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81194_1.book Page ii Wednesday, July 25, 2001 12:10 PM ii ST3000 Wheel Drive Autopilot - 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.
81194_1.book Page iii Wednesday, July 25, 2001 12:10 PM Preface iii Contents Chapter 1: Introduction ............................................................1 1.1 Overview .................................................................................. 1 1.2 Specifications ............................................................................ 3 1.3 About this handbook ................................................................. 4 Important Information ....................................
81194_1.book Page iv Wednesday, July 25, 2001 12:10 PM iv ST3000 Wheel Drive Autopilot - Owner’s Handbook Mounting the socket ............................................................... 42 4.3 Drive unit installation ............................................................. 43 Attaching the wheel drum ....................................................... 43 Mounting the drive unit and belt ............................................. 44 Drive unit cabling .......................................
81194_1.book Page 1 Wednesday, July 25, 2001 12:10 PM Chapter 1: Introduction 1 Chapter 1: Introduction 1 Introduction 1.1 Overview D5652-1 The ST3000 wheel pilot is a cockpit autopilot for wheel steered boats.
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81194_1.book Page 3 Wednesday, July 25, 2001 12:10 PM Chapter 1: Introduction 3 1.2 Specifications General specifications 10 V to 15 V DC Current consumption: • Standby: 65 mA (120 mA with lighting) • Auto: between 0.7 A and 2.
1194_1.book Page 4 Wednesday, July 25, 2001 12:10 PM 4 ST3000 Wheel Drive Autopilot - Owner’s Handbook 1.3 About this handbook 1 Introduction Part 1: Using the Wheel Pilot This part of the handbook explains how to use your wheel pilot: 2 Chapter 2: Using the Wheel Pilot How to use the wheel pilot. page 9 3 Chapter 3: Maintenance & Fault Finding Provides maintenance and fault finding information.
81194_1.book Page 5 Wednesday, July 25, 2001 12:10 PM Chapter 1: Introduction 5 Safety notices WARNING: Product installation WARNING: Electrical safety Make sure the power supply is switched off before you make any electrical connections. WARNING: Navigation aid Although we have designed this product to be accurate and reliable, many factors can affect its performance. As a result, it should only be used as an aid to navigation and should never replace common sense and navigational judgement.
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Part 1: Using the Wheel Pilot 81194_1.
81194_1.book Page 9 Wednesday, July 25, 2001 12:10 PM Chapter 2: Using the Wheel Pilot 9 Chapter 2: Using the Wheel Pilot 2.1 Overview WARNING: Passage making under autopilot control is an enjoyable experience that can, if you are not careful, lead to the relaxation of the permanent watch. Always maintain a permanent watch no matter how clear the sea may appear to be.
81194_1.book Page 10 Wednesday, July 25, 2001 12:10 PM 10 ST3000 Wheel Drive Autopilot - Owner’s Handbook 2.2 Using Auto mode Engaging the autopilot (Auto mode) 2 Using the Wheel Pilot + D5610-1 1. Steady the boat on the required heading. 2. Engage the wheel drive clutch by rotating the clutch lever clockwise. 3. Press auto: the wheel pilot will enter Auto mode and the display will show an ‘A’ (for auto) alongside the locked autopilot heading.
81194_1.book Page 11 Wednesday, July 25, 2001 12:10 PM Chapter 2: Using the Wheel Pilot 11 Changing course In Auto mode, use the -1 and -10 (port) and +1 and +10 (starboard) keys to change course in steps of 1° and 10°.
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81194_1.book Page 13 Wednesday, July 25, 2001 12:10 PM Chapter 2: Using the Wheel Pilot 13 Returning to the previous heading 1. Press AUTO for 1 second: the previous heading will flash for 10 seconds. 2. To accept the previous heading, press AUTO again while the previous heading is flashing. Resumed course Obstacle Dodge D5614-1 1 SECOND Note: If you do not press AUTO while the display is flashing, the autopilot will maintain the current heading.
81194_1.book Page 14 Wednesday, July 25, 2001 12:10 PM 14 ST3000 Wheel Drive Autopilot - Owner’s Handbook Automatic deadband control (Auto Seastate) The wheel pilot is set to AutoSeastate (automatic deadband control) as a default. This causes the pilot to gradually ignore repetitive movements of the boat and respond only to true course variations. By preventing unnecessary rudder movement, AutoSeastate provides the best compromise between power consumption and course keeping accuracy.
81194_1.book Page 15 Wednesday, July 25, 2001 12:10 PM Chapter 2: Using the Wheel Pilot 15 In these situations, the autopilot will not immediately assume the new automatic heading, and will only settle onto course when the automatic trim has been fully established. To minimize this problem, use the following procedure to make major course changes: 1. 2. 3. 4. 5. Note the required new heading. Press STANDBY, disengage the clutch, and steer manually. Bring boat onto the new heading and engage the clutch.
81194_1.book Page 16 Wednesday, July 25, 2001 12:10 PM 16 ST3000 Wheel Drive Autopilot - Owner’s Handbook 2.
81194_1.book Page 17 Wednesday, July 25, 2001 12:10 PM Chapter 2: Using the Wheel Pilot 17 2.4 Using Track mode In Track mode, the wheel pilot maintains a track between waypoints created on a navigation system. The wheel pilot computes any course changes to keep your boat on track, automatically compensating for tidal streams and leeway.
81194_1.book Page 18 Wednesday, July 25, 2001 12:10 PM 18 ST3000 Wheel Drive Autopilot - Owner’s Handbook Automatic track acquisition If cross track error and bearing to waypoint data are both available (via SeaTalk or NMEA), the pilot can acquire a track automatically: 2 Using the Wheel Pilot 1. 2. 3. 4. Bring the boat to within 0.1 nm of track. Press AUTO. Press -10 and +10 together to enter Track mode.
81194_1.book Page 19 Wednesday, July 25, 2001 12:10 PM Chapter 2: Using the Wheel Pilot 19 Locked heading Distance to waypoint (if available) Bearing to waypoint (if available) Cross track error Manual track acquisition If your navigator only provides cross track error information, you must acquire the track manually: 1. 2. 3. 4. Steer the boat to within 0.1 nm of track. Bring the heading to within 5° of the bearing to the next waypoint. Press AUTO.
81194_1.book Page 20 Wednesday, July 25, 2001 12:10 PM 20 ST3000 Wheel Drive Autopilot - Owner’s Handbook Returning to Auto from Track mode To return to Auto mode from Track mode: • • press AUTO, or press -10 and +10 together. Cross track error (XTE) 2 Using the Wheel Pilot Cross track error (XTE) is the distance between your current position and the planned route. This is displayed in nautical miles (nm) and is taken directly from your navigator.
81194_1.book Page 21 Wednesday, July 25, 2001 12:10 PM Chapter 2: Using the Wheel Pilot 21 Tidal stream compensation Under most operating conditions, Track mode will hold the selected track to within ±0.05 nm (300 ft) or better. The autopilot takes account of the boat’s speed when computing course changes to ensure optimum performance over a wide range of boat speeds. If speed data is available, the autopilot will use the measured boat speed.
81194_1.book Page 22 Wednesday, July 25, 2001 12:10 PM 22 ST3000 Wheel Drive Autopilot - Owner’s Handbook Waypoint arrival and advance IMPORTANT NOTE: Waypoint advance will only operate if the wheel pilot receives valid waypoint name and bearing to waypoint information. If your navigator transmits valid waypoint name and bearing to waypoint data, you can advance from one waypoint to the next by pressing -10 and +10 together.
81194_1.book Page 23 Wednesday, July 25, 2001 12:10 PM Chapter 2: Using the Wheel Pilot 23 Safety in Track mode WARNING: Track mode provides accurate track keeping even in complex navigational situations. However, it is still the skipper’s responsibility to ensure the safety of their boat at all times through careful navigation and frequent position checks. Passage making in Track mode assists precise navigation and removes the tasks of compensating for wind and tidal drift.
81194_1.book Page 24 Wednesday, July 25, 2001 12:10 PM 24 ST3000 Wheel Drive Autopilot - Owner’s Handbook Warning messages in Track mode D5623-1 Track data not received The wheel pilot displays this message if you select Track mode when the autopilot is not receiving SeaTalk navigation data. D5624-1 The wheel pilot displays this message if you select Track mode when the navigator has lost its fix.This display will clear as soon as the navigator regains its fix.
81194_1.book Page 25 Wednesday, July 25, 2001 12:10 PM Chapter 2: Using the Wheel Pilot 25 2.5 Using Wind Vane mode Note: You can only use Wind Vane mode if the wheel pilot is connected to a suitable wind sensor/instrument providing wind direction data.
81194_1.book Page 26 Wednesday, July 25, 2001 12:10 PM 26 ST3000 Wheel Drive Autopilot - Owner’s Handbook Exiting Wind Vane mode To exit Wind Vane mode: • • press STANDBY to return to Standby mode press AUTO to return to Auto mode Returning to the previous apparent wind angle 2 Using the Wheel Pilot If you have steered the boat away from the selected apparent wind angle (for example, performing a dodge maneuver or selecting Standby) you can return to the previous apparent wind angle: 1.
81194_1.book Page 27 Wednesday, July 25, 2001 12:10 PM Chapter 2: Using the Wheel Pilot 27 To cancel the wind shift alarm: • • check that the new course does not take the boat into danger press STANDBY and AUTO together momentarily to accept the alarm and reset the wind shift alarm value to the current compass heading Operating hints for Wind Vane mode • • • 2 Using the Wheel Pilot • WindTrim filters the wind vane output.
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81194_1.book Page 29 Wednesday, July 25, 2001 12:10 PM Chapter 3: Maintenance & Fault Finding 29 Chapter 3: Maintenance & Fault Finding This chapter provides information about maintaining your wheel pilot system, obtaining product support and solving common problems. 3.1 General maintenance CAUTION: The control unit does not contain any user serviceable parts. It should be repaired only by authorized Raymarine service representatives.
81194_1.book Page 30 Wednesday, July 25, 2001 12:10 PM 30 ST3000 Wheel Drive Autopilot - Owner’s Handbook • • Always report any EMC-related problems to your nearest Raymarine dealer. We use such information to improve our quality standards. In some installations, it may not be possible to prevent the equipment from being affected by external influences. In general this will not damage the equipment but it can lead to spurious resetting action, or momentarily may result in faulty operation. 3.
81194_1.book Page 31 Wednesday, July 25, 2001 12:10 PM Chapter 3: Maintenance & Fault Finding 31 SYMPTOM SOLUTION The autopilot display is blank. No power – check the fuse/circuit breaker. The displayed compass heading does The compass has not been corrected for not agree with the boat’s compass. deviation – carry out the deviation and alignment procedures (see page 56). Drive unit steers hard over as soon as Drive operating sense set incorrectly. Auto is engaged Refer to page 53.
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Part 2: Installing the Wheel Pilot 81194_1.
81194_1.book Page 35 Wednesday, July 25, 2001 12:10 PM Chapter 4: Installing the Wheel Pilot 35 Chapter 4: Installing the Wheel Pilot 4.1 Planning the installation Before you start installing your wheel pilot system, read through the following information and the relevant installation sections in this chapter.
81194_1.book Page 36 Wednesday, July 25, 2001 12:10 PM 36 ST3000 Wheel Drive Autopilot - Owner’s Handbook • • • The equipment is supplied from a separate battery from that used for engine start. Voltage drops below 10 V, and starter motor transients, can cause the equipment to reset. This will not damage the equipment, but may cause the loss of some information and may change the operating mode. Raymarine specified cables are used.
81194_1.book Page 37 Wednesday, July 25, 2001 12:10 PM Chapter 4: Installing the Wheel Pilot 37 110 mm (4.33 in) 4.2 Control head installation 110 mm (4.33 in) 68 mm (2.68 in) D5628-1 Mounting procedure The control unit slots into a permanently mounted socket sited in the cockpit. It contains a gimballed fluxgate compass and therefore has some restrictions on mounting position. The control unit should be sited • • • where it can be operated easily from the steering position. at least 80 cm (2.
81194_1.book Page 38 Wednesday, July 25, 2001 12:10 PM 38 ST3000 Wheel Drive Autopilot - Owner’s Handbook Having selected the best mounting site, secure the mounting socket to a convenient wooden or glass fibre surface using the self tapping screws provided. The mounting surface should not be more than 10° from vertical. This will allow correct compass operation with the boat heeled at an angle of up to 40°.
81194_1.book Page 39 Wednesday, July 25, 2001 12:10 PM Chapter 4: Installing the Wheel Pilot 39 IMPORTANT: Correct power cable size is critical for correct autopilot operation. If in doubt, use a heavier gauge cable than specified. A lighter gauge cable may cause a voltage drop between the supply and the autopilot. This will reduce the power at the wheel.
81194_1.book Page 40 Wednesday, July 25, 2001 12:10 PM 40 ST3000 Wheel Drive Autopilot - Owner’s Handbook Raymarine produce a range of SeaTalk accessory cables you can use to connect the wheel pilot to SeaTalk instruments and control units: • • flat plugs for recent SeaTalk equipment (e.g. ST30, ST40, ST60) round plugs for older SeaTalk equipment (e.g. ST50) Extension cables - flat moulded plugs at each end Part no.
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81194_1.book Page 42 Wednesday, July 25, 2001 12:10 PM 42 ST3000 Wheel Drive Autopilot - Owner’s Handbook Mounting the socket To mount the SeaTalk socket: 1. Fix the template (supplied at the end of the handbook) onto the bulkhead at the selected socket location 2. Carefully drill the 18 mm (23/32 in) clearance hole and 2.4 mm (3/32 in) pilot holes, then remove the template. 3. Fit the plug cap to the socket body. 4. Locate the O-ring seal into the groove between the plug cap and socket body. 5.
81194_1.book Page 43 Wednesday, July 25, 2001 12:10 PM Chapter 4: Installing the Wheel Pilot 43 4.3 Drive unit installation The Raymarine 3000 wheel drive is designed to operate with steering systems having between 1 and 3 turns lock to lock. Steering systems with more than 3 turns lock to lock may cause impaired steering performance due to reduced rate of rudder application. Lost motion in the steering system must not exceed 2% of total movement.
81194_1.book Page 44 Wednesday, July 25, 2001 12:10 PM 44 ST3000 Wheel Drive Autopilot - Owner’s Handbook The drum comes with three complete sets of spacers to fit differing spoke diameters.The spoke diameter is marked alongside each spacers – break off the appropriate spacers for your wheel spokes.
81194_1.book Page 45 Wednesday, July 25, 2001 12:10 PM Chapter 4: Installing the Wheel Pilot 45 Radial offset D5637-1 Attaching the mounting clevis 1. Fit the mounting clevis to the drive unit using the pin provided. Then loop the belt drive over the drum and the drive sprocket. 2. Rotate the clutch lever fully clockwise against its stop (i.e. to the ‘tight belt’ position) and then offer the clevis against the vertical side-wall. 3.
81194_1.book Page 46 Wednesday, July 25, 2001 12:10 PM 46 ST3000 Wheel Drive Autopilot - Owner’s Handbook 4. When you have determined the correct position for the clevis, carefully draw around its base. D5639-1 5. Remove the drive unit and draw around the inside of the elongated fixing holes on the clevis. D5640-1 5 6. Drill two 8 mm ( /16 in) clearance holes for the clevis fixing bolts at the lower end of each elongated hole position. This allows the belt to be subsequently tightened if necessary.
81194_1.book Page 47 Wednesday, July 25, 2001 12:10 PM Chapter 4: Installing the Wheel Pilot 47 7. Bolt the mounting clevis into position with the fixing bolts positioned mid-way in the elongated holes. This will ensure that the belt is taut when you rotate the clutch lever fully clockwise to tension the belt. D5641-1 8. Re-assemble the complete drive system and then check the clutch operation.
81194_1.book Page 48 Wednesday, July 25, 2001 12:10 PM 48 ST3000 Wheel Drive Autopilot - Owner’s Handbook Alternative installations Pedestal bracket A special bracket is available to mount the drive unit directly onto the wheel pedestal (part number: D044). Attach the pedestal bracket as follows: 4 Installing the Wheel Pilot 1. Loosely attach the mounting clevis to the pedestal bracket using the backing plate and the two bolts provided. 2.
81194_1.book Page 49 Wednesday, July 25, 2001 12:10 PM Chapter 4: Installing the Wheel Pilot 49 4. Move the bracket down against the pedestal until the belt is just taut. The slide the pedestal bracket around the pedestal and rotating the clevis bracket to ensure that the belt runs parallel to the wheel.
81194_1.book Page 50 Wednesday, July 25, 2001 12:10 PM 50 ST3000 Wheel Drive Autopilot - Owner’s Handbook 5. When you have determined the correct position for the pedestal bracket, carefully draw around its base and inside its the elongated fixing holes. D5644-1 4 Installing the Wheel Pilot 6. Tighten the clevis mounting bolts. 7. Drill four 4.3 mm (11/64in) pilot holes for the pedestal bracket fixing screws at the lower end of each elongated hole position.
81194_1.book Page 51 Wednesday, July 25, 2001 12:10 PM Chapter 4: Installing the Wheel Pilot 51 8. Screw the pedestal bracket into position with the self tapping screws mid-way in the elongated holes. This will ensure that the belt is taut when you rotate the clutch lever fully clockwise to tension the belt. D5646-1 4 Installing the Wheel Pilot 9. Re-assemble the complete drive system and then check the clutch operation.
81194_1.book Page 52 Wednesday, July 25, 2001 12:10 PM 52 ST3000 Wheel Drive Autopilot - Owner’s Handbook Mounting on transverse bulkheads If the steering wheel is mounted on a transverse bulkhead, you will need to make special provision to mount the drive unit. You can obtain as L-bracket (part number: D047) from your Raymarine dealer to mount the clevis on the bulkhead as shown. Note: You may also need to make a hardwood spacer to ensure correct belt alignment with the wheel drum.
81194_1.book Page 53 Wednesday, July 25, 2001 12:10 PM Chapter 5: Commissioning the Wheel Pilot 53 This chapter explains how to commission your wheel pilot after installation. This consists of a number of simple functional tests followed by a short sea trial. 5.1 Functional tests Switch on 1. Switch on the main power breaker. 2. The control unit should beep and display the pilot type (ST3000). 3.
81194_1.book Page 54 Wednesday, July 25, 2001 12:10 PM 5 Commissioning the Wheel Pilot 54 ST3000 Wheel Drive Autopilot - Owner’s Handbook Reversing the operating sense If necessary, reverse the operating sense as follows: 1. Press -1 and +1 together for 5 seconds. 2. The display shows the new operating sense (port or starboard) for 5 seconds, and then the autopilot reverts to normal operation.
81194_1.book Page 55 Wednesday, July 25, 2001 12:10 PM Chapter 5: Commissioning the Wheel Pilot 55 D5623-1 The wheel pilot displays this message if you select Track mode when the autopilot is not receiving SeaTalk navigation data. D5624-1 Track data error The wheel pilot displays this message if you select Track mode when the navigator has lost its fix.This display will clear as soon as the navigator regains its fix.
81194_1.book Page 56 Wednesday, July 25, 2001 12:10 PM 5 Commissioning the Wheel Pilot 56 ST3000 Wheel Drive Autopilot - Owner’s Handbook 5.2 Initial sea trial CAUTION: Failure to carry out the sea trial may result in impaired autopilot performance on some compass headings. When you have checked that the system is operating correctly, you must complete a short sea trial to calibrate the compass.
81194_1.book Page 57 Wednesday, July 25, 2001 12:10 PM Chapter 5: Commissioning the Wheel Pilot 57 1. Press and hold STANDBY for 1 second – a series of dashes will cycle around the display. SECOND D5649-1 Note: If you see a ‘CAL OFF’ message instead of the dashes, calibration access has been prevented. Refer to page 66 for details. 2. Keeping boat speed below 2 knots, turn the boat in slow circles. You should take at least 3 minutes to complete each 360°.
81194_1.book Page 58 Wednesday, July 25, 2001 12:10 PM 5 Commissioning the Wheel Pilot 58 ST3000 Wheel Drive Autopilot - Owner’s Handbook Heading alignment 1. Steer your boat on a straight course, then use -1 and +1 to adjust the displayed autopilot heading until it agrees with the boat’s steering compass or a known transit bearing. 2.
81194_1.book Page 59 Wednesday, July 25, 2001 12:10 PM Chapter 5: Commissioning the Wheel Pilot 59 The factory setting for rudder gain provides stable control for initial sea trials. However, different boats can vary widely in their response to the helm and further adjustment to the rudder gain may improve the autopilot’s steering characteristics. The following test will determine whether the rudder gain is set too high or too low. 1.
81194_1.book Page 60 Wednesday, July 25, 2001 12:10 PM 5 Commissioning the Wheel Pilot 60 ST3000 Wheel Drive Autopilot - Owner’s Handbook 2. Refer to the calibration menu diagram in Chapter 6: Adjusting Wheel Pilot Settings, for instructions on how to adjust the rudder gain setting. 3. Repeat the test until you achieve crisp course changes with no more than 5° of overshoot. You should set the rudder gain to the lowest setting consistent with accurate course keeping.
81194_1.book Page 61 Wednesday, July 25, 2001 12:10 PM Chapter 6: Adjusting Wheel Pilot Settings 61 Chapter 6: Adjusting Wheel Pilot Settings 6.1 Introduction The wheel pilot is calibrated at the factory to provide stable performance for most boats. However, you can fine tune many of the calibration features to match your personal preferences, and the type of boat and steering system.
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81194_1.book Page 63 Wednesday, July 25, 2001 12:10 PM Chapter 6: Adjusting Wheel Pilot Settings 63 Calibration features Calibration feature Value D5626-1 • • D214-1 Default calibration values The following table shows the default calibration values. These will provide safe performance for initial sea trial. No.
81194_1.book Page 64 Wednesday, July 25, 2001 12:10 PM 64 ST3000 Wheel Drive Autopilot - Owner’s Handbook 6.2 Calibrating the wheel pilot Calibration Level 1: Rudder gain Use Calibration Level 1 to adjust the rudder gain. This must be set when your boat is under way, as described on page 59. Calibration Level 5: Cruise speed 6 Adjusting Wheel Pilot Settings Use Calibration Level 5 to set the boat’s normal cruising speed for operation in Track mode.
81194_1.book Page 65 Wednesday, July 25, 2001 12:10 PM Chapter 6: Adjusting Wheel Pilot Settings 65 Calibration Level 9: Magnetic variation Use Calibration Level 9 to input the level of magnetic variation present at the boat’s current position. • • -ve variation = west +ve variation = east The wheel pilot transmits this value onto the SeaTalk bus, so it can be picked up by other SeaTalk instruments.
81194_1.book Page 66 Wednesday, July 25, 2001 12:10 PM 66 ST3000 Wheel Drive Autopilot - Owner’s Handbook Calibration Level 11: Boat’s current latitude When you have switched on heading error correction (Level 10), you need to use Calibration Level 11 to input the boat’s current latitude (to the nearest degree). Set the latitude using the -1, +1, -10 and +10 keys. 6 Adjusting Wheel Pilot Settings Note: If the correction is switched off in Calibration Level 10 (i.e. set to ‘0’),Level 11 will be omitted.
81194_1.book Page 67 Wednesday, July 25, 2001 12:10 PM SeaTalk socket template Drill 2.
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81194_1.book Page 1 Wednesday, July 25, 2001 12:10 PM 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.
81194_1.book Page 2 Wednesday, July 25, 2001 12:10 PM Factory Service Centers United States of America UK, Europe, Middle East, Far East Raymarine Inc 22 Cotton Road, Unit D Nashua, NH 03063-4219, USA Raymarine Ltd Anchorage Park, Portsmouth PO3 5TD, England Telephone: +1 603 881 5200 Fax: +1 603 864 4756 www.raymarine.com Telephone: +44 (0)23 9269 3611 Fax: +44 (0)23 9269 4642 www.raymarine.com Sales & Order Services Telephone: +1 800 539 5539 Ext. 2333 or +1 603 881 5200 Ext.
