers
The following illustration shows how to display the software
information:
•
press and hold standby for 4 seconds:
•
•
after 2 seconds you will see the DISPLAY CAL screen
then after another 2 seconds you see control unit software
version
•
•
press disp to display the course computer software version
press disp again to display the total number of hours theautopilot
has been used in Auto mode (Note: Type 100/300 systems do not
display hours used.)
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Chapter 4: Fault Finding & Maintenance
39
Software information
4 seconds
Control unit
software version
1 second
1 second
Course computer
software version
Time autopilot
used in Auto
1 second
D5493-1
Product details table
For future reference, you may want to use this table to record serial
and software information for your autopilot system:
Serial number
Software version
Control unit
Course computer
Hours used
hours
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ST6001+ Autopilot Control Unit - Owner’s Handbook
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Chapter 5: Installing the ST6001+
43
The sections in this chapter explain how to install the ST6001+
control unit and connect it to an autopilot system:
Select the location
How to select a suitable location for the ST6001+
page 44
page 47
5.1
control unit.
Control unit installation
5.2
and flush mount options).
SeaTalk connections
How to connect the control unit to SeaTalk (for power
page 49
page 50
page 53
5.3
supply and SeaTalk data exchange).
NMEA connections
How to connect NMEA equipment to the control unit.
5.4
Functional test – repeater units only
Howtocheck anST6001+ connectedas arepeater unit
5.5
on an existing autopilot system.
Tools required
Toinstallthe ST6001+ control unit youwill needthe following items:
•
•
•
•
•
•
•
tape measure (metric/imperial)
pencil and center punch
pliers
sandpaper/file to smooth cut edges
additional SeaTalk cables (if required – see page 50)
jigsaw or 90 mm hole cutter (for the control unit aperture)
drill and 5 mm (5/32 in) drill bit
Parts supplied
•
•
•
•
control unit and sun cover
fixing studs (x2) and thumb nuts (x2)
self-adhesive gasket
9 m (29 ft 6 in) SeaTalk cable
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44
ST6001+ Autopilot Control Unit - Owner’s Handbook
5.1 Select the location
Control unit dimensions
24 mm
(0.95 in)
17 mm
(0.67 in)
110 mm (4.33 in)
D3242-2
Site requirements
Locate the ST6001+ control unit so it is:
•
•
•
•
•
within easy reach from the steering position
viewable straight on, or with a maximum viewing angle of 30°
protected from physical damage
at least 230 mm (9 in) from any compass
at least 1 m (3 ft) from any radio or radar receivers or transmitters
The selected location should also:
•
•
•
be clean, smooth and flat
be accessible from behind (so you can secure and run cables)
have sufficient space to accommodate the rear of the control unit
and connectors
allow at least 6 mm (1/4 in) between adjacent control
units/instruments so you can fit their sun covers
meet the cabling and EMC installation guidelines detailed below
•
•
CAUTION:
The ST6001+front cover is waterproof when installed according
to the following instructions. However, you must protect the rear
of the control unit from water in a ventilated and drained area.
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Chapter 5: Installing the ST6001+
45
Any moisture or water vapor in this area could cause damage by
coming into contact with electrical connections, or condensation
by entering the control unit through its breathing hole.
Cabling guidelines
•
•
•
consider how you will run cables to and from the control unit
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
installation is required to ensure that performance is not
compromised.
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 the constraints imposed by
any location, always ensure the maximum separation possible
between different items of electrical equipment.
For optimum EMC performance, it is recommended that wherever
possible:
•
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, the distance should be increased 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
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46
ST6001+ Autopilot Control Unit - Owner’s Handbook
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.
Ifasuppressionferrite isattachedtoa cable, thisferriteshouldnot
be removed. If the ferrite needs to be removed during installation
it must be reassembled in the same position.
EMC suppression ferrites
The following illustration shows typical cable suppression ferrites
used with Raymarine equipment. Always use the 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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Chapter 5: Installing the ST6001+
47
5.2 Control unit installation
Surface mount control units
To fit a surface mount control unit:
1. Apply the surface mount template (supplied at the back of this
handbook) to the selected bulkhead.
2. Mark the centers of the two fixing holes and the cable boss.
3. Drill two 5 mm (3/16 in) diameter holes for the fixing studs.
4. Use a 90 mm (3.55 in) diameter cutter to drill the hole for the
cable boss.
5. Peeltheprotectivesheetsfromtheself-adhesivegasket,thenstick
the gasket into position on the rear of the control unit.
6. Screw the twofixing studs into the threaded sockets on the rear of
the control unit.
7. Pass the SeaTalk/NMEA cables through the bulkhead and
connect them to the appropriate terminals (as described later in
this chapter).
8. Assemble the control unit to the bulkhead.
9. Secure the control unit with the thumb nuts provided.
Hand-tighten the thumb nuts – do NOT use a wrench.
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48
ST6001+ Autopilot Control Unit - Owner’s Handbook
Flush mount control units
To fit a flush mount control unit:
1. Ensure that the intended mounting location is between 3 mm
(1/8 in) and 20 mm (3/4 in) thick.
2. Apply the flush mount template (supplied at the back of this
handbook) to the selected location. Mark the aperture into which
the control unit will sit, then remove the template.
3. Use a jigsaw to cut out this aperture.
4. Peeltheprotectivesheetsfromtheself-adhesivegasket,thenstick
the gasket into position on the rear of the control unit.
5. Screw the two fixing studs into the threaded sockets on the rear of
the control unit.
6. Pass the SeaTalk/NMEA cables through the bulkhead and
connect them to the appropriate terminals (as described later in
this chapter).
7. Place the assembled control unit, studs and gasket into the panel.
8. Locate the bracket onto the fixing studs and secure the assembly
to the panel with the thumb-nuts. Hand-tighten the thumb nuts –
do NOT use a wrench.
Aperture
cut-out
Bracket
Self-adhesive
gasket
Fixing Thumb
stud screw
D4585-2
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Chapter 5: Installing the ST6001+
49
5.3 SeaTalk connections
The SeaTalkconnections on the ST6001+provide it with its12 V DC
power supply and allow it to share data with SeaTalk equipment.
Connecting to a course computer
If you are using the ST6001+ as the main control unit for a course
computerautopilot system, connect it directly tothe course computer
SeaTalk terminals. To do this:
•
•
•
cut off the moulded plug at one end of the SeaTalk cable
strip 5 mm (1/2 in) of insulation from each wire
then connect to the course computer terminals as shown
Connecting to course computer as main control unit
Type 150/400 course computer terminals
ST7001+ or ST6001+
control unit (rear)
Red
Screen
Yellow
D5500-1
Note: If you are connecting the ST6001+ to a course computer
autopilot system that includes other control units, refer to the
information contained in the Autopilot System Installation Guide.
Connecting to SeaTalk
If you are using the ST6001+ as an additional control unit, use a
SeaTalk cable to connect it to another SeaTalk unit as shown.
Connecting to SeaTalk as additional control unit
ST7001+ or ST6001+
control unit (rear)
SeaTalk
unit (rear)
To SeaTalk
power supply
D5501-1
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50
ST6001+ Autopilot Control Unit - Owner’s Handbook
We supply the ST6001+ with a 9 m (29 ft 6 in) SeaTalk cable as
standard. Depending on your installation, you may need to obtain
alternative or additional SeaTalk cables (as shown in the following
illustration).
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
Flat moulded plug to round plug
Part no. Type
Length
0.15 m (6 in)
D187
D188
Flat moulded plug to male round plug
Flat moulded plug to female round plug 0.3 m (12 in)
D5417-1
5.4 NMEA connections
The ST6001+ has a set of NMEA inputs so it can receive data in
NMEA 0183 format from navigation or wind instruments. It can use
this data to operate in Track or Wind Vane modes.
Note: If your ST6001+ control unit is part of a course computer
system, you can connect additional NMEA equipment to other parts
of the system. To decode the maximum amount of NMEA data (so it
canbetransmittedontoSeaTalk), connectthenavigatortothecourse
computerNMEAterminals.RefertotheAutopilotSystemInstallation
Guide for more information.
Receiving NMEA data
NMEA data formats
The ST6001+ can decode the following NMEA 0183 navigation and
wind data received:
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Chapter 5: Installing the ST6001+
51
Information
NMEA 0183 data
VTG, RMC, RMA
VTG, RMC, RMA
APB, APA, RMB, XTE
APB, BWR, BWC, RMB
BWR, BWC, RMB
APB, APA, BWR, BWC, RMB
VWR
Course Over Ground
Speed Over Ground
Cross Track Error
Bearing to Waypoint
Distance to Waypoint
Waypoint Number
Apparent Wind Speed
Apparent Wind Angle
Speed Through Water
Depth
VWR, MWV
VHW
DBT
Water Temperature
MTW
Note: The ST6001+ only decodes the last four charactersof waypoint names.
This means that the last four characters of long waypoint names must be
unique for the waypoint advance function to work.
NMEA cabling
Connect the NMEA navigator or wind instrument to the NMEA IN
terminals on the rear of the ST6001+ control unit. You can only
connect a single piece of NMEA equipment to these terminals.
Navigator or
wind instrument
with NMEA output
Control unit
(rear)
Data
out (-ve)
Data
out (+ve)
Blue
(data in -ve)
Red
(data in +ve)
D3442-2
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52
ST6001+ Autopilot Control Unit - Owner’s Handbook
NMEA cable connectors
NMEA connections are made using spade connectors. When fitting
the spade connectors, make sure the connector fits securely over the
blade and not between the connector and its plastic insulating cover.
Incorrect fitting will give intermittent contact which will lead to
faulty autopilot operation.
D3286-2
Transmitting NMEA data
Transmitting NMEA data on SeaTalk
Ifthe ST6001+receivesanyof the NMEA data shown above, and the
equivalentdataisnotpresentonSeaTalk,itwilltransmitthedataonto
SeaTalk to make it available to other SeaTalk instruments:
•
the ST6001+ transmits depth information in the units defined by
the first page in the data page rollover
•
the ST6001+ always transmits water temperature in °C
Transmitting NMEA data to other NMEA equipment
If you want to transmit NMEA information to non-SeaTalk
equipment you can either:
•
connect the NMEA equipment to the NMEA outputs on the
course computer (if your system includes a course computer)
or
•
useaSeaTalk/NMEAInterface(part number:E85001)toconvert
SeaTalk data to NMEA data (if your system does not include a
course computer)
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Chapter 5: Installing the ST6001+
53
5.5 Functional test – repeater units only
If you have installed the ST6001+ as an additional control unit for an
existing autopilot system, complete the following checks to make
sure you have installed the control unit correctly.
Note: If you have connected the ST6001+ as part of a new autopilot
installation, you MUST calibrate the autopilot as described in
Chapter 6: Commissioning the Autopilot.
Switch on
1. When you have installed the ST6001+ control unit, switch on the
main power breaker.
2. If the control unit is active and the system operating, the control
unit will beep and display the control unit type (ST6001) for
2 seconds.
3. After 2 seconds, the control unit will display the STANDBY screen.
SeaTalk and NMEA connections
If you have connected the ST6001+ to other SeaTalk instruments or
control units, check the links as follows:
1. Select display lighting level 3 (LAMP 3) on one of the other
SeaTalk instruments or control units.
2. The ST6001+ should immediately switch on its display lighting:
•
ifthelightingdoesnotswitchon, thereisafaultintheSeaTalk
cabling between the ST6001+ and the other units
3. If you have connected an NMEA navigator to the control unit
NMEA inputs, check the connections as described on page 57.
Troubleshooting
•
•
If the head does not beep, check the fuse/circuit breaker.
If the display shows the SEATALK FAILalarm message, check the
SeaTalk connections.
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54
ST6001+ Autopilot Control Unit - Owner’s Handbook
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Chapter 6: Commissioning the Autopilot
55
WARNING:
All new autopilot system installations MUST be calibrated.
150/150G or Type 400/400G course computer autopilot system, you
must commission the system This involves a series of dockside
checks and then the seatrial calibration:
Dockside Checks
With the boat safely tied up, you need check the
autopilot system and adjust some key autopilot
settings.
page 56
6.1
Seatrial Calibration
The purpose of this seatrial is to calibrate the compass
and optimize the autopilot set-up for your boat.
page 63
6.2
Note:If youhave connectedthe ST6001+ toa non-150/400 autopilot
system refer to the notes in the Appendix.
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56
ST6001+ Autopilot Control Unit - Owner’s Handbook
6.1 Dockside Checks
With the boat safely tied up, complete the following dockside checks:
1. Switch on.
2. Check the SeaTalk and NMEA connections.
3. Check the autopilot operating sense.
4. Set the basic autopilot parameters.
WARNING:
For safe control of your boat, you MUST complete the dockside
checks before starting the initial seatrial.
Step 1 - Switch on
1. When you have installed the ST6001+ control unit and the rest of
the autopilot system, switch on the main power breaker.
2. If the control unit and system are active, the control unit will beep
and display the control unit type (ST6001) for 2 seconds.
3. You will then see a CALIBRATE REQUIRED message for 4 seconds
if either: the vessel type is not selected (see page 59), or the
compass is not calibrated (see page 64).
4. The control unit will then display the STANDBY screen.
5. Check that the STANDBY screen displays a live compass heading
and a rudder angle.
D3567-3
Troubleshooting
•
•
•
If the head does not beep or the display is blank, check the
fuse/circuit breaker and the SeaTalk fuse in the course computer.
If the display shows the SEATALK FAILalarm message, check the
SeaTalk connections.
If the STANDBY screen does not display a live compass heading or
a rudder angle, check the sensor connections.
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Chapter 6: Commissioning the Autopilot
57
Step 2 - Check the SeaTalk and NMEA connections
SeaTalk connections
If you have connected the ST6001+ to other SeaTalk instruments or
control units, check the links as follows:
1. Select display lighting level 3 (LAMP 3) on one of the SeaTalk
instruments or control units.
2. The ST6001+ should immediately switch on its display lighting:
•
ifthelightingdoesnotswitchon, thereisafaultintheSeaTalk
cabling between the ST6001+ and the other units
NMEA navigator connections
IfyouhaveconnectedtheST6001+toanNMEAnavigator,checkthe
linksby displayingthe default navigation data pages(XTE/BTW/DTW):
•
press disp to display the first data page, and check that this page
shows the expected data
•
press disp again to check each successive data page
If the display shows dashes instead of data values, the cause could be
one or more of the following:
•
•
•
navigator not switched on or not transmitting an active waypoint
cabling error: check for open circuit, short circuit, reversed wires
navigator is not configured to transmit the required data format
Wind instrument connections
If you have connected the autopilot to an NMEA or SeaTalk wind
instrument, check the links by pressing standby and auto together:
•
theST6001+shoulddisplaytheWindVanemodescreen, withthe
locked wind angle and locked heading:
D3565-3
if nothing happens when you press standby and auto together,
the ST6001+ is not receiving wind data: check the wind
instrument and connections
•
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58
ST6001+ Autopilot Control Unit - Owner’s Handbook
Step 3 - Check the autopilot operating sense
Check the rudder position sensor
1. Turn the wheel manually to starboard.
2. Check that the rudder bar on the display moves to starboard.
If the rudder bar display moves the wrong way:
•
•
turn off the power
reverse the red and green wires connected to the RUDDER
inputs on the course computer
•
switch on the power and re-check
Check the autopilot steering sense
1. Manually center the wheel, then press the auto key so the
autopilot is in Auto mode. Check that the display shows AUTO.
Be ready to press standby if the rudder moves hardover.
2. Press the +10 key once. Check that the rudder moves to starboard
a few degrees and then stops.
•
if the rudder drives hardover, immediately press standbyto
prevent further rudder movement
D3568-2
If the rudder moves to port or the rudder drives hardover:
•
•
•
•
press standby
turn off the power
reverse the motor wires connected to the course computer
switch on the power and re-check
Note: If the rudder overshoots and has to drive back or starts to hunt
back and forth, you will need to increase the rudder damping level as
described in Step 3 (see page 62).
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Chapter 6: Commissioning the Autopilot
59
Step 4 - Adjust basic autopilot settings
Note: For more information about these calibration settings refer to
the following pages: vessel type (page 90), drive type (page 90),
rudder sensor alignment (page 90), rudder limits (page 91).
The autopilot system has four main calibration groupings, as
illustrated on the following page (for more information about these
groupings see Chapter 7: Adjusting Autopilot Settings).
The next step in the dockside set-up is to enter Dealer Calibration
mode so you can adjust some basic autopilot settings.
Enter Dealer Calibration mode
1. Start with the autopilot in Standby mode.
2. Enter DEALER CAL as follows:
•
press and hold the standby key for two seconds to enter the
Calibration mode
•
when the screen shows DISPLAY CAL, press the disp key until
you see the DEALER CAL screen
•
•
press the auto key: the display will change to CAL ?
press the -1 and +1 keys together to enter Dealer Calibration
(DEALER CAL)
Set the vessel type
1. Use the disp key to page through the Dealer Calibration screens
until you reach the VESSEL TYPE screen.
2. Use the -1 or +1 keys to select a vessel type suitable for your boat:
•
•
•
•
•
•
Displacement: DISPL MNT
Semi Displacement: SEMI DIS
Planing: PLANING
Stern (I/O) Drive: STERN DRV
Work Boat: WORK BOAT
Sail Boat: SAIL BOAT
Note: When you select the vessel type, the autopilot will select
appropriate defaults for various other calibration settings.
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ST6001+ Autopilot Control Unit - Owner’s Handbook
Calibration Mode Overview
2 seconds
2 seconds
(saves changes)
Calibration Mode
1 second
auto
1 second
standby
Display bar selection
Heading type
Data pages 1 to 7
auto
standby -1 and +1
Calibration lock
Vessel type
Drive type
Align rudder
Rudder limit
auto
standby
Rudder gain
AutoTack angle*
Gybe inhibit*
Wind type*
Counter rudder
Rudder damping
AutoTrim
Wind response (WindTrim)*
Response level
Response level
Turn rate limit
Off course alarm angle
AutoRelease (stern drive)
AutoTack angle*
Gybe inhibit*
Magnetic variation
Wind type*
Wind response (WindTrim)*
Cruise speed
1 second
AutoAdapt
Latitude
Magnetic variation
Autopilot reset
auto
standby
Swing compass
Compass deviation
Align heading
1 second
Align rudder
AutoLearn start
AutoLearn pass/fail
Within DISPLAY CAL, USER CAL, SEATRIAL CAL and DEALER CAL:
-- press disp to move forwards through items (*sail boats only)
-- press disp for 1 second to move backwards
-- use -1, +1, -10, +10 to adjust settings
-- press standby for 2 seconds to save changes
D5481-1
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Chapter 6: Commissioning the Autopilot
61
Set the drive type
1. With the autopilot still in Dealer Calibration, use the disp key to
page through the calibration screens until you reach the Drive
Type screen (DRIVE TYP).
2. Use the -1 or +1 keys to select the appropriate drive type:
•
•
•
3 = Linear drive, rotary drive or I/O (stern) drive
4 = Hydraulic pump or hydraulic linear drive
5 = Constant running hydraulic pump solenoids
Align the rudder position sensor
1. WiththeautopilotstillinDealerCalibration,pressthedispkeyto
page through the calibration screens until you reach the
ALIGN RUD screen.
2. Use the wheel to manually center the rudder.
3. Use the -1 and +1 keys to adjust the displayed rudder bar so its
offset is zero:
•
you can only use this screen to adjust offsets within ±7°: if the
offset is beyond these limits, you will need to physically
adjust the sensor’s alignment (as described in the Autopilot
System Installation Guide)
Note: Alternatively, you can zero the rudder bar with the boat
underway during the initial seatrial, by manually steering a straight
course then accessing the ALIGN RUD screen in Seatrial Calibration
to adjust the offset.
Set the rudder limits
1. With the autopilot still in Dealer Calibration press the disp key to
page through the Dealer Calibration screens until you reach the
RUD LIMIT screen
2. Turn the wheel to move the rudder:
•
•
to the port end stop and note the angle
to the starboard end stop and note the angle
3. Use the -1, +1, -10 and +10 keys to set the rudder limit to 5° less
than the lowest angle you have noted.
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ST6001+ Autopilot Control Unit - Owner’s Handbook
Adjust the rudder damping
Note: You only need to adjust the rudder damping value if the
autopilot ‘hunts’ when trying to position the rudder. Increasing the
rudder damping value reduces hunting.
To adjust the rudder damping:
1. Use the disp key to page through the Dealer Calibration screens
until you reach the RUDD DAMP screen.
2. Use the -1 or +1 keys to adjust the rudder damping:
•
increase the damping one level at a time until the autopilot
stops hunting, and always use the lowest acceptable value
Save the new settings
When you have adjusted these basic settings in Dealer Calibration:
•
•
press and hold standby for two seconds to store the changes
the screen will show DEALER CAL then the STANDBY screen
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Chapter 6: Commissioning the Autopilot
63
6.2 Seatrial Calibration
When you have completed the dockside calibration, you must
complete the setup by taking the boat on a short seatrial to:
1. Calibrate the compass:
•
•
complete the automatic deviation correction
align the compass heading
2. Adjust the autopilot settings to suit your boat:
•
•
automatically on Type 150G/400G autopilot systems
manuallyonType150/400(non-GyroPlus)andType100/300
autopilot systems
Seatrial safety
Note: You can return to hand steering at any time during the
seatrial by pressing standby.
You should only perform the initial seatrial:
•
•
when you have successfully completed the dockside calibration
in conditions of light wind and calm water, so you can assess
autopilot performance without the influence of strong winds or
large waves
•
in waters that are clear of any obstructions, so the boat has plenty
of clear space to maneuver
Note: Before youstart yourseatrial, make sure you have switched on
any ancillary equipment – such as a GPS (providing course over
ground(COG),speedoverground(SOG)andlatitude(LAT)data)or
a speed log (providing speed through the water). This information
will help the autopilot achieve its best performance.
CAUTION: EMC conformance
Always check the installation before going to sea to make sure
that it is not affected by radio transmissions, engine starting etc.
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64
ST6001+ Autopilot Control Unit - Owner’s Handbook
Calibrating the compass
Note: This section does not apply if you have connected an NMEA
compass to your autopilot system. Refer to the handbook supplied
with the NMEA compass for information about calibration.
Depending on your boat type, deviating magnetic fields can cause
significant compass errors. The correction procedure reduces these
errors to a few degrees, so you MUST perform this procedure as the
first itemin your initial seatrial. The autopilot will then automatically
correct the fluxgate compass.
CAUTION:
If you fail to complete the deviation correction, your autopilot’s
performance will be impaired on some compass headings.
The deviationcorrection procedure (swinging the compass) involves
turning your boat in slow circles so the autopilot can determine the
deviation and calculate any correction required. You must carry out
this procedure in calm conditions and preferably on flat water.
Automatic compass deviation correction
1. With the pilot in Standby mode, enter Seatrial Calibration as
follows (see the following illustration):
•
•
•
press and hold the standby key for two seconds to enter
Calibration mode
when you see the DISPLAY CAL screen, press the dispkey until
you see the SEATRIAL CAL screen
press the auto key to enter Seatrial Calibration
Note: If you cannot access SeaTrial Calibration, you need to turn off
the calibration lock in Dealer Setup (see page 88).
2. You should see the SWING COMPASS screen when you first enter
Seatrial Calibration. (If not, use the disp key to page through the
Seatrial Calibration items until you see SWING COMPASS)
3. When you are ready to start, press the +1 key to select
SWING COMPASS On. You will then see the TURN BOAT screen.
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Chapter 6: Commissioning the Autopilot
65
Compass calibration
1
Enter Seatrial Calibration
x2
2 sec
2
Complete the compass deviation correction
Start turning boat
(see below)
Turn boat in slow circles so:
• boat's speed stays below 2 knots
• each circle takes at least 2 minutes
Autopilot heading
Minimum of
2 circles
Keep turning the boat until
you see the DEVIATION screen
3
a
Align the autopilot heading
Coarse adjustment: If COG is available from GPS, press
to set autopilot heading to COG value,
then fine tune manually (see below).
Fine adjustment: If COG is not available (or after setting heading to COG), align autopilot heading manually:
b
Autopilot heading
Steering compass
or
or
Known
heading
Adjust the autopilot heading so it shows the
same value as the boat's steering compass
4
Save changes
To:
• save deviation correction
• save heading alignment
• return to STANDBY mode
2 sec
D5476-1
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ST6001+ Autopilot Control Unit - Owner’s Handbook
4. Start turning the boat in slow circles (with the boat’s speed below
2 knots). You will need to complete at least two circles, taking at
least 2 minutes to complete each 360°:
•
the display will show a TOO FAST message if you turn the boat
too quickly for the course computer to correct the compass –
if youseethismessage applylesshelmtoturnina largercircle
Note: If necessary, you can quit the correction process by pressing
the standby or disp. If you then want to repeat the deviation
correction, return to the SWING COMPASS screen.
5. Continue slowly turning the boat until the control unit beeps and
displays the DEVIATION screen to indicate that the autopilot has
completed the deviation correction.
This screen shows the maximum deviation encountered over
360° (not as an east/west value).
Note: If the deviation figure exceeds 15° or the display shows no
deviation value, the compass is being affected by ferrous objects on
your boat. You should move the compass to a better location. Higher
deviation figures are acceptable on steel boats.
Aligning the compass heading
1. Once the deviation is displayed, press the disp key to move onto
the Heading Alignment screen (ALIGN HDG).
2. Manually steer the boat on a steady course at a speed which
enables you to hold that course.
3. If you have a GPS connected to your autopilot:
•
•
increase the boat speed to more than 3 knots
press the auto key: the autopilot will then set the heading to
agree with the COG (course over ground) heading received
from the GPS
•
becausemany factors can cause a difference betweenheading
and COG (such as tides and leeway affecting the boat) you
must then fine-tune the heading alignment so it matches the
boat’s steering compass or a known transit bearing
4. Use -1, +1, -10 and +10 to adjust the displayed heading until it
matches boat’s steering compass or a known transit bearing.
5. Press and hold standby for 2 seconds to exit Seatrial Calibration
and save the new compass settings.
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Chapter 6: Commissioning the Autopilot
Adjusting the heading alignment
67
If youexperience difficultieswithcompassalignment, youcancheck
the compass alignment after completing the deviation correction
procedure (swinging the compass). After completing the initial
compass calibration, you can make further adjustments to the
alignment without swinging the compass again.
Although the compass calibration removes most of the alignment
error, small errors (of the order of a few degrees) will probably
remain. These will vary depending on the heading.
Ideally, you should check the heading reading against a number of
known headings, plot a deviation curve, and determine the heading
alignment value that will give the lowest average alignment error.
You can then enter this value on the Heading Alignment screen, as
described above.
If the average heading error is more than 5°, you should perform the
compass deviation correction procedure again, circling more slowly
and in more favorable conditions.
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ST6001+ Autopilot Control Unit - Owner’s Handbook
Adjusting autopilot settings
The next stage of the seatrial is to set key autopilot parameters that
affecttheautopilot’ssteeringcharacteristics.Youcandothisinoneof
two ways:
using AutoLearn: Type 150G and Type 400G autopilot systems
use AutoLearn – a self-learning calibration feature that
automatically adjusts rudder gain, counter rudder and AutoTrim
to suit your boat
manual set-up: if you have a Type 150/400 (non-GyroPlus) or
Type 100/300 autopilot you will need to adjust these settings
manually – as described on page 71
Note: For a full explanation of the parameters set during the
AutoLearn, and how to adjust them manually, refer to the manual
set-up section.
AutoLearn: Type 150G/400G systems
WARNING:
TheAutoLearnprocessrequiresasignificantamountofCLEAR
SEA SPACE in front of the boat. The autopilot will take the boat
through a number of zig-zag maneuvers until it has acquired
enough data. If you need to cancel the AutoLearn at any time,
press the standby key to gain manual control of the boat.
AutoLearn maneuvers
Wind
of clear sea space
At least 0.04 nm (100 m)
MINUTE
At least 0.25 nm (500 m) of clear sea space
(approximately)
D5495-1
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Chapter 6: Commissioning the Autopilot
69
AutoLearn calibration
1
Enter Seatrial Calibration
x2
2 sec
2
Start the AutoLearn
To prepare for the AutoLearn:
• steer straight ahead at cruising speed
(planing boats – off the plane)
• head into wind and waves
Check you have sufficient
clear sea space before proceeding
x4
AutoLearn in progress
3
Boat completes AutoLearn
AutoLearn successful
Note: If you see a
LRN FAIL message,
press disp to return to
the AUTOLEARN screen
then repeat from Step 2
After
7 to 27
steps
If you need to cancel the AutoLearn, press
or
!
4
Save new settings
To:
• save AutoLearn calibration settings
• return to STANDBY mode
2 sec
D5479-1
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ST6001+ Autopilot Control Unit - Owner’s Handbook
1. Access the AUTOLEARN screen in Seatrial Calibration:
•
from Standby mode, press standby for 2 seconds, then disp
twice to see the SEATRIAL CAL screen
•
thenpress autotoenterSeatrialCalibration, and disp 4times
until you see the AUTOLEARN screen
2. Prepare to start the AutoLearn:
•
power boats: steer straight ahead (with the rudder centered),
and set the boat’s speed at 8 to 15knots –planingboats should
be off the plane
•
•
sail boats: with the sails down, steer straight ahead (with the
rudder centered) and motor the boat at typical cruising speed
if conditions are not calm, head into the wind and waves
3. When you are ready to start the AutoLearn, press the +1 key to
select AUTOLEARN On.
4. The screen will then show the CLEAR TO MANEUVER message.
Press the auto key to start the AutoLearn process:
•
the boat will start its AutoLearn maneuvers and the display
will show a LEARNING message, with a number that increases
to show that the AutoLearn is in progress
•
•
the number will increase as the autopilot steps through the
various maneuvers
typically, the AutoLearn will be complete within 7 to 27 steps
(depending on boat characteristics and sea conditions)
Note: If you need to cancel the AutoLearn for any reason, press the
standby or disp key.
5. When the autopilot has finished learning, the control unit will
beep and the display will change to LRN PASS or LRN FAIL:
•
•
LRN PASS = AutoLearn completed successfully
repeated again. Failure codes:
•
•
•
LRN FAIL 1 = AutoLearn has not been carried out
LRN FAIL 2 = AutoLearn failed, due to manual interruption
LRN FAIL 4 = AutoLearn failed, probably due to drive or
compass failure
6. Press and hold the standby key for two seconds to store the new
calibration settings.
The pilot is now fully calibrated and ready for use. The only
setting you should now need to adjust is the response level
(see page 7).
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Chapter 6: Commissioning the Autopilot
71
Manual set-up: Type 150/400 & Type 100/300
If you have a Type 150/400 (non-GyroPlus) or Type 100/300
autopilot system you need to manually adjust the rudder gain,
counter rudder and AutoTrim settings, based on your observations
of the boat’s performance under autopilot control.
Adjust these settings when motoring your boat at cruising speed.
On sail boats, repeat if necessary under sail to optimize the pilot.
Checking autopilot operation
Before manually adjusting any of these settings, familiarize yourself
with basic autopilot operation:
1. Steer onto a compass heading and hold the course steady.
If necessary, control the boat manually for a while to check how
the boat steers.
2. Press autoto lock onto the current heading. The autopilot should
hold a constant heading in calm sea conditions.
3. Use the -1, +1, -10 and +10keys to check how the autopilot alters
the course to port and starboard in multiples of 1° and 10°.
4. Press standby to return to hand steering.
Adjusting the rudder gain
Boats can vary widely in their response to helm, and by adjusting the
rudder gain you can change the autopilot’s steering characteristics.
Rudder gain is a measure of how much helm the autopilot applies to
correct course errors – higher settings mean more rudder is applied.
Complete the following test to determine whether the rudder gain is
set correctly:
1. Set RESPONSE to level 2:
•
press the resp key, use the -1 or +1 key to adjust the setting,
then press disp
2. Sail your boat at cruising speed in clear water:
•
you will find it easiest to recognize the steering response in
calm sea conditions where wave action does not mask basic
steering performance
3. Press auto to enter Auto mode, then alter course by 40°:
•
if the rudder gain is adjusted correctly, the 40° course change
should result in a crisp turn followed by an overshoot of no
more than 5°
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72
ST6001+ Autopilot Control Unit - Owner’s Handbook
•
•
if the rudder gain setting is too high, the 40° course change
will result in a distinct overshoot of more than 5° and there
may be a distinct ‘S’ in the course (A)
Correct this oversteer by reducing the rudder gain setting.
if the rudder gain is too low, the boat’s 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 ruddergain setting.
New
heading
B
New
heading
A
Rudder gain
too low
New
heading
Rudder gain
too high
Correct
rudder gain
D3262-2
To adjust the rudder gain:
1. Access the RUDD GAIN screen in Dealer Calibration.
2. Use the -1 or +1keys to adjust the rudder gain.
3. Press and hold standby for 2 seconds to save the changes.
4. Press auto to check the autopilot performance in Auto mode.
Adjusting the counter rudder
If you intend to use RESPONSE level 3 on a Type 150/400
(non-GyroPlus) or Type 100/300 autopilot system, you will need to
adjust the counter rudder. Counter rudder is the amount of rudder the
autopilot applies to try to prevent the boat from yawing off course.
Higher counter rudder settings result in more rudder being applied.
To check the counter rudder setting
1. Set RESPONSE to level 3.
2. Sail your boat at cruising speed in clear water
3. Press auto to switch the autopilot to Auto mode, then make a
90° course change:
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Chapter 6: Commissioning the Autopilot
73
•
when gain and counter rudder are both set correctly, the boat
performs a smooth continuous turn with minimal overshoot
•
•
if the counter rudder is too low, the boat will still overshoot
if counter rudder is too high, the boat will ‘fight’ the turn and
make a series of short, sharp turns: this results in a very
‘mechanical’ feel as the boat changes course
To adjust the counter rudder:
1. Access the COUNT RUD screen in Dealer Calibration.
2. Use the -1 or +1 keys to adjust the counter rudder.
3. Press and hold standby for 2 seconds to save the changes.
4. Press auto to check the autopilot performance in Auto mode.
The pilot is now calibrated and ready for use.
Further adjustments (Type 150/400 and Type 100/300)
Over time you may need to repeat these adjustments over a range of
sea conditions and headings to achieve good overall performance.
You may also need to adjust the AutoTrim setting. AutoTrim
determines how quickly the autopilot applies ‘standing helm’ to
correct for trim changes (caused, for example, by changes in the
wind load on the sails or superstructure, or an imbalance of engines).
Gain experience with your autopilot before attempting to adjust the
AutoTrim setting. On sail boats you can only evaluate the effect of
AutoTrim while under sail.
Increasing the AutoTrim level reduces the time the autopilot takes to
get back onto the correct course, but makes the boat less stable:
•
if the autopilot gives unstable course keeping and the boat
‘snakes’ around the desired course, decrease the AutoTrim level
if the autopilot hangs off course for excessive periods of time,
increase the AutoTrim level
•
If you need to adjust AutoTrim, go up one level at a time and use the
lowest acceptable value. The possible settings range from OFF (no
trim correction) to 4 (fastest trim correction). To adjust the AutoTrim:
1. Access the AUTOTRIM screen in Dealer Calibration.
2. Use the -1 or +1 keys to adjust the AutoTrim level.
3. Press and hold standby for 2 seconds to save the changes.
4. Press auto to check the autopilot performance in Auto mode.
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ST6001+ Autopilot Control Unit - Owner’s Handbook
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Chapter 7: Adjusting Autopilot Settings
75
Chapter 7: Adjusting Autopilot Settings
the autopilot system. You will have adjusted many of these settings
whencommissioningthe system (see Chapter 6), and they should not
require further adjustment.
adjusting any calibration settings.
The sectionsin thischapter provide explaintheCalibrationmodeand
the settings in the 4 calibration groupings:
Calibration basics
Thisexplainsthe structureofthe Calibration mode, and
how to access the four calibration groupings.
page 76
page 79
7.1
7.2
The Display Calibration grouping allows you to control
the ST6001+ display features (bar graph type and data
page information).
User Calibration
The User Calibration grouping includes autopilot
settings that you may need to adjust in response to
changing sea conditions.
page 83
7.3
Seatrial Calibration
TheSeatrialCalibrationgroupingisusedspecificallyfor
the initial autopilot seatrial (see Chapter 6 for full
details).
page 87
page 88
7.4
7.5
Dealer Calibration
The Dealer Calibration grouping controls the main
autopilot settings and also the calibration lock.
Note: If you are connecting the ST6001+ to a non-150/400 autopilot
system,thecalibrationgroupsaredifferent. RefertotheAppendixfor
more information.
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76
ST6001+ Autopilot Control Unit - Owner’s Handbook
7.1 Calibration basics
Calibration groups
Note: If you are connecting the ST6001+ to a non-150/400 autopilot
system, thecalibrationgroupsaredifferent. RefertotheAppendixfor
full details.
The Calibration mode has 4 main calibration groups:
Display Calibration (DISPLAY CAL)
The items in Display Calibration only affect the individual control
unit. They are stored in the control unit and do not affect any other
control units connected through SeaTalk.
You can adjust the Display Calibration settings as often as necessary
– for example, to add or change information displayed on data pages
User Calibration (USER CAL)
The items in User Calibration vary according to the Vessel Type you
have selected in Dealer Calibration.
You will probably need to access User Calibration on a fairly regular
basis to adjust the autopilot settings in response to changing
conditions.
Seatrial Calibration (SEATRIAL CAL)
The Seatrial Calibration group is specifically designed for use during
the initial autopilot seatrial (see page 63 of Chapter 6 for full details).
You should not need to access Seatrial Calibration during normal
autopilot operation.
Dealer Calibration (DEALER CAL)
The Dealer Calibration group includes items that have a significant
impact on autopilot operation and can affect your boat’s safety.
After you have completed the initial installation and seatrial, you
should not normally need to alter the Dealer Calibration values. The
items in Dealer Calibration vary according to the Vessel Type you
have selected.
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Chapter 7: Adjusting Autopilot Settings
77
Calibration Mode Overview
2 seconds
2 seconds
(saves changes)
Calibration Mode
1 second
auto
1 second
standby
Display bar selection
Heading type
Data pages 1 to 7
auto
standby -1 and +1
Calibration lock
Vessel type
Drive type
Align rudder
Rudder limit
auto
standby
Rudder gain
AutoTack angle*
Gybe inhibit*
Wind type*
Counter rudder
Rudder damping
AutoTrim
Wind response (WindTrim)*
Response level
Response level
Turn rate limit
Off course alarm angle
AutoRelease (stern drive)
AutoTack angle*
Gybe inhibit*
Magnetic variation
Wind type*
Wind response (WindTrim)*
Cruise speed
1 second
AutoAdapt
Latitude
Magnetic variation
Autopilot reset
auto
standby
Swing compass
Compass deviation
Align heading
1 second
Align rudder
AutoLearn start
AutoLearn pass/fail
Within DISPLAY CAL, USER CAL, SEATRIAL CAL and DEALER CAL:
-- press disp to move forwards through items (*sail boats only)
-- press disp for 1 second to move backwards
-- use -1, +1, -10, +10 to adjust settings
-- press standby for 2 seconds to save changes
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78
ST6001+ Autopilot Control Unit - Owner’s Handbook
Accessing the Calibration mode
You can only access Calibration mode from Standby mode:
1. With the autopilot in Standby mode, press and hold the standby
key for 2 seconds. The display will change to show DISPLAY CAL.
2. Press the disp key to scroll down through the 4 calibration
groupings:
•
•
•
•
Display Calibration (DISPLAY CAL)
User Calibration (USER CAL)
Seatrial Calibration (SEATRIAL CAL)
Dealer Calibration (DEALER CAL)
Note: You can go backwards through the groups by pressing and
holding the disp key for one second.
3. When you reach the Calibration group you want to access, press
the auto key to enter that group:
To prevent accidental access, we have made entry to Dealer
Calibration more difficult than the other groups. After pressing
the auto key, the display will show CAL ?. When you see this,
press the -1 and +1keys together to enter Dealer Calibration.
4. When you have entered one of the Calibration groupings, press
disp key to scroll down through the items within that grouping:
Note:You cango backwardsthroughthelistbypressingandholding
the disp key for one second.
5. Whenyoureachanitemyouwishtoadjust, usethe-1,+1,-10and
+10 keys (as appropriate) to change the value.
6. If you then want to adjust settings in another Calibration group,
press the standby key and then repeat steps 2 to 5 as necessary.
7. Whenyouhavemade all thechangesyouwant to make, pressand
hold the standby key for two seconds to exit Calibration mode
and save changes.
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Chapter 7: Adjusting Autopilot Settings
79
7.2 Display Calibration
Display Calibration allows you to select the type of bar graph and
heading shown on the ST6001+ display, and control the information
shown on the data pages.
Display Calibration screens
Display bar selection
This screen allows you to select the type of bar graph shown at the
bottom of the ST6001+ display.
Options
RUDD BAR
Rudder position bar
This is the default setting. It uses the bar graph to show the
true rudder angle. Requires rudder position sensor for
accurate rudder information.
Steer/error bar
STEER BAR
This setting uses the bar graph to indicate different
information in different operating modes:
• Standby: rudder position bar
• Auto: heading error bar (in 2° increments)
• Track: cross track error (XTE) bar (in 0.02 nm increments)
• Wind Vane: wind angle error bar (in 2° increments)
No bar displayed.
BAR OFF
Heading selection
This screen allows you to display any heading as either a magnetic or
truevalue. During normalautopilot operation thescreen will indicate
MAG for magnetic headings and TRUE for true headings.
Options
HDG MAG
HDG TRUE
Magnetic heading.
True heading.
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ST6001+ Autopilot Control Unit - Owner’s Handbook
Accessing Display Calibration
2 seconds
2 seconds
(saves changes)
Calibration Mode
1 second
1 second
1 second
1 second
Display Calibration
1 second
1 second
To adjust values use
or
or
Data
pages 1-7
To exit and
save changes
Press disp
for next
page
2 seconds
1 second
D5482-1
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Chapter 7: Adjusting Autopilot Settings
81
Data pages 1-7
Thenext7screensallowyoutomodifythesettingsforthedatapages.
These define the SeaTalk/NMEA data pages that will be available
during normal operation (see page 29). Each data page setup screen
initially shows the title DATA PAGE and the page number. After 1
second, the text changes to the title of the data currently set for that
page.
The default settings are:
Data page
Default setting
1
XTE (Cross Track Error)
BTW* (Bearing to Waypoint)
DTW* (Distance to Waypoint)
RESPONSE
2
3
4
5 -7
NOT USED (These pages are not displayed when you scroll
through the data pages during normal operation)
*Note: It is good practice to keep the BTW and DTW pages for display. If the
autopilot receives a man overboard (MOB) message, these data pages will
show the bearing and distance to the MOB location.
To change the data displayed on a data page:
•
•
Press disp to move to the appropriate data page setup screen.
Use the -1 and +1 keys to scroll forwards or backwards through
the available data pages (see following table).
•
Then press disp to move to the next data page you want to
change, orpressandholdstandbyfor2secondstosavechanges.
Available data pages
Speed Knots
Displayed as
SPEED KTS
LOG XXXX.X
TRIP XXX.X
AV. SPD KTS
e.g. WIND PORT
WIND KTS
Log
Trip
Average Speed, Knots
Wind Direction
Wind Speed
Depth Metres*
Depth Feet*
DEPTH M
DEPTH FT
Depth Fathoms*
DEPTH FA
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ST6001+ Autopilot Control Unit - Owner’s Handbook
Available data pages
Displayed as
HEADING
WATER °C
WATER °F
COG
Heading
Water Temperature, Degrees C*
Water Temperature, Degrees F*
Course Over Ground
Speed Over Ground, Knots
Cross Track Error
SOG KTS
XTE
Distance to Waypoint
Bearing to Waypoint
Rudder Gain
DTW
BTW
RUDD GAIN
RESPONSE
Response
Watch
WATCH - used to control the Watch
timer (see page 30)
Universal Time Coordinated
NOT USED
UTC
Page not displayed
(Any data page set to NOT USED is not
displayed when you scroll through the
data pages during normal operation)
*NOTE: There are 3 depth pages (meters, feet and fathoms) and 2 water
temperature pages (°C and °F). The ST6001+ will display the water
temperature or depth data in the units defined by data page you select.
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Chapter 7: Adjusting Autopilot Settings
83
7.3 User Calibration
Note: If you are connecting the ST6001+ to a non-150/400 autopilot
system, the User Calibration group is not available. Refer to the
Appendix for full details.
The User Calibration group includes settings that you may need to
adjust on a regular basis due to changing conditions.
User Calibration screens
AutoTack angle
Note: Only available if vessel type = SAIL BOAT.
The AutoTack angle is the angle through which the boat will turn
when you select an automatic tack (see page 12).
Screen text
Options
AUTO TACK
40° to 125° in 1° steps
Gybe inhibit
Note: Only available if vessel type = SAIL BOAT.
With gybe inhibit on:
•
•
you will be able to perform an AutoTack into the wind
to prevent accidental gybes, the autopilot will prevent the boat
from performing an AutoTack away from the wind
With gybe inhibit off, you can perform an AutoTack into or away
from the wind.
Screen text
Options
GYBE STOP
On = Gybe inhibit on (gybes prevented)
OFF = Gybe inhibit off (gybes permitted)
Default = On
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ST6001+ Autopilot Control Unit - Owner’s Handbook
Accessing User Calibration
2 seconds
2 seconds
(saves changes)
Calibration Mode
1 second
1 second
1 second
Sail boats only
1 second
1 second
To adjust values use
or
Sail boats only
or
1 second
1 second
To exit & save changes
2 seconds
Sail boats only
1 second
1 second
Sail boats only
D5483-1
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Chapter 7: Adjusting Autopilot Settings
85
Wind selection
Note:Onlyavailableif vesseltype=SAILBOATandappropriatewind
data is available.
This screen determines whether the boat steers to apparent or true
wind in Wind Vane mode.
Options
WIND APP
Autopilot steers toapparent wind angle (default):
• the autopilot will maintain the apparent wind angle
WIND TRUE
Autopilot steers to true wind angle:
• the autopilot will maintain the true wind angle
WindTrim (wind response)
Note: Only available if vessel type = SAIL BOAT.
WindTrim (wind response) controls how quickly the autopilot
responds to changes in the wind direction. Higher wind trim settings
will result in a pilot that is more responsive to wind changes.
Screen text
Options
WIND TRIM
Range = 1 to 9
Lower values (1 to 3) = autopilot responds to longer term
wind changes (less pilot activity)
Typical values = 4 to 6
Higher values (7 to 9) = autopilot responds to shorter term
wind changes (more pilot activity)
Response level
This is the default autopilot response level. The response level
controls the relationship between course keeping accuracy and the
amount of helm/drive activity. You can make temporary changes to
response during normal operation (see page 7).
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ST6001+ Autopilot Control Unit - Owner’s Handbook
Type 150G/400G autopilot systems
Type 150G/400G autopilot systems have 9 possible response levels.
Screen text
Options
RESPONSE
1 to 9
•level 1 gives theleastpilot activitytoconserve power, but
may compromise short-term course-keeping accuracy
• levels 4 to 6 should give good course keeping with crisp,
well controlled turns under normal operating conditions
• level 9 gives the tightest course keeping and greatest
rudder activity, but may lead to a rough passage in open
waters as the autopilot may ‘fight’ the sea
Type 150/400 autopilot systems
Type 150/400 (non-GyroPlus) autopilot systems have 3 possible
response levels:
Screen text
Options
AutoSeastate on (Automatic deadband)
•autopilottograduallyignoresrepetitiveboatmovements
and only react to true variations in course
RESPONSE 1
• provides the best compromise between power
consumption and course keeping accuracy
AutoSeastate off (minimum deadband)
• provides tighter course keeping
RESPONSE 2
RESPONSE 3
• increased power consumption and drive unit activity
AutoSeastate off + counter rudder yaw damping
• provides tightest possible course keeping by introducing
counter rudder yaw damping
Magnetic variation
If required, set this value to the level of magnetic variation present at
your boat’s current position – indicated as east (VAR EAST) or west
(VAR WEST). The autopilot sends this variation setting to other
instruments on the SeaTalk system, and it can be updated by other
SeaTalk instruments.
Screen text
Options
VARIATION
Default setting = 0°
VAR EAST/ VAR WEST
30°EAST(-30°) to 30° WEST (+30°) in 1° steps
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Chapter 7: Adjusting Autopilot Settings
87
7.4 Seatrial Calibration
The Seatrial Calibration group has been designed specifically for use
during the initial seatrial when commissioning your autopilot. Refer
to Chapter 6: Commissioning the Autopilot for full details.
CAUTION:
You should not need to access Seatrial Calibration to adjust
settings during normal autopilot operation.
Note: If you are connecting the ST6001+ to a non-150/400 autopilot
system, the Seatrial Calibration group is not available. You will need
to use the Compass Calibration group instead. Refer to the Appendix
for full details.
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ST6001+ Autopilot Control Unit - Owner’s Handbook
7.5 Dealer Calibration
The Dealer Calibration group includes items that have a significant
impact on autopilot operation and can affect your boat’s safety.
CAUTION:
After you have commissioned the autopilot, you should not
normally need to alter the Dealer Calibration values.
Note: If you are connecting the ST6001+ to a non-150/400 autopilot
system, the items in the Dealer Calibration group appear in a
different order and several items will not be available. Refer to the
Appendix for full details.
Accessing Dealer Calibration
To prevent accidental access, we have made entry to Dealer
Calibration more difficult than the other groups:
•
•
when you see the DEALER CAL screen, press the auto key
the display will show CAL ?
press the -1 and +1keys together to enter Dealer Calibration
Dealer Calibration screens and settings
The items in Dealer Calibration vary according to the vessel type you
have selected. See the table on page 88 for default values.
SeaTrial Calibration lock
This screencontrols whetherit is possibletoaccessSeatrial Calibration.
Note:Onnon-150/400systems,thecalibrationlockcontrolswhether
it is possible to enter Compass Calibration. See the Appendix for full
details.
Options
CAL LOCK OFF
Calibration lock off – Seatrial calibration can be
accessed (default)
CAL LOCK ON
Calibration lock on – Seatrial calibration cannot be
accessed
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Chapter 7: Adjusting Autopilot Settings
89
Accessing Dealer Calibration
2 seconds
2 seconds
(saves changes)
Calibration Mode
1 second
Dealer Calibration
1 second
To adjust values use
or
or
To exit & save changes
2 seconds
Sail
boats
only
Not sail boats
Stern
drives only
1 second
D5485-1
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90
ST6001+ Autopilot Control Unit - Owner’s Handbook
Vessel type
Vessel type should be set when commissioning the autopilot
(see page 59).
Options
DISPLACE
SEMI DIS
Semi-displacement powerboat
PLANING
Planing powerboat
STERN DRV
WORK BOAT
SAIL BOAT
Planing powerboat with I/O drive (stern drive)
Work boat (150/150G and 400/400G only)
Sail boat (150/150G and 400/400G only)
Note: When you select the vessel type, the autopilot will set
appropriate defaults for several other calibration settings. Refer to
the table on page 97 for default values.
Drive type
The drive type setting controls how the autopilot drives the steering
system. The drive type should be set when commissioning the
autopilot (see page 61).
Options
DRIVE TYP 3
DRIVE TYP 4
DRIVE TYP 5
Linear drive, rotary drive or I/O (stern) drive
Hydraulic pump or hydraulic linear drive
Constant running hydraulic pump solenoids
Align rudder
Use the screen to center the rudder bar display after installing the
autopilot system (see page 61). This screen also appears in the
Seatrial Calibration grouping.
Screen text
Range
ALIGNRUD
-7° to +7° in 1° steps
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Chapter 7: Adjusting Autopilot Settings
91
Rudder limit
Use the rudderlimit screento set the limitsofautopilot ruddercontrol
just inside the mechanical end stops. This will avoid putting the
steering system under unnecessary load. You should adjust this
setting when commissioning the autopilot (see page 61).
Screen text
Range
RUDLIMIT
10° to 40° in 1° steps
Rudder gain
a measure of how much helm the autopilot will apply to correct
course errors. The higher the setting the more rudder will be applied.
The default rudder gain is set during the initial seatrial:
•
Type 150G/400G autopilots will adjust the rudder gain
automatically during the AutoLearn (see page 68)
Type 150/400 and Type 100/300 autopilots will require manual
adjustment of rudder gain (see page 71)
•
You can make temporary changes to this rudder gain value during
normal operation (see page 27).
Screen text
Range
RUDD GAIN
1 to 9
Counter rudder
Counter rudder is the amount of rudder the autopilot applies to try to
prevent the boat from yawing off course. Higher counter rudder
settings result in more rudder being applied.
The default rudder gain is set during the initial seatrial:
•
Type 150G/400G autopilots will adjust the counter rudder setting
automatically during the AutoLearn (see page 68)
•
Type 150/400 and Type 100/300 autopilots will require manual
adjustment of counter rudder (see page 71)
Screen text
Range
COUNT RUD
1 to 9
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92
ST6001+ Autopilot Control Unit - Owner’s Handbook
Rudder damping
Adjust the rudder damping value if the autopilot ‘hunts’ when trying
to position the rudder (see page 62). Increasing the rudder damping
value reduces hunting.
Screen text
Range
RUDD DAMP
1 to 9
AutoTrim
The AutoTrim setting determines the rate at which the autopilot
applies ‘standing helm’to correct for trim changescaused byvarying
wind loads on the sails or superstructure.
The default AutoTrim is set when commissioning the autopilot:
Type 150G/400G autopilots will adjust the AutoTrim setting
automatically during the AutoLearn (see page 68)
•
Type 150/400 and Type 100/300 autopilots will require manual
adjustment of AutoTrim (see page 71) after the initial seatrial
time and use the lowest acceptable value:
•
•
•
decrease theAutoTrim level if the autopilot gives unstable course
keeping or excessive drive activity with a change in the heel angle
increase the AutoTrim level if the autopilot reacts slowly to a
heading change due to a change in the heel angle
if the AutoTrim level is too high, the boat will be less stable and
snake around the desired course
Note: Type 150G/400G autopilots have a ‘FastTrim’ feature within
AutoTrim. Select AUTO TRIM OFF to turn off FastTrim as well as
AutoTrim.
Setting
Effect
AUTO TRIM OFF
AUTO TRIM 1
AUTO TRIM 2
AUTO TRIM 3
AUTO TRIM 4
No trim correction
Slow trim correction
Medium trim correction
Rapid trim correction
Very rapid trim correction
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Chapter 7: Adjusting Autopilot Settings
93
Response level
This screen determines the default response setting. This screen also
appears in User Calibration – see page 85 for full details (or refer to
the Appendix for Type 100/300 autopilots).
Turn rate limit
Note: Not available if vessel type = SAIL BOAT.
This limits your boat’s rate of turn under autopilot control.
Screen text
Range
TURN RATE
1° to 30° per second in 1° steps
Off course warning angle
This screen determines the angle used by the OFF COURSE warning
(seepage 10).TheOFFCOURSEwarningoperatesifthepilotstraysoff
course by more than the specified angle for more than 20 seconds.
Screen text
Range
OFFCOURSE
15° to 40° in 1° steps
Locked heading
Boat heading
15˚ minimum
D3264-2
AutoRelease (I/O drives only)
Note: Only available if vessel type = STERNDRV.
If the vessel type is set to STERN DRV (I/O or stern drive), you will see
the AutoRelease screen (AUTO RELSE) set to ON as a default.
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94
ST6001+ Autopilot Control Unit - Owner’s Handbook
AutoRelease provides emergency manual over-ride in situations
when you need to avoid an obstacle at the last moment.
Screen text
Range
AUTO RELSE
ON = AutoRelease on
OFF = AutoRelease off
AutoTack angle
Note: Only available if vessel type = SAIL BOAT (Type 150/150G or
Type 400/400G) or DISPLACEMENT (Type 100/300).
This screen also appears in User Calibration – see page 83 for full
details (or refer to the Appendix for Type 100/300 autopilots).
Gybe inhibit
Notes:
1. Only available if vessel type = SAIL BOAT.
2. Not available on Type 100/300 autopilot systems.
Wind type
Notes:
1. Only available if vessel type = SAIL BOAT.
2. Not available on Type 100/300 autopilot systems.
wind in Wind Vane mode. This screen also appears in User
Calibration – see page 85 for full details.
WindTrim (wind response)
Note: Only available if vessel type = SAIL BOAT (Type 150/150G or
Type 400/400G) or DISPLACEMENT (Type 100/300).
WindTrim (wind response) controls how quickly the autopilot
responds to changes in the wind direction. This screen also appears
in User Calibration – see page 85 for full details (or refer to the
Appendix for Type 100/300 autopilots).
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Chapter 7: Adjusting Autopilot Settings
95
Cruise speed
Set the cruise speed to the boat’s typical cruising speed. If both the
boat’sspeedthroughthewaterandspeedovergroundareunavailable
via SeaTalk or NMEA, the autopilot will use this default cruise speed
when computing course changes.
Screen text
Range
CRUISE SP
4 to 60 knots
AutoAdapt
The AutoAdapt feature allows the autopilot to compensate for
heading errors at higher latitudes, which are caused by the increasing
dip of the earth’s magnetic field. The increased dip has the effect of
amplifying rudder response on northerly headings in the northern
hemisphere, and on southerly headings in the southern hemisphere.
North
without
compensation
North
with
compensation
D3263-2P
Options
AUTOADAPT OFF
AUTOADAPT nth
AUTOADAPT Sth
AutoAdapt off
AudoAdapt compensation on – Northern hemisphere
AutoAdapt compensation on – Southern hemisphere
Note: If you set AUTOADAPT to nth or Sth, you then need to enter your
current latitude in the next screen (LATITUDE), so that the autopilot
can provide accurate course keeping by automatically adjusting the
rudder gain depending on the heading. If you have a GPS connected,
the autopilot will take latitude information from the GPS.
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ST6001+ Autopilot Control Unit - Owner’s Handbook
Latitude
The ST6001+ only displays this screen if you have set AutoAdapt to
nth or Sth. Use the -1,+1, -10 and +10 keys to set the value to your
boat’s current latitude, to the nearest degree.
Note: If valid latitude data is available via SeaTalk or NMEA, the
ST6001+ will use this data instead of the calibration value.
Screen text
Range
LATITUDE
0° to 80° in 1° steps
Magnetic variation
This is the degree of magnetic variation. This screen also appears in
User Calibration – see page 86 for full details.
Autopilot reset
Note: Not available on Type 100/300 autopilot systems.
WARNING:
Do NOT use this feature unless advised to do so by a Raymarine
dealer. If you complete a reset you will lose ALL autopilot
calibration settings. You will then need to repeat the autopilot
commissioning process.
Selecting an autopilot reset will reset all of the autopilot calibration
values in the course computer:
•
all of the settings in User Calibration, Seatrial Calibration and
Dealer Calibration will return to the factory default values
the settings in Display Calibration will not change, as these are
stored in each individual control head
•
To reset the autopilot:
1. Select the Autopilot reset (RESET) screen in Dealer Calibration.
2. Press the +1 key.
3. The screen will then show an ARE YOU SURE message:
•
•
press the +1 key again to select ‘YES’ and reset the autopilot
alternatively, press the disp key to cancel
4. You will then see the CAL LOCK screen:
•
press standby for 2 seconds to save the new default settings,
then turn the course computer power off and back on
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Chapter 7: Adjusting Autopilot Settings
97
Dealer Calibration defaults: Types 150/150G & 400/400G
Calibration
Vessel type
setting
Calibration lock
Vessel type
OFF
0
OFF
DISPLACE SEMI
DISPLACE
OFF
OFF
OFF
OFF
OFF
PLANING STERN
DRV
WORK
BOAT
SAIL
BOAT
Drive type
3
4
4
4
3
5
3
Rudder alignment
Rudder limit
Rudder gain
Counter rudder
Rudder damping
AutoTrim
0
0
0
0
0
0
0
30
4
30
5
30
4
20
4
20
4
30
5
30
2
4
3
5
5
5
2
2
2
2
2
2
2
3
2
2
2
3
3
3
2
1
Response: with G
non-G
5
2
5
2
5
2
5
2
5
2
5
2
5
2
Turn rate limit
5
5
5
5
5
5
---
Off course angle 20
20
---
---
---
---
---
8
20
---
---
---
---
---
8
20
---
---
---
---
---
8
20
ON
---
---
---
---
20
nth
0
20
---
---
---
---
---
8
20
---
AutoRelease
AutoTack angle
Gybe inhibit
Wind type
OFF
100
ON
APP
5
100
ON
APP
5
Wind Trim
Cruise speed
AutoAdapt
Latitude
8
8
nth
0
nth
0
nth
0
nth
0
nth
0
nth
0
Variation
0
0
0
0
0
0
0
Autopilot reset
OFF
OFF
OFF
OFF
OFF
OFF
OFF
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ST6001+ Autopilot Control Unit - Owner’s Handbook
Dealer Calibration options: Types 150/150G & 400/400G
Calibration
Vessel type
setting
Calibration lock
Vessel type
OFF, ON
DISPLACE, SEMI DISPLACE, PLANING, STERN DRV,
WORK BOAT, SAIL BOAT
Drive type
3, 4, 5
-7 to +7
10 to 40
1 to 9
Rudder alignment
Rudder limit
Rudder gain
Counter rudder
Rudder damping
AutoTrim
1 to 9
1 to 9
0 to 4
1 to 9 (Type 150G/400G)
1 to 3 (Type 150/400)
Response
Turn rate limit
Off course angle
AutoRelease
AutoTack angle
Gybe inhibit
Wind type
1 to 30
15 to 40
OFF, ON
40 to 125
OFF, ON
APPARENT, TRUE
1 to 9
Wind Trim
Cruise speed
AutoAdapt
4 to 60
OFF, nth, Sth
0 to 80
Latitude
Variation
-30 to +30
OFF, ON
Autopilot reset
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Appendix: Using the ST6001+ With Non-150/400 Autopilots
99
Appendix: Using the ST6001+
With Non-150/400 Autopilots
Introduction
The information in this Appendix explains the key differences when
using, commissioning and calibrating the autopilot if you have
connected the ST6001+ to a Raymarine autopilot other than a Type
150/150G or Type 400/400G.
Using the autopilot (non-150/400 systems)
This section explains the key differences when using the
ST6001+ to control a non-150/400 autopilot.
page 100
page 101
page 102
Commissioning the autopilot (non-150/400
systems)
This section explains how t o commission your autopilot
after installation. Commissioning consists of a series of
dockside checks followed by a seatrial.
Calibration mode (non-150/400 systems)
This section explains the Calibration mode when the
ST6001+ is used with a non-150/400 autopilot.
Type 100/300 autopilots
The ST6001+ is compatible with Raymarine Type 100/300 course
computers. When used with a Type 100/300 course computer, the
control unit provides:
•
standard functionality using the Raymarine steering algorithm
without AST (Advanced Steering Technology)
improved calibration access, but without the AutoLearn
calibration feature
•
Other autopilot systems
You can also use the ST6001+as an additional control unit for any
SeaTalk autopilot system (e.g. ST4000+, ST5000+ or SportPilot)
allowing autopilot control from a secondary location.
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100
ST6001+ Autopilot Control Unit - Owner’s Handbook
Using the autopilot (non-150/400 systems)
The operating procedures when using the ST6001+ control unit with
a non-150/400 autopilot are basically the same as the procedures for
using a 150/400 system without a GyroPlus.
Follow the instructions in Chapter 2: Basic Operation and Chapter
3: Advanced Operation, bearing in mind these main differences:
Adjusting autopilot performance
You can select three response levels to adjust autopilot performance:
•
Response Level 1: AutoSeastate on (Automatic deadband)
This setting causes the autopilot to gradually ignore repetitive
boat movements and only react to true variations in course. This
provides the best balance between power consumption and
course keeping accuracy, and is the default calibration setting.
•
•
Response Level 2: AutoSeastate off (Minimum deadband)
This setting provides tighter course keeping. However, this
results in increased power consumption and drive unit activity.
Response Level 3: AutoSeastate off + yaw damping
This setting provides the tightest possible course keeping by
introducing counter rudder yaw damping.Yaw damping will use
the information provided by a GyroPlus, if connected.
Wind Vane mode
When using Wind Vane mode:
•
you can only use the autopilot to maintain an apparent wind
angle (not a true wind angle)
•
•
gybe inhibit is permanently switched on
Manual (Joystick) mode
If you connect the ST6001+ to a Type 100/300 course computer
system fitted with a joystick, you will enter Manual (joystick) mode
when you press the joystick button.
InManual (joystick)mode youcanuse the joystick to power steer the
rudder. The ST6001+ will return to Standby mode if you release the
joystick button or if you press the standby key on the control unit.
You can set the autopilot to power steer in either proportional or
bang-bang mode (see page 106).
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Appendix: Using the ST6001+ With Non-150/400 Autopilots
101
Commissioning the autopilot (non-150/400 systems)
basically the same as the commissioning a 150/400 system without a
GyroPlus. It involves a series of dockside checks, then a seatrial to
calibrate the compass and manually adjust the autopilot’s settings.
Follow the instructions in Chapter 6: Commissioning the Autopilot
bearing in mind these main points:
Dockside Checks
With the boat safely tied up, complete the dockside checks described
on page 56 to page 57 of Chapter 6: Commissioning the Autopilot:
1. Switch on.
2. Check the autopilot operating sense.
3. Adjust the basic autopilot settings.
4. Check the SeaTalk and NMEA connections.
When adjusting the basic autopilot settings you will need to enter
Display Calibration, as shown on the illustration on page 103. When
setting the vessel type you will have the following options:
•
•
•
•
Displacement: DISPL MNT (including sail boats)
Planing: PLANING
Stern (I/O) Drive: STERN DRV
Seatrial Calibration
When you have completed the dockside checks, you must complete
the setup by taking the boat on a short seatrial to:
1. Calibrate the compass: complete the automatic deviation
correction and heading alignment as described in Chapter
6: Commissioning the Autopilot.
NOTE: You will need to enter COMPASS CALIBRATION
(not Seatrial Calibration) to swing the compass on a Type
100/300 course computer systems. For more details about
accessing and using the Compass Calibration grouping,
see the next page.
2. Manually adjust the autopilot settings to suit your boat, as
described in Chapter 6: Commissioning the Autopilot.
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102
ST6001+ Autopilot Control Unit - Owner’s Handbook
Calibration mode (non-150/400 systems)
Calibration groups
When connected to an autopilot other than a Type 150/150G or
400/400G, the Calibration mode provides 3 main calibration groups:
Display Calibration (DISPLAY CAL)
The items in Display Calibration only affect the individual control
unit. They are stored in the control unit and do not affect any other
control units connected through SeaTalk.
You can adjust the Display Calibration settings as often as necessary
– for example, to add or change information displayed on data pages
Compass Calibration (COMPASS CAL)
The Compass Calibration group is specifically designed for use
during the initial autopilot seatrial, so you can correct the compass
deviation and then align the compass.
Dealer Calibration (DEALER CAL)
The Dealer Calibration group includes items that have a significant
impact on autopilot operation and can affect your boat’s safety.
After you have completed the initial installation and seatrial, you
should not normally need to alter the Dealer Calibration values. The
items in Dealer Calibration vary according to the Vessel Type you
have selected.
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Appendix: Using the ST6001+ With Non-150/400 Autopilots
103
Calibration Mode Overview
100/300 Autopilot Systems
2 seconds
2 seconds
(saves changes)
Calibration Mode
1 second
auto
standby
Display bar selection
Heading type
1 second
Data pages 1 to 7
auto
standby -1 and +1
Vessel type
Calibration lock
Rudder gain
Counter rudder
Align rudder
Rudder limit
Turn rate limit
Cruise speed
auto
standby
Swing compass
Compass deviation
Align heading
Off course alarm angle
AutoTrim
Power steer on/off
Drive type
Rudder damping
Magnetic variation
AutoAdapt
1 second
Latitude
WindTrim (Displacement only)
AutoTack (Displacement only)
AutoRelease (Sterndrive only)
Response level
Within DISPLAY CAL, COMPASS CAL and DEALER CAL:
-- press disp to move forwards through items
-- use -1, +1, -10, +10 to adjust settings
-- press standby for 2 seconds to save changes
D5486-1
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104
Dealer Calibration screens
The illustration shows the screens that appear in the calibration
groups when the ST6001+ is connected to a Type 100/300 course
computer.
Vessel type
Vessel type should be set when commissioning the autopilot
(see page 59).
Options
DISPLACE
SEMI DIS
Displacement
Semi-displacement
Planing
PLANING
STERN DRV
Boat with I/O drive (stern drive)
Note: When you select the vessel type, the autopilot will set
appropriate defaults for several other calibration settings.
Compass Calibration lock
This screen controls whether it is possible to access Compass
Calibration.
Options
CAL LOCK OFF
CAL LOCK ON
Lock off: Compass Calibration can be accessed
Lock on: Compass Calibration cannot be accessed
Rudder gain
Thisscreen determines thedefault rudder gainsetting. Ruddergainis
a measure of how much helm the autopilot will apply to correct
course errors. The higher the setting, the more rudder will be applied.
You should adjust this setting when commissioning the autopilot.
(see page 71). You can make temporary changes to this rudder gain
value during normal operation (see page 27).
Screen text
Range
RUDD GAIN
1 to 9
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Appendix: Using the ST6001+ With Non-150/400 Autopilots
105
Counter rudder
Counter rudder is the amount of rudder the autopilot applies to try to
prevent the boat from yawing off course. Higher counter rudder
settings result in more rudder being applied. You should set the
default counter rudder when commissioning the autopilot
(see page 72).
Screen text
Range
COUNT RUD
1 to 9
Align rudder
Use this screen to center the rudder bar display after installing the
autopilot system.
Screen text
Range
ALIGN RUD
-7° to +7° in 1° steps
Rudder limit
Use the rudderlimit screento set the limitsofautopilot ruddercontrol
just inside the mechanical end stops. This will avoid putting the
steering system under unnecessary load. You should adjust this when
commissioning the autopilot (see page 61).
Screen text
Range
RUD LIMIT
15° to 30° in 1° steps
Turn rate limit
This limits your boat’s rate of turn under autopilot control.
Screen text
Range
TURN RATE
5° to 20° per second in 1° steps
Cruise speed
Set the cruise speed to the boat’s typical cruising speed. If both the
boat’sspeedthroughthewaterandspeedovergroundareunavailable
via SeaTalk or NMEA, the autopilot will use this default cruise speed
when computing course changes.
Screen text
Range
CRUISE SP
4 to 60 knots
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106
ST6001+ Autopilot Control Unit - Owner’s Handbook
Off course warning angle
This screen determines the angle used by the OFF COURSE warning
(seepage 10).TheOFFCOURSEwarningoperatesifthepilotstraysoff
course by more than the specified angle for more than 20 seconds.
Screen text
Range
OFFCOURSE
15° to 40° in 1° steps
AutoTrim
The AutoTrim setting determines the rate at which the autopilot
applies ‘standing helm’to correct for trim changescaused byvarying
wind loads on the sails or superstructure.You should set the default
AutoTrim after commissioning the autopilot (see page 73).
Setting
Effect
AUTO TRIM OFF
AUTO TRIM 1
AUTO TRIM 2
AUTO TRIM 3
AUTO TRIM 4
No trim correction
Slow trim correction
Medium trim correction
Rapid trim correction (default)
Very rapid trim correction
Power steer
If you have a joystick connected to your Type 100/300 autopilot
system, use power steer to select the required joystick mode of
operation (see table).
Options
PWR STEER OFF
PWR STEER 1
Power steer off
1 = Proportional power steer
Proportional power steer applies rudder in proportion to
joystick movement – the further the joystick is held over,
the greater the applied rudder.
PWR STEER 2
2 = Bang-bang power steer
Bang-bang power steer applies continuous rudder in the
direction of the lever movement –toimprove control, the
speed of rudder movement changes with the angle of the
lever. For maximum speed, push the lever hardover. If you
return the lever to the center position, the rudder will
remain in its current position.
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Appendix: Using the ST6001+ With Non-150/400 Autopilots
107
Drive type
The drive type setting controls how the autopilot drives the steering
system. You should set the drive type when commissioning the
autopilot (see page 61).
Options
DRIVE TYP 1 or 2
DRIVE TYP 3
DRIVE TYP 4
DRIVE TYP 5
Not used
Linear drive, rotary drive or I/O (stern) drive
Hydraulic pump or hydraulic linear drive
Constant running hydraulic pump solenoids
Rudder damping
Set this option during the initial dockside checks if the autopilot
‘hunts’ when trying to position the rudder (see page 62).
Screen text
Range
RUDD DAMP
1 to 9
Magnetic variation
If required, set this value to the level of magnetic variation present at
your boat’s current position – indicated as east (VAR EAST) or west
(VAR WEST). The autopilot sends this variation setting to other
instruments on the SeaTalk system, and it can be updated by other
SeaTalk instruments.
Screen text
Options
VARIATION
Default setting = 0°
VAR EAST/ VAR WEST
30°EAST(-30°) to 30° WEST (+30°) in 1° steps
AutoAdapt
The AutoAdapt feature allows the autopilot to compensate for
heading errors at higher latitudes, which are caused by the increasing
dip of the earth’s magnetic field.
The increased dip has the effect of amplifying rudder response on
northerly headings in the northern hemisphere, and on southerly
headings in the southern hemisphere.
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108
ST6001+ Autopilot Control Unit - Owner’s Handbook
Note: If you set AUTOADAPT to nth or Sth, you then need to enter your
current latitude in the next screen (LATITUDE), so that the autopilot
can provide accurate course keeping by automatically adjusting the
rudder gain depending on the heading.
Options
AUTOADAPT OFF
AUTOADAPT nth
AUTOADAPT Sth
AutoAdapt off
AudoAdapt compensation on – Northern hemisphere
AutoAdapt compensation on – Southern hemisphere
Latitude
The ST6001+ only displays this screen if you have set AutoAdapt to
nth or Sth. Use the -1,+1, -10 and +10 keys to set the value to your
boat’s current latitude, to the nearest degree.
Note: If valid latitude data is available via SeaTalk or NMEA, the
autopilot will use this data instead of the calibration value.
Screen text
Range
LATITUDE
0° to 80° in 1° steps
WindTrim (wind response)
Note: Only available if vessel type = DISPLACEMENT.
WindTrim (wind response) controls how quickly the autopilot
responds to changes in the wind direction.
Screen text
Options
WIND TRIM
1 = Normal setting
2 = Faster response for wind shifts
AutoTack angle
Note: Only available if vessel type = DISPLACEMENT.
The AutoTack angle is the angle through which the boat will turn
when you select an automatic tack (see page 12).
Screen text
Options
AUTO TACK
40° to 125° in 1° steps
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Appendix: Using the ST6001+ With Non-150/400 Autopilots
109
AutoRelease (I/O drives only)
Note: Only available if vessel type = STERNDRV.
If the vessel type is set to STERN DRV (I/O or stern drive), you will see
the AutoRelease screen (AUTO RELSE) set to ON as a default.
AutoRelease provides emergency manual over-ride in situations
when you need to avoid an obstacle at the last moment.
Screen text
Range
AUTORELSE
ON = AutoRelease on
OFF = AutoRelease off
Response level
This is the default response setting. The response level controls the
relationship between the autopilot’s course keeping accuracy and the
amount of helm/drive activity. You can make temporary changes to
response during normal operation (see page 7).
Screen text
Options
AutoSeastate on (Automatic deadband) = default
•autopilottograduallyignoresrepetitiveboatmovements
and only react to true variations in course
RESPONSE 1
• provides the best compromise between power
consumption and course keeping accuracy
AutoSeastate off (minimum deadband)
• provides tighter course keeping
RESPONSE 2
RESPONSE 3
• increased power consumption and drive unit activity
AutoSeastate off + counter rudder yaw damping
• provides tightest possible course keeping by introducing
counter rudder yaw damping
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110
ST6001+ Autopilot Control Unit - Owner’s Handbook
Dealer Calibration: possible settings with Type 100/300
Calibration setting
Vessel type
Vessel type
DISPLACE SEMIDISP PLANING STERNDRV
Calibration lock
Rudder gain
Counter rudder
Rudder alignment
Rudder limit
Turn rate limit
Cruise speed
Off course angle
AutoTrim
OFF
OFF
OFF
OFF
5
5
4
7
3
7
0
7
0
5
0
0
30
20
6
30
15
8
30
15
15
20
3
20
8
15
20
3
20
2
20
3
Power steer
Drive type
OFF
3
OFF
4
OFF
4
OFF
3
Rudder damping
Variation
2
2
2
2
OFF
NORTH
0
OFF
NORTH
0
OFF
NORTH
0
OFF
NORTH
0
AutoAdapt
Latitude
Wind Trim
1
---
---
---
---
---
---
(displacement only)
AutoTack angle
(displacement only)
100
AutoRelease
---
1
---
1
---
1
ON
1
(stern drives only)
Response
Note: Information applies to Type 100/300 Course Computers with Version 15 software.
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Specifications
111
Specifications
ST6001+ control unit
Nominal supply voltage:
Operating voltage range:
12 V DC via SeaTalk
10 V to 15 V DC
Current consumption (in Standby mode) 60 mA (less than 200 mA with full lighting)
Operating temperature:
Water protection:
0 °C to +70 °C (32 °F to 158 °F)
waterproof to CFR46
Overall dimensions:
width
height
depth
110 mm (4.33 in)
115 mm (4.53 in)
41 mm (1.62 in)
Keypad:
8 button illuminated keypad
Liquid Crystal Display (LCD):
shows heading, locked course and navigational data,
and up to 7 data pages
LCD illumination:
Input connections:
Output connections:
CE approvals:
3 brightness levels + off
SeaTalk (x2) and NMEA 0183
SeaTalk (x2)
conforms to: 89/336/EC (EMC), EN60945:1997
Course computer functions
Course computer
Type 150/400
Control
unit
Type 150G/400G
Type 100/300
ST6001+ •Internal GyroPlus yaw
•Full basic functionality
•Standard functionality
sensor
•Improved track-keeping
using Raymarine steering
•Enhanced course keeping •Steers to true and apparent algorithm without AST
using AST
•FastTrim
•Full access to AutoLearn,
providing automatic
steering calibration
•Improved track-keeping
wind in Wind Vane mode •Improved calibration
•Improved calibration
access, but without
AutoLearn
•Uses Raymarine steering
algorithm without AST
access, but without
AutoLearn
•Steers to apparent wind
only in Wind Vane mode
•Steers to true and apparent •No FastTrim
wind in Wind Vane mode
•Improved calibration access
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112
ST6001+ Autopilot Control Unit - Owner’s Handbook
Glossary
Term
°
Meaning
Degrees
Amp
A
AST
AST (Advanced Steering Technology) is Raymarine’s unique advanced
(AdvancedSteering steering algorithm. It uses inputs from a wide variety of sensors to tune the
Technology)
autopilot’s operation to provide superior control of the boat in any condition.
AutoLearn
Self-learning calibration feature available on Type 150G and 400G autopilot
systems.
AutoTrim
The AutoTrim setting determines the rate at which the autopilot applies
‘standing helm’ to correct for trim changes caused by varying wind loads on
the sails or superstructure.
AWG
CE
American Wire Gauge
Marked on Raymarine products that comply with defined European
Community standards
counter rudder
Counterrudder isthe amountofrudder theautopilot appliestotrytoprevent
the boat from yawing off course. Higher counter rudder settings result in
more rudder being applied.
CR pump
DC
Constant Running hydraulic pump
Direct current
EMC
(Electromagnetic
Compatibility)
When powered up, all electrical equipment produces electromagnetic fields.
These can cause adjacent pieces of electrical equipment to interact with one
another, and this can degrade their performance. By following the EMC
guidelines in this handbook, you can minimize these effects by ensuring
optimum Electromagnetic Compatibility (EMC) between equipment.
Fluxgate
ft
Standard Raymarine compass supplied with course computer core pack
Foot (1 ft = 305 mm)
GPS
Global Positioning System
GyroPlus
Raymarine’s GyroPlus yaw sensor that measures the boat’s rate of turn. It is
built into the Type 150G and Type 400G course computers.
Hz
Hertz (cycles per second)
Inch (1 in = 25.4 mm)
in
I/O drive
km
Inboard/Outboard or stern drive
Kilometre
m
Metre (1 m = 39.4 inches)
Millimeter (1 mm = 0.04 inches)
mm
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Glossary
113
Term
MOB
nm
Meaning
Man overboard
Nautical mile
NMEA
The NMEA (National Maritime Electronics Association) protocol is an
internationally accepted serial communication interface standard for
sharing data between electronic equipment. Raymarine products can share
information with non-SeaTalk equipment using the NMEA 0183 protocol.
response
The autopilot response level controls the relationship between course
keeping accuracy and the amount of helm/drive activity.
rudder gain
SeaTalk
Rudder gain is a measure of how much helm the autopilot will apply to
correct course errors. The higher the setting the more rudder will be applied.
SeaTalk is Raymarine’s proprietary communication system. It links the
products to provide a single, integrated system sharing power and data.
SeaTalk bus
This refers to the continuous SeaTalk system connecting together a series of
Raymarine units.
SM
Statute (land) mile
SSB
Single Side Band (radio)
Type 150
Type 150G
Type 400
Type 400G
V
Raymarine 12 V course computer without internal GyroPlus
Raymarine 12 V course computer with internal GyroPlus
Raymarine 12/24 V course computer without internal GyroPlus
Raymarine 12/24 V course computer with internal GyroPlus
Volt
VHF
Very High Frequency (radio)
W
Watt
WindTrim
WindTrim (wind response) controls how quickly the autopilot responds to
changes in the wind direction. Higher wind trim settings will result in a pilot
that is more responsive to wind changes.
XTE
Yaw
Cross track error
The boat’s rate of turn (°/sec)
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114
ST6001+ Autopilot Control Unit - Owner’s Handbook
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Index
115
Index
MOT POW SWAPPED 35
NEXT WPT? 20
NO DATA 36
NO PILOT 36
OFF COURSE 10
ROUTE COMPLETED 20
SEATALK/STLK FAIL 36
SHALLOW 31
WINDSHIFT 26
A
Adjusting autopilot settings 75–98
Accessing Calibration mode 78
Calibration groups 76
Dealer Calibration 88–96
Aligning rudder 90
AutoAdapt 95
Autopilot reset 96
AutoRelease 93
AutoTrim 92
Counter rudder 91
Cruise speed 95
Drive type 90
Latitude 96
Off course warning angle 93
Rudder damping 92
Rudder gain 91
Rudder limit 91
Seatrial Calibration lock 88
Turn rate limit 93
Dodging obstacles 10
Entering Auto mode 6
Exiting Auto mode 6
Gusty conditions 13
Off course warning 10
Return to previous heading 11
AutoAdapt 95
Vessel type 90
Display Calibration 79–82
Data pages 81
Display bar graph 79
Heading selection 79
Non-150/400 autopilots 102–110
Seatrial Calibration 63–73, 87
User Calibration 83–86
AutoTack angle 83
Gybe inhibit 83
Autopilot commissioning
Autopilot operating modes
Autopilot steering sense 58
AutoRelease
Magnetic variation 86
Response 85
Wind selection 85
WindTrim (wind response) 85
Alarms and warnings
AUTO RELEASE 35
CURRENT LIMIT 35
DRIVE STOPPED 35
LARGE XTE 17
Alarm 35
Selecting (I/O drives) 93
AutoTack
Default angle 83
Gybe inhibit 12
Introduction 12
Wind Vane mode 26
AutoTrim, Setting 73, 92
LOW BATT 35
LRN FAIL 35
MOB 31
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116
Watch timer 30
B
Bar graph 5
Disengaging the autopilot 6
Selecting bar type 79
C
Calibration mode 75–98
Accessing 78
Auto mode 10
Track mode 21
Wind Vane mode 25
Calibration groups 76
Dealer Calibration 88–96
Display Calibration 79–82
Non-150/400 autopilots 102–110
Seatrial Calibration 63–73, 87
User Calibration 83–86
Commissioning 55–73
Dockside checks 56–62
Step 1, Switch on 56
Step 2, Check connections 57
Step 3, Check sense 58
Step 4, Basic settings 59
Non-150/400 autopilots 101
Seatrial Calibration 63–73
Compass calibration 64–67
Set-up, AutoLearn 68–70
Set-up, Manual 71–73
Compass
E
Installation guidelines 45
Servicing and safety guidelines 37
Engaging the autopilot 6
Autopilot system 56
Repeater units 53
Deviation correction 64
Heading alignment 66
Control unit
Display layout 5
Gusty conditions 13
Gybe inhibit 12, 83
GyroPlus fail alarm 36
Features 1
Installation 43–53
Keypad functions 4
Specifications 111
Counter rudder, Setting 72, 91
Course changes 7
H
Heading selection 79
Heading, Return to previous 11
Course computer functions 111
Cross track error
Explanation 17
LARGE XTE warning 17
Cruise speed 95
I
Illumination 14
Initial sea trial
see Commissioning
Installation 43–53
Control unit 47
EMC guidelines 45
Current limit alarm 35
D
Data pages
Displaying 29
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Index
Location 44
O
NMEA connections 50
Parts supplied 43
Power supply (via SeaTalk) 49
SeaTalk connections 49
Tools required 43
Off course warning
Default angle 93
Description 10
Operating (steering) sense 58
Operating modes
Auto mode 6–13
Calibration mode 75–98
Standby mode 6
K
Keypad
Functions 4
Illumination 14
Track mode 16–22
Wind Vane mode 23–27
L
Large cross track error warning 17
Last (previous) heading 11
Last (previous) wind 25
Latitude, Setting 96
Previous (last) heading 11
Previous (last) wind 25
Product support 38
Learn fail alarm 35
Lighting 14
Low battery alarm 35
R
Response level
Default setting 85
Temporary adjustments 7–9
M
RG fail alarm 36
Magnetic variation, Setting 86
Maintenance 37
Route Completed warning 20
Rudder alignment (offset) 61, 90
Rudder bar 79
Rudder damping 92
Rudder gain
Default setting 71, 91
Temporary adjustments 27
Rudder limit, Setting 61, 91
Rudder sense, Checking 58
Man overboard (MOB) warning 31
Motor/Power swapped alarm 35
N
Navigator
Connections 57
Data pages 29
NMEA
Connections 50
S
Data decoded by control unit 50
Inputs on control unit 51
Receiving 50
SeaTalk
Connections 49, 57
Data pages 29
Transmitting 52
SeaTalk fail 1 or 2 alarm 36
SeaTalk fail alarm 36
Seatrial
No data alarm 36
No pilot alarm 36
Non-150/400 autopilots 99–110
Adjusting autopilot settings 102–110
Commissioning the autopilot 101
Using the autopilot 100
see Commissioning
Seatrial Calibration 63–73, 87
Seatrial Calibration lock 88
Self-learn calibration (AutoLearn) 70
Servicing 37
Shallow warning 31
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118
Software version 39
Specifications 111
Standby mode, Selecting 6
Steering bar 79
Dodging obstacles 25
Entering Wind Vane mode 24
Exiting Wind Vane mode 24
Previous wind angle 25
Swinging the compass 64
T
WindTrim (wind response) 23
Testing the system
see Commissioning
Tidal stream compensation 18
Timer (Watch timer) 30
Track mode 16–22
Dodging obstacles 21
Entering Track mode 16
Exiting Track mode 17
Safety advice 22
Waypoint arrival and advance 19
Trouble-shooting 34
True wind 23, 85
Turn rate limit 93
U
User Calibration 83–86
V
Vane mode
see Wind Vane mode
Variation, Setting 86
Vessel type, Setting 59, 90
W
Warning messages
see Alarms and warnings
Watch timer 30
Waypoint advance warning 16, 20
Waypoint arrival and advance 19
Wind angle
Adjusting 24
Return to previous 25
Wind instrument, Connections 57
Wind selection 85
Wind Vane mode 23–27
Adjusting wind angle 24
Apparent wind 23, 85
AutoTack 26
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Drill 5 mm (3/16 inch)
diameter hole
Control unit - surface mount template
Machine hole
90 mm (3.55 inch)
diameter
Drill 5 mm (3/16 inch)
diameter hole
D3441-3
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Control unit - flush mount template
TOP
4 holes
6 mm (0.25 in)
diameter
Remove the shaded area
109 mm (4.3 in)
D4437-3
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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
www.raymarine.com
Telephone: +44 (0)23 9269 3611
Fax: +44 (0)23 9269 4642
www.raymarine.com
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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