Distributed by Any reference to Raytheon or RTN in this manual should be interpreted as Raymarine. The names Raytheon and RTN are owned by the Raytheon Company.
ST6001+ Autopilot Control Unit Owner’s Handbook Document number: 81190-2 Date: May 2001
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.
Preface iii Contents About this handbook ......................................................... vii Important Information ..................................................... viii Warranty ...................................................................................viii Safety notices ...........................................................................viii EMC conformance .....................................................................ix Handbook information .........................
iv ST6001+ Autopilot Control Unit - Owner’s Handbook Returning to the previous wind angle (LAST WND) ............. 25 Dodges in Wind Vane mode .................................................... 25 Wind Shift warning ................................................................. 26 Using AutoTack in Wind Vane mode ...................................... 26 Operating hints for Wind Vane mode ...................................... 27 3.3 Adjusting the rudder gain ..........................................
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 ST6001+ Autopilot Control Unit - Owner’s Handbook
Preface vii About this handbook Welcome to the handbook for the ST6001+ autopilot control unit. This handbook contains two main parts: Part 1: Using the ST6001+ 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 ST6001+ 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 ST6001+ Autopilot Control Unit - Owner’s Handbook
Part 1: Using the ST6001+ Part 1: Using the ST6001+
Part 1: Using the ST6001+
Chapter 1: Introduction 1 Chapter 1: Introduction 1 Introduction D54 60- 1 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.
2 ST6001+ 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 ST6001+ autopilot control unit: Using the control unit Summarizes the key functions and screen layout on the ST6001+ 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 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 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 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 2 Basic Operation Autopilot mode indicators Port and Starboard direction-to-steer indicators Calibration mode indicator (displayed on calibration pages) Rudder position indicator or error bar D5457-1 The bar graph at the bottom of the screen is
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: 2 Basic Operation 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.
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 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 make temporary adjustments to the response level. By doing this you can match autopilot performance to different conditions.
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 temporary adjustments to the response level.
10 ST6001+ Autopilot Control Unit - Owner’s Handbook Off Course warning = deviation to port = deviation to starboard 2 Basic Operation 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* 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 93). 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 HDG) as described below Returning to the previous heading (LAST HDG?) 1. Press auto for 1 second.
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 turns the boat through 100° in the required direction. 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).
Chapter 2: Basic Operation • • 13 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. Note: Gybe inhibit is switched on as a default. On Type 150/150G and Type 400/400G autopilots you can switch it off in User or Dealer Calibration (see page 83).
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: 2 Basic Operation 1. Press disp for 1 second from any mode to access the LAMP screen and turn on the lights. 2.
Chapter 3: Advanced Operation 15 Chapter 3: Advanced Operation The sections in this chapter explain how to use the more advanced functions on your autopilot: 3.1 Using Track mode Tracking between waypoints created on navigation equipment connected to the autopilot system. page 16 3.2 Using Wind Vane mode – sail boats Using the autopilot to maintain a course relative to a true or apparent wind angle. page 23 3.
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.
Chapter 3: Advanced Operation 17 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 17).
18 ST6001+ Autopilot Control Unit - Owner’s Handbook Cross track error (XTE) more than 0.3 nm e rout ned Plan Waypoint 2 e rout D5415-1 al Actu 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 19 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 95) Waypoint arrival and advance Note: Waypoint advance only operates if the ST6001+ is receiving valid bearing to waypoint and waypoint name information.
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.
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
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.
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.
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 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 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 and direction.
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: • • To cancel the warning, and retain the existing wind angle and new heading, press standby and auto together.
Chapter 3: Advanced Operation 27 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.
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 3 Advanced Operation Note: See page 71 for a full explanation of rudder gain and how to adjust it correctly.
Chapter 3: Advanced Operation 29 3.4 Displaying data pages Use the disp key to show ‘data pages’ of SeaTalk or NMEA data: 1.
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.
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.
3 Advanced Operation 32 ST6001+ Autopilot Control Unit - Owner’s Handbook
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 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.
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 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 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.
4 Fault Finding & Maintenance 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 improve
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.
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.
Chapter 4: Fault Finding & Maintenance 39 Software information 4 seconds 1 second Control unit software version 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: Software version Control unit Course computer Hours used hours 4 Fault Finding & Maintenance Serial number
4 Fault Finding & Maintenance 40 ST6001+ Autopilot Control Unit - Owner’s Handbook
Part 2: Installing the ST6001+ Part 2: Installing the ST6001+
Part 2: Installing the ST6001+
Chapter 5: Installing the ST6001+ 43 Chapter 5: Installing the ST6001+ 5.1 Select the location How to select a suitable location for the ST6001+ control unit. page 44 5.2 Control unit installation How to install the ST6001+ control unit (surface mount and flush mount options). page 47 5.3 SeaTalk connections How to connect the control unit to SeaTalk (for power supply and SeaTalk data exchange). page 49 5.4 NMEA connections How to connect NMEA equipment to the control unit. page 50 5.
44 ST6001+ Autopilot Control Unit - Owner’s Handbook 5 Installing the ST6001+ 5.1 Select the location 110 mm (4.33 in) 24 mm (0.95 in) 17 mm (0.67 in) 115 mm (4.53 in) 90 mm (3.
Chapter 5: Installing the ST6001+ 45 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 ST6001+ 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. If a suppression ferrite is attached to a cable, this ferrite should not be removed.
Chapter 5: Installing the ST6001+ 47 5.2 Control unit installation 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.
48 ST6001+ Autopilot Control Unit - Owner’s Handbook 5 Installing the ST6001+ 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.
Chapter 5: Installing the ST6001+ 49 5.3 SeaTalk connections Connecting to a course computer If you are using the ST6001+ as the main control unit for a course computer autopilot system, connect it directly to the course computer SeaTalk terminals.
5 Installing the ST6001+ 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.
Chapter 5: Installing the ST6001+ 51 NMEA 0183 data 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 Apparent Wind Angle VWR, MWV Speed Through Water VHW Depth DBT Water Temperature MTW 5 Installing the ST6001+ Information Note: The ST6001+ only decodes the last four characters of waypoint nam
52 ST6001+ Autopilot Control Unit - Owner’s Handbook 5 Installing the ST6001+ 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.
Chapter 5: Installing the ST6001+ 53 5.5 Functional test – repeater units only 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.
5 Installing the ST6001+ 54 ST6001+ Autopilot Control Unit - Owner’s Handbook
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 ST6001+ 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 ST6001+ 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 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.
58 ST6001+ 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 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).
60 ST6001+ Autopilot Control Unit - Owner’s Handbook Calibration Mode Overview 2 seconds 2 seconds (saves changes) Calibration Mode 6 Commissioning the Autopilot 1 second auto standby Display bar selection Heading type Data pages 1 to 7 1 second auto 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*
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 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. 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 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. 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 Complete the compass deviation correction 6 Commissioning the Autopilot 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 Align the autopilot heading a Coarse adjustment: If COG is available from GPS, press then fine
66 ST6001+ 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 ST6001+ 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 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 • 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 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 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 ST6001+ 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 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, 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 1 second auto standby Display bar selection Heading type Data pages 1 to 7 1 second auto standby -1 and +1 1 second auto standby AutoTack angle* Gybe inhibit* Wind type* Wind response (WindTrim)* Response level Magnetic variation 7 Adjusting Autopilot Settings Calibration lock Vessel type Drive type Align rudder Rudder limit Rudder gain Counter rudder Rudder damping AutoTrim Res
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.
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 Rudder position bar This is the default setting. It uses the bar graph to show the true rudder angle.
80 ST6001+ Autopilot Control Unit - Owner’s Handbook Accessing Display Calibration 2 seconds 2 seconds (saves changes) 7 Adjusting Autopilot Settings Calibration Mode 1 second 1 second 1 second 1 second Display Calibration 1 second To adjust values use 1 second or Data pages 1-7 or Press disp for next page To exit and save changes 2 seconds 1 second D5482-1
Chapter 7: Adjusting Autopilot Settings 81 Data pages 1-7 The next 7 screens allow you to modify the settings for the data pages. 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.
7 Adjusting Autopilot Settings 82 ST6001+ Autopilot Control Unit - Owner’s Handbook Available data pages Displayed as Heading HEADING Water Temperature, Degrees C* WATER °C Water Temperature, Degrees F* WATER °F Course Over Ground COG Speed Over Ground, Knots SOG KTS Cross Track Error XTE Distance to Waypoint DTW Bearing to Waypoint BTW Rudder Gain RUDD GAIN Response RESPONSE Watch WATCH - used to control the Watch timer (see page 30) Universal Time Coordinated UTC NOT USED Page
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.
84 ST6001+ Autopilot Control Unit - Owner’s Handbook Accessing User Calibration 2 seconds 2 seconds (saves changes) Calibration Mode 1 second 1 second 1 second 7 Adjusting Autopilot Settings User Calibration 1 second Sail boats only 1 second To adjust values use or 1 second Sail boats only or 1 second To exit & save changes 2 seconds Sail boats only 1 second 1 second Sail boats only D5483-1
Chapter 7: Adjusting Autopilot Settings 85 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.
86 ST6001+ 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 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.
88 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.
Chapter 7: Adjusting Autopilot Settings 89 Accessing Dealer Calibration 2 seconds 2 seconds (saves changes) Calibration Mode 1 second Dealer Calibration 7 Adjusting Autopilot Settings 1 second To adjust values use or or To exit & save changes Sail boats only 2 seconds Stern drives only Not sail boats 1 second D5485-1
90 ST6001+ 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 91 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 RUDLIMIT 10° to 40° in 1° steps Rudder gain This screen determines the default rudder gain setting.
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 changes caused by varying wind loads on the sails or superstructure.
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.
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).
Chapter 7: Adjusting Autopilot Settings 95 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.
96 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.
Chapter 7: Adjusting Autopilot Settings 97 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 R
98 ST6001+ 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, SAI
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.
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.
Appendix: Using the ST6001+ With Non-150/400 Autopilots 101 Commissioning the autopilot (non-150/400 systems) Using the ST6001+ 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.
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.
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 Data pages 1 to 7 1 second 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 AutoAdapt Latitude WindTrim
104 ST6001+ Autopilot Control Unit - Owner’s Handbook 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).
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.
106 ST6001+ 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 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).
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.
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.
110 ST6001+ 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 111 Specifications ST6001+ control unit Nominal supply voltage: 12 V DC via SeaTalk Operating voltage range: 10 V to 15 V DC Current consumption (in Standby mode) 60 mA (less than 200 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 110 mm (4.33 in) 115 mm (4.53 in) 41 mm (1.
112 ST6001+ 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 113 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.
114 ST6001+ Autopilot Control Unit - Owner’s Handbook
Index 115 Index 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 Vessel type 90 Display Calibration 79–82 Data pages 81 Display bar graph 79 Heading selection 79 Non-150/400 autopilo
116 ST6001+ Autopilot Control Unit - Owner’s Handbook B Bar graph 5 Selecting bar type 79 C Calibration mode 75–98 Accessing 78 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 Se
Index Location 44 NMEA connections 50 Parts supplied 43 Power supply (via SeaTalk) 49 SeaTalk connections 49 Tools required 43 117 O Keypad Functions 4 Illumination 14 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 Track mode 16–22 Wind Vane mode 23–27 L P Large cross track error warning 17 Last (previous) heading 11 Last (previous) wind 25 Latitude, Setting 96 Learn fail alarm 35 Lighting 14 Low ba
118 ST6001+ Autopilot Control Unit - Owner’s Handbook Software version 39 Specifications 111 Standby mode, Selecting 6 Steering bar 79 Swinging the compass 64 T 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, Se
Control unit - surface mount template Drill 5 mm (3/16 inch) diameter hole Machine hole 90 mm (3.
Control unit - flush mount template TOP 4 holes 6 mm (0.25 in) diameter 114 mm (4.5 in) Remove the shaded area 109 mm (4.
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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