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.
ST7001+ Autopilot Control Unit Owner’s Handbook Document number: 81191-2 Date: May 2001
ii ST7001+ 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.
Preface iii Contents About this handbook ......................................................... vii Important Information ..................................................... viii Warranty ...................................................................................viii Safety notices ...........................................................................viii EMC conformance .....................................................................ix Handbook information .........................
iv ST7001+ Autopilot Control Unit - Owner’s Handbook Selecting Wind Vane mode ..................................................... 26 Exiting Wind Vane mode ........................................................ 26 Adjusting the locked wind angle ............................................. 26 Returning to the previous wind angle (LAST WND) ............. 27 Dodges in Wind Vane mode .................................................... 27 Wind Shift warning ...............................................
Preface v Chapter 7: Adjusting Autopilot Settings ..............................75 7.1 Calibration basics .................................................................... 76 Calibration groups .................................................................. 76 Accessing the Calibration mode ............................................. 78 7.2 Display Calibration ................................................................ 79 Display Calibration screens ............................................
vi ST7001+ Autopilot Control Unit - Owner’s Handbook
Preface vii About this handbook Welcome to the handbook for the ST7001+ autopilot control unit. This handbook contains two main parts: Part 1: Using the ST7001+ 1 Chapter 1: Introduction Introduces the autopilot, its features and its use. page 1 2 Chapter 2: Basic Operation Covers basic autopilot operation: using Auto mode, adjusting autopilot performance, and changing the control unit lighting.
viii ST7001+ Autopilot Control Unit - Owner’s Handbook Important Information Warranty To register your new Raymarine product, please take a few minutes to 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.
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 matter how clear the sea may appear, a dangerous situation can 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.
x ST7001+ Autopilot Control Unit - Owner’s Handbook
Part 1: Using the ST7001+ Part 1: Using the ST7001+
Part 1: Using the ST7001+
Chapter 1: Introduction 1 Chapter 1: Introduction 1 Introduction D54 61- 1 ® The Raymarine ST7001 Plus (ST7001+) 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 ST7001+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.
2 ST7001+ Autopilot Control Unit - Owner’s Handbook 1 Introduction 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 Full basic functionality: uses Raymarine enhanced course keeping using AST steering algorithm without AST (Advanced Steering Technology
Chapter 2: Basic Operation 3 Chapter 2: Basic Operation The sections in this chapter explain how to use the basic functions on your ST7001+ autopilot control unit: Using the control unit Summarizes the key functions and screen layout on the ST7001+ control unit. page 4 2.2 Using Auto mode Provides instructions for engaging/disengaging the autopilot, using Auto mode and adjusting the autopilot’s performance. page 6 2.
4 ST7001+ 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 showing the boat’s current compass heading. Note: You can press standby at any time to return to manual steering. 2 Basic Operation Keypad functions The autopilot is controlled using simple push-button operations, all of which are confirmed with a short beep. In addition to the main single-key functions, there are several dual key operations.
Chapter 2: Basic Operation 5 Display layout The ST7001+ display screen provides the following information: Autopilot mode indicators GyroPlus indicator (appears if a yaw sensor is connected to the autopilot) Variable text area (up to 9 characters) Distance units: • no units = kilometres • nm = nautical miles • SM = statute miles 2 Basic Operation Heading indicators Port and Starboard direction-to-steer indicators Calibration mode indicator (displayed on calibration pages) Rudder position indicator o
6 ST7001+ 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: 2 Basic Operation 1. Steady the boat on the required heading. 2. Press auto: • in Auto mode, the display shows the locked autopilot heading D5515-1 CAUTION: Autopilot course control makes it easier to sail a boat, but it is NOT a substitute for good seamanship.
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 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.
8 ST7001+ Autopilot Control Unit - Owner’s Handbook You can adjust the default response level in either User or Dealer Calibration (see page 89). This determines the default power-up response level. However, when using your autopilot on a day-to-day basis, you can make temporary adjustments to the response level. By doing this you can match autopilot performance to different conditions.
Chapter 2: Basic Operation 9 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. 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 89).
10 ST7001+ Autopilot Control Unit - Owner’s Handbook Off Course warning = deviation to port = deviation to starboard 2 Basic Operation D4229-2 The ST7001+ activates the OFF COURSE warning when the boat has been off course from the locked heading by more than the specified angle* for longer than 20seconds. It shows whether the deviation is to port or starboard. Note: * You can adjust this specified off course angle in Dealer Calibration (see page 97). 1.
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 • return to the previous locked heading (LAST HEADING) as described below Returning to the previous heading (LAST HEADING) 1. Press res’m.
12 ST7001+ Autopilot Control Unit - Owner’s Handbook Using the set course feature The ST7001+ has a set course feature that allows you to set up a course and then apply it at a specific time (e.g. to make a course change at a pre-determined time or location). 2 Basic Operation To set up a course: 1. Press the set crs key. You will then see the SETCOURSE screen with a flashing heading. 2. Use the -1, +1, -10 and +10 keys to set the heading you want.
Chapter 2: Basic Operation 13 AutoTack - Port AutoTack - Starboard Wind Wind AutoTack angle AutoTack angle Preventing accidental gybes Note: For the gybe inhibit feature to work, the autopilot needs suitable wind information (see page 25). The gybe inhibit feature stops the boat from performing an AutoTack away from the wind – this will prevent accidental gybes.
14 ST7001+ Autopilot Control Unit - Owner’s Handbook • 2 Basic Operation • 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 In very strong winds and large seas, you should avoid sailing with the wind dead astern: • ideally, bring the wind at least 30° away from a dead run • in severe conditions, you may
Chapter 2: Basic Operation 15 2.3 Adjusting display/keypad lighting and contrast 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: SECOND D5517-1 3.
16 ST7001+ Autopilot Control Unit - Owner’s Handbook Contrast 2 Basic Operation To set the contrast level for the ST7001+ display: 1. With the autopilot in Standby mode, press the disp key for one second to access the LAMP screen. 2. Press the disp key for one second again, to display the CONTRAST screen. 3. Use the up and down arrow keys to set the required contrast level (from 1 to 15). 4.
Chapter 3: Advanced Operation 17 Chapter 3: Advanced Operation The sections in this chapter explain how to use the more advanced functions on your autopilot: Using Track mode Tracking between waypoints created on navigation equipment connected to the autopilot system. page 18 3.2 Using Wind Vane mode – sail boats Using the autopilot to maintain a course relative to a true or apparent wind angle. page 25 3.
18 ST7001+ 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.
Chapter 3: Advanced Operation 19 Note: The closer the boat is to the correct heading and track when 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 19).
20 ST7001+ Autopilot Control Unit - Owner’s Handbook Cross track error (XTE) more than 0.3 nm ute Waypoint 2 l ro ctua A ned Plan e rout D4231-2P Waypoint 1 Tidal stream compensation 3 Advanced Operation 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.
Chapter 3: Advanced Operation 21 In order of preference, the autopilot uses: • • • 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 99) Waypoint arrival and advance Note: Waypoint advance only operates if the ST7001+ is receiving valid bearing to waypoint and waypoint name information.
22 ST7001+ Autopilot Control Unit - Owner’s Handbook Advance When the ST7001+ 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.
Chapter 3: Advanced Operation • • 23 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
24 ST7001+ 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.
Chapter 3: Advanced Operation 25 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.
26 ST7001+ 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 and auto 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.
Chapter 3: Advanced Operation 27 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 res’m to display the previous wind angle (LAST WIND): • the LAST WIND text alternates with the previous wind angle and direction.
28 ST7001+ 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: • • To cancel the warning, and retain the existing wind angle and new heading, press standby and auto together.
Chapter 3: Advanced Operation 29 When you AutoTack in Wind Vane mode, the boat turns through the AutoTack angle. The autopilot will then trim the heading to mirror the 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.
30 ST7001+ 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 3 Advanced Operation Note: See page 71 for a full explanation of rudder gain and how to adjust it correctly.
Chapter 3: Advanced Operation 31 3.4 Displaying data pages Use the disp key to show ‘data pages’ of SeaTalk or NMEA data: 1.
32 ST7001+ Autopilot Control Unit - Owner’s Handbook Waypoint names If waypoint names have been allocated, the ST7001+ will display them on the Cross Track Error (XTE), Bearing To Waypoint (BTW) and Distance To Waypoint (DTW) data pages: • • • waypoint names of five characters or less are displayed together with the page name (as shown by screen A below) waypoint names of more than five characters alternate with the page name (as shown by screen B below) if the waypoint name has more than nine characters
Chapter 3: Advanced Operation 33 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: You cannot engage Auto mode directly when the WATCH screen 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).
34 ST7001+ Autopilot Control Unit - Owner’s Handbook 3.5 Remotely controlling ST60 and ST80 instruments You can use the ST7000+ to remotely control ST60 or ST80 instruments (both standard 110 mm and Maxiview instruments). Note: Before attempting to remotely control ST60 or ST80 instruments, you first need to define the instrument grouping and allocate the ST7001+ to the required group (see page 83). To operate ST60 or ST80 instruments from the ST7001+ control unit: 1.
Chapter 4: Fault Finding & Maintenance 35 Chapter 4: Fault Finding & Maintenance All Raymarine products are designed to provide many years of trouble-free operation. We also put them through comprehensive testing and quality assurance procedures before shipping. This chapter provides information about identifying common problems, interpreting alarm messages, maintaining your autopilot system and obtaining product support.
36 ST7001+ Autopilot Control Unit - Owner’s Handbook 4.1 Fault finding Common autopilot problems SYMPTOM CAUSE and SOLUTION Display is blank No power – check the power and SeaTalk fuses 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 Compass correction in progress (see page 64).
Chapter 4: Fault Finding & Maintenance 37 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.
4 Fault Finding & Maintenance 38 ST7001+ 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 improve
Chapter 4: Fault Finding & Maintenance 39 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.
40 ST7001+ 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.
Chapter 4: Fault Finding & Maintenance 41 Software Information 4 seconds 1 second Control unit software version 1 second Course computer software version Time autopilot used in Auto 1 second D5494-1 Product details table Serial number Software version Control unit Course computer Hours used hours 4 Fault Finding & Maintenance For future reference, you may want to use this table to record serial and software information for your autopilot system:
4 Fault Finding & Maintenance 42 ST7001+ Autopilot Control Unit - Owner’s Handbook
Part 2: Installing the ST7001+ Part 2: Installing the ST7001+
Part 2: Installing the ST7001+
Chapter 5: Installing the ST7001+ 45 Chapter 5: Installing the ST7001+ 5.1 Select the location How to select a suitable location for the ST7001+ control unit. page 46 5.2 Control unit installation How to install the ST7001+control unit. page 49 5.3 SeaTalk connections How to connect the control unit to SeaTalk (for power supply and SeaTalk data exchange). page 50 5.4 NMEA connections How to connect NMEA equipment to the control unit. page 51 5.
46 ST7001+ Autopilot Control Unit - Owner’s Handbook 175 mm (6.9 in) 24 mm (0.9 in) 115 mm (4.5 in) 90 mm (3.55 in) 5 Installing the ST7001+ 5.1 Select the location 17 mm (0.
Chapter 5: Installing the ST7001+ 47 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.
5 Installing the ST7001+ 48 ST7001+ 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. If a suppression ferrite is attached to a cable, this ferrite should not be removed.
Chapter 5: Installing the ST7001+ 49 5.2 Control unit installation 1. Apply the template (supplied at the back of this handbook) to the selected bulkhead. 2. Mark the centers of the four fixing holes and the cable boss. 3. Drill four 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. Peel the protective sheets from the self-adhesive gasket, then stick the gasket into position on the rear of the control unit. 6.
50 ST7001+ Autopilot Control Unit - Owner’s Handbook 5 Installing the ST7001+ 5.3 SeaTalk connections The SeaTalk connections on the ST7001+ provide it with its 12 V DC power supply and allow it to share data with SeaTalk equipment. Connecting to a course computer If you are using the ST7001+ as the main control unit for a course computer autopilot system, connect it directly to the course computer SeaTalk terminals.
Chapter 5: Installing the ST7001+ 51 Flat moulded plugs at each end Part no. D284 D285 D286 D287 D288 Type 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 plugs at each end Length 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 plug to round plug Part no. D187 D188 Type Flat moulded plug to male round plug Flat moulded plug to female round plug Length 0.
5 Installing the ST7001+ 52 ST7001+ Autopilot Control Unit - Owner’s Handbook Information NMEA 0183 data Latitude and Longitude GLL, RMC, RMA, GLP, GOP, GXP, GGA, GDP Course Over Ground VTG, RMC, RMA Speed Over Ground VTG, RMC, RMA Cross Track Error APB, APA, RMB, XTE Bearing to Waypoint APB, BWR, BWC, RMB Distance to Waypoint BWR, BWC, RMB Waypoint Number APB, APA, BWR, BWC, RMB Apparent Wind Speed VWR, MWV Apparent Wind Angle VWR, MWV Speed Through Water VHW Depth DBT Water Temp
Chapter 5: Installing the ST7001+ 53 NMEA cable connectors D3286-2 Transmitting NMEA data Transmitting NMEA data on SeaTalk If the ST7001+ receives any of the NMEA data shown above, and the equivalent data is not present on SeaTalk, it will transmit the data onto SeaTalk to make it available to other SeaTalk instruments: • • the ST7001+ transmits depth information in the units defined by the first page in the data page rollover the ST7001+ always transmits water temperature in °C Transmitting NMEA da
54 ST7001+ Autopilot Control Unit - Owner’s Handbook 5 Installing the ST7001+ 5.5 Functional test – repeater units only If you have installed the ST7001+ 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 ST7001+ as part of a new autopilot installation, you MUST calibrate the autopilot as described in Chapter 6: Commissioning the Autopilot. Switch on 1.
Chapter 6: Commissioning the Autopilot 55 Chapter 6: Commissioning the Autopilot WARNING: All new autopilot system installations MUST be calibrated. If you have connected the ST7001+ to a newly installed Type 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: page 56 6.
56 ST7001+ Autopilot Control Unit - Owner’s Handbook 6.1 Dockside Checks With the boat safely tied up, complete the following dockside checks: 1. 2. 3. 4. Switch on. Check the SeaTalk and NMEA connections. Check the autopilot operating sense. Set the basic autopilot parameters. 6 Commissioning the Autopilot WARNING: For safe control of your boat, you MUST complete the dockside checks before starting the initial seatrial. Step 1 - Switch on 1.
Chapter 6: Commissioning the Autopilot 57 Step 2 - Check the SeaTalk and NMEA connections SeaTalk connections If you have connected the ST7001+ 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.
58 ST7001+ Autopilot Control Unit - Owner’s Handbook Step 3 - Check the autopilot operating sense 6 Commissioning the Autopilot 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.
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 94), drive type (page 94), rudder sensor alignment (page 94), rudder limits (page 95). 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).
60 ST7001+ Autopilot Control Unit - Owner’s Handbook Calibration Mode Overview 2 seconds 2 seconds (saves changes) Calibration Mode or or or 1 second or 6 Commissioning the Autopilot auto standby Display bar selection Heading type Pop-up pilot time-out Data pages 1 to 15 auto 1 second standby -1 and +1 Calibration lock Vessel type Drive type Align rudder Rudder limit Rudder gain Counter rudder Rudder damping AutoTrim Response level Turn rate limit Off course alarm angle AutoRelease (stern drive)
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.
62 ST7001+ 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. 6 Commissioning the Autopilot 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.
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: Seatrial safety Note: You can return to hand steering at any time during the seatrial by pressing standby.
64 ST7001+ 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. 6 Commissioning the Autopilot Depending on your boat type, deviating magnetic fields can cause significant compass errors.
Chapter 6: Commissioning the Autopilot 65 Compass calibration 1 Enter Seatrial Calibration x2 2 sec 2 Compass deviation correction 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 Compass heading alignment a Coarse adjustment: If COG is available from GPS, press then fine tune manually (see below).
66 ST7001+ Autopilot Control Unit - Owner’s Handbook 4. Start turning the boat in slow circles (with the boat’s speed below 2 knots).
Chapter 6: Commissioning the Autopilot 67 Adjusting the heading alignment If you experience difficulties with compass alignment, you can check 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.
68 ST7001+ Autopilot Control Unit - Owner’s Handbook Adjusting autopilot settings The next stage of the seatrial is to set key autopilot parameters that affect the autopilot’s steering characteristics. You can do this in one of two ways: • 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.
Chapter 6: Commissioning the Autopilot 69 AutoLearn calibration 1 Enter Seatrial Calibration x2 2 sec 2 Start the AutoLearn Check you have sufficient clear sea space before proceeding x4 AutoLearn in progress 3 Boat completes AutoLearn AutoLearn successful After 7 to 27 steps ! If you need to cancel the AutoLearn, press 4 Save new settings 2 sec Note: If you see a LRN FAIL message, press disp to return to the AUTOLEARN screen then repeat from Step 2 or To: • save AutoLearn calibration settings
6 Commissioning the Autopilot 70 ST7001+ 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 • then press auto to enter Seatrial Calibration, and disp 4 times until you see the AUTOLEARN screen 2.
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 1.
72 ST7001+ 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 rudder gain setting.
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: Access the COUNT RUD screen in Dealer Calibration.
6 Commissioning the Autopilot 74 ST7001+ Autopilot Control Unit - Owner’s Handbook
Chapter 7: Adjusting Autopilot Settings 75 Chapter 7: Adjusting Autopilot Settings This chapter explains all of the calibration settings you can adjust on the autopilot system. You will have adjusted many of these settings when commissioning the system (see Chapter 6), and they should not require further adjustment. Note: Complete the procedures described in Chapter 6 before adjusting any calibration settings.
76 ST7001+ Autopilot Control Unit - Owner’s Handbook 7.1 Calibration basics Calibration groups Note: If you are connecting the ST7001+ to a non-150/400 autopilot system, the calibration groups are different. Refer to the Appendix for 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.
Chapter 7: Adjusting Autopilot Settings 77 Calibration Mode Overview 2 seconds 2 seconds (saves changes) Calibration Mode or or or 1 second or auto standby Display bar selection Heading type Pop-up pilot time-out Data pages 1 to 15 auto 1 second standby -1 and +1 Calibration lock Vessel type Drive type Align rudder Rudder limit Rudder gain Counter rudder Rudder damping AutoTrim Response level Turn rate limit Off course alarm angle AutoRelease (stern drive) AutoTack angle* Gybe inhibit* Wind type* W
78 ST7001+ 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.
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 ST7001+ 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 ST7001+ display. Options Rudder position bar This is the default setting. It uses the bar graph to show the true rudder angle.
80 ST7001+ Autopilot Control Unit - Owner’s Handbook Accessing Display Calibration 2 seconds 2 seconds (saves changes) Calibration Mode or or or or 1 sec 1 sec or or 1 sec or 1 sec or Display Calibration 7 Adjusting Autopilot Settings or or or or 1 second 1 second To adjust values use or Data pages 1-15 Press disp for next page or To exit and save changes 2 seconds or 1 second or or 1 second or D5488-1
Chapter 7: Adjusting Autopilot Settings 81 Pop-up pilot time-out During normal autopilot operation, you can set the control unit so it has a data page as the main display (see page 31). Whenever you select a new autopilot mode or make a course change, the autopilot mode screen will ‘pop-up’. After a short period, the display will revert to the selected data page. The default pop-up time is 5 seconds. You can use this Display Calibration screen to adjust the pop-up pilot display time-out.
7 Adjusting Autopilot Settings 82 ST7001+ Autopilot Control Unit - Owner’s Handbook Available data pages Displayed as Speed Knots SPEED KTS Log LOG XXXX.X Trip TRIP XXX.X Average Speed, Knots AV. SPD KTS Wind Direction e.g.
Chapter 7: Adjusting Autopilot Settings 83 Using data pages to set up ST60 and ST80 remote control Where the ST7001+ is used in conjunction with ST60 or ST80 instrumentation, you can use the ST7001+ to control the ST60 or ST80 instruments by duplicating the functions of the Remote Keypads used by these instruments. This means you can operate your autopilot and ST60/ST80 instruments from the same location.
84 ST7001+ Autopilot Control Unit - Owner’s Handbook When you set up ST60 and ST80 instrument groups you will need to use the following ST7001+ keys. Standard instruments Toggle to select either: • group letter or • sequence number 7 Adjusting Autopilot Settings Maxiview instruments Toggle to select either: • group letter or • sequence number Press to select the required standard instrument. Press for 4 sec to enter Group Setup mode.
Chapter 7: Adjusting Autopilot Settings 85 Setting up an instrument group 1. At the ST7001+: • select the INST REM data page to group standard instruments • select the MAXI REM data page to group Maxiview instruments 2. At the ST7001+, use the arrow keys to select an instrument. Standard instruments: group setup mode Selected instrument D5520-1 5. Use the ST7001+ to allocate a group letter and sequence number to the selected instrument.
86 ST7001+ Autopilot Control Unit - Owner’s Handbook Maxiview instruments: use the resp key to toggle between group letter and sequence number, and the track key to set the identifying character. When you have identified the instrument, it should display its group letter and sequence number, e.g. A2. • Note: You can select all instruments in Group Setup mode. 6. Press either the up arrow or down arrow key to select another instrument and repeat the procedure in step 5. 7.
Chapter 7: Adjusting Autopilot Settings 87 7.3 User Calibration Note: If you are connecting the ST7001+ 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.
88 ST7001+ Autopilot Control Unit - Owner’s Handbook Accessing User Calibration 2 seconds 2 seconds (saves changes) Calibration Mode or or 1 second 7 Adjusting Autopilot Settings User Calibration or or 1 second 1 second or or or 1 second or Sail boats only 1 second To adjust values use Sail boats only or or or or or or To exit & save changes 1 second 1 second 2 seconds Sail boats only or or or 1 second 1 second or Sail boats only D5489-1
Chapter 7: Adjusting Autopilot Settings 89 Wind selection Note: Only available if vessel type = SAIL BOAT and appropriate wind data is available. This screen determines whether the boat steers to apparent or true wind in Wind Vane mode.
90 ST7001+ Autopilot Control Unit - Owner’s Handbook Type 150G/400G autopilot systems Type 150G/400G autopilot systems have 9 possible response levels.
Chapter 7: Adjusting Autopilot Settings 91 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 ST7001+ to a non-150/400 autopilot system, the Seatrial Calibration group is not available.
92 ST7001+ 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.
Chapter 7: Adjusting Autopilot Settings 93 Accessing Dealer Calibration 2 seconds 2 seconds (saves changes) or Calibration Mode or 1 second or or Dealer Calibration or 7 Adjusting Autopilot Settings or 1 second To adjust values use or or To save changes Sail boats only 2 seconds Stern drives only Not sail boats 1 second or or D5491-1
94 ST7001+ Autopilot Control Unit - Owner’s Handbook Vessel type Vessel type should be set when commissioning the autopilot (see page 59).
Chapter 7: Adjusting Autopilot Settings 95 Rudder limit Use the rudder limit screen to set the limits of autopilot rudder control 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 RUDDER LIMIT 10° to 40° in 1° steps Rudder gain This screen determines the default rudder gain setting.
96 ST7001+ 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 changes caused by varying wind loads on the sails or superstructure.
Chapter 7: Adjusting Autopilot Settings 97 Response level This screen determines the default response setting. This screen also appears in User Calibration – see page 89 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.
98 ST7001+ 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 RELEASE 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 87 for full details (or refer to the Appendix for Type 100/300 autopilots).
Chapter 7: Adjusting Autopilot Settings 99 Cruise speed Set the cruise speed to the boat’s typical cruising speed. If both the boat’s speed through the water and speed over ground are unavailable via SeaTalk or NMEA, the autopilot will use this default cruise speed when computing course changes.
100 ST7001+ Autopilot Control Unit - Owner’s Handbook Latitude The ST7001+ 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 ST7001+ 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.
Chapter 7: Adjusting Autopilot Settings 101 Dealer Calibration defaults: Types 150/150G & 400/400G Calibration setting OFF OFF PLANING STERN DRV 4 3 0 0 20 20 4 4 5 5 2 2 3 3 5 5 2 2 5 5 20 20 --ON ----------------8 20 nth nth 0 0 0 0 OFF OFF OFF WORK BOAT 5 0 30 5 2 3 2 5 2 5 20 ----------8 nth 0 0 OFF OFF SAIL BOAT 3 0 30 2 2 2 1 5 2 --20 --100 ON APP 5 8 nth 0 0 OFF Planing Semi Displacement Sail boat 3 0 30 4 4 2 2 5 2 5 20 OFF 100 ON APP 5 8 nth 0 0 OFF Work boat Drive type Rudder alignment
102 ST7001+ Autopilot Control Unit - Owner’s Handbook Dealer Calibration options: Types 150/150G & 400/400G Calibration setting Calibration lock Vessel type 7 Adjusting Autopilot Settings Drive type Rudder alignment Rudder limit Rudder gain Counter rudder Rudder damping AutoTrim Response Turn rate limit Off course angle AutoRelease AutoTack angle Gybe inhibit Wind type Wind Trim Cruise speed AutoAdapt Latitude Variation Autopilot reset OFF, ON DISPLACE, SEMI DISPLACE, PLANING, STERN DRV, WORK BOAT, SA
Appendix: Using the ST7001+ With Non-150/400 Autopilots 103 Appendix: Using the ST7001+ 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 ST7001+ 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 ST7001+ to control a non-150/400 autopilot.
104 ST7001+ Autopilot Control Unit - Owner’s Handbook Using the autopilot (non-150/400 systems) The operating procedures when using the ST7001+ control unit with a non-150/400 autopilot are basically the same as the procedures for using a 150/400 system without a GyroPlus.
Appendix: Using the ST7001+ With Non-150/400 Autopilots 105 Commissioning the autopilot (non-150/400 systems) Using the ST7001+ to commission a non-150/400 autopilot is 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.
106 ST7001+ 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.
Appendix: Using the ST7001+ With Non-150/400 Autopilots 107 Calibration Mode Overview 100/300 Autopilot Systems 2 seconds 2 seconds (saves changes) Calibration Mode or or 1 sec auto standby Display bar selection Heading type Pop-up pilot time-out Data pages 1 to 15 or 1 sec or auto standby -1 and +1 Vessel type Calibration lock Rudder gain Counter rudder Align rudder Rudder limit Turn rate limit Cruise speed Off course alarm angle AutoTrim Power steer on/off Drive type Rudder damping Magnetic variation
108 ST7001+ Autopilot Control Unit - Owner’s Handbook Dealer Calibration screens The illustration shows the screens that appear in the calibration groups when the ST7001+ is connected to a Type 100/300 course computer. Vessel type Vessel type should be set when commissioning the autopilot (see page 59).
Appendix: Using the ST7001+ With Non-150/400 Autopilots 109 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.
110 ST7001+ Autopilot Control Unit - Owner’s Handbook Off course warning angle This screen determines the angle used by the OFF COURSE warning (see page 10). The OFF COURSE warning operates if the pilot strays off course by more than the specified angle for more than 20 seconds.
Appendix: Using the ST7001+ With Non-150/400 Autopilots 111 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).
112 ST7001+ 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.
Appendix: Using the ST7001+ With Non-150/400 Autopilots 113 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 RELEASE) 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.
114 ST7001+ Autopilot Control Unit - Owner’s Handbook Dealer Calibration: possible settings with Type 100/300 Planing Stern drive (I/O) DISPLACE OFF 5 7 0 30 20 6 20 2 OFF 3 2 OFF NORTH 0 SEMIDISP OFF 5 7 0 30 15 8 20 3 OFF 4 2 OFF NORTH 0 PLANING OFF 4 7 0 30 15 15 20 3 OFF 4 2 OFF NORTH 0 STERNDRV OFF 3 5 0 20 8 15 20 3 OFF 3 2 OFF NORTH 0 1 --- --- --- 100 --- --- --- --- --- --- ON 1 1 1 1 Appendix Note: Information applies to Type 100/300 Course Computers with Version 15 softw
Specifications 115 Specifications ST7001+ control unit Nominal supply voltage: 12 V DC via SeaTalk Operating voltage range: 10 V to 15 V DC Current consumption (in Standby mode) 50 mA (less than 120 mA with full lighting) Operating temperature: 0 °C to +70 °C (32 °F to 158 °F) Water protection: waterproof to CFR46 Overall dimensions: width height depth 175 mm (6.9 in) 115 mm (4.53 in) 41 mm (1.
116 ST7001+ Autopilot Control Unit - Owner’s Handbook Glossary Term Meaning ° Degrees A Amp AST (Advanced Steering Technology) AST (Advanced Steering Technology) is Raymarine’s unique advanced steering algorithm. It uses inputs from a wide variety of sensors to tune the 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.
Glossary 117 Term Meaning MOB Man overboard nm 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.
118 ST7001+ Autopilot Control Unit - Owner’s Handbook
Index 119 Index A Adjusting autopilot settings 75–102 Accessing Calibration mode 78 Calibration groups 76 Dealer Calibration 92–100 Aligning rudder 94 AutoAdapt 99 Autopilot reset 100 AutoRelease 97 AutoTrim 96 Counter rudder 95 Cruise speed 99 Drive type 94 Latitude 100 Off course warning angle 97 Rudder damping 96 Rudder gain 95 Rudder limit 95 Seatrial Calibration lock 92 Turn rate limit 97 Vessel type 94 Display Calibration 79–86 Data pages 81 Display bar graph 79 Heading selection 79 Non-150/400 auto
120 ST7001+ Autopilot Control Unit - Owner’s Handbook B Bar graph 5 Selecting bar type 79 C Calibration mode 75–102 Accessing 78 Calibration groups 76 Dealer Calibration 92–100 Display Calibration 79–86 Non-150/400 autopilots 106–114 Seatrial Calibration 63–73, 91 User Calibration 87–90 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 105 Seatrial Calibration 63–73 Compass calibration 64–67
Index Location 46 NMEA connections 51 Parts supplied 45 Power supply (via SeaTalk) 50 SeaTalk connections 50 Tools required 45 121 O Keypad Functions 4 Illumination 15 Off course warning Default angle 97 Description 10 Operating (steering) sense 58 Operating modes Auto mode 6–14 Calibration mode 75–102 Standby mode 6 Track mode 18–24 Wind Vane mode 25–29 L P Large cross track error warning 19 Last (previous) heading 11 Last (previous) wind 27 Latitude, Setting 100 Learn fail alarm 37 Lighting 15 Low
122 ST7001+ Autopilot Control Unit - Owner’s Handbook Software version 41 Specifications 115 Standby mode, Selecting 6 Steering bar 79 Swinging the compass 64 T Testing the system see Commissioning Tidal stream compensation 20 Timer (Watch timer) 32 Track mode 18–24 Dodging obstacles 23 Entering Track mode 18 Exiting Track mode 19 Safety advice 24 Waypoint arrival and advance 21 Trouble-shooting 36 True wind 25, 89 Turn rate limit 97 U User Calibration 87–90 V Vane mode see Wind Vane mode Variation, Se
D4235-4 Drill 5mm Drill 5mm Machine hole 90 mm (3.
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 workmanship under normal use for a period of 2 years/24 months from date of sale to end user, except as provided below. Defects will be corrected by Raymarine or an authorized Raymarine dealer.
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