ST6000 Plus Autopilot Control Unit Owner’s Handbook Document number: 81133_3 Date: 1st June 1999 133_3cov.
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i Preface Raytheon Electronics, as part of its commitment to continuous improvement and updating, reserve the right to make changes, without prior notice, to the equipment, equipment specifications, and the instructions contained within this handbook. To the best of our knowledge, the information contained within this handbook was correct as it went to press. A great deal of care has been taken to ensure that this handbook is as accurate as possible.
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iii Preface Contents Preface .................................................................................... ix How this handbook is organised ...................................... ix Safety information ............................................................ ix EMC conformance ............................................................ x Warranty ............................................................................ x Chapter 1: Introduction ..............................................
iv ST6000 Plus Autopilot Control Unit Owner’s Handbook 2.5 Display and keypad illumination .............................. 10 2.6 Data pages ................................................................. 11 Chapter 3: Advanced Operation ......................................... 13 3.1 Operation in Track mode .......................................... 13 Initiating Track mode ................................................ 13 Automatic acquisition ..........................................
v Preface 3.3 Adjusting autopilot performance .............................. 23 Changing the response level (AutoSeastate) ............. 23 Changing the rudder gain .......................................... 24 3.4 Alarms ....................................................................... 24 SeaTalk failure ..................................................... 24 No link ................................................................. 24 Off course ....................................................
vi ST6000 Plus Autopilot Control Unit Owner’s Handbook Rudder limit ............................................................... 36 Turn limit ................................................................... 37 Cruise speed .............................................................. 37 Off course alarm ........................................................ 37 AutoTrim ................................................................... 38 Power steer .............................................
vii Preface 5.3 NMEA interface ........................................................ 50 Cabling ...................................................................... 51 NMEA cable connectors ........................................... 51 Data formats .............................................................. 52 Transmission of NMEA data on SeaTalk .................. 52 NMEA data transmission .......................................... 52 5.4 Switch on and initial test ..............................
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ix Preface Preface This handbook contains information on the operation and installation of your new equipment. In order to obtain the best performance from your autopilot, please read this handbook thoroughly. How this handbook is organised This handbook is divided into the following chapters: Chapter 1: Introduces the autopilot, its features and its use. Chapter 2: Covers basic autopilot operation.
x ST6000 Plus Autopilot Control Unit Owner’s Handbook The following rules should always be observed: • Maintain a permanent watch and regularly check all around for other vessels and obstacles to navigation – no matter how clear the sea may appear a dangerous situation can develop rapidly. • Maintain an accurate record of the vessel’s position either by use of a radio navigation receiver or visual bearings. • Maintain a continuous plot of position on a current chart.
1 Chapter 1: Introduction Chapter 1: Introduction 1.1 Overview The ST6000 Plus is a SeaTalk® compatible autopilot control unit. It is designed for use as a repeater in an autopilot system, allowing autopilot control from a secondary location, or as the control unit for a Type 100/300 Course Computer. It can also repeat instrument data in a programmable selection of Data Pages.
2 ST6000 Plus Autopilot Control Unit Owner’s Handbook • Setup and calibration options to suit each installation, giving maximum performance with many types of boat, with three calibration menus (user, intermediate and dealer) 1.
3 Chapter 2: Basic Operation Chapter 2: Basic Operation This chapter first provides summary diagrams of the key functions and screen layout. It then gives operating instructions for engaging the autopilot and using Auto mode, changing the lighting, and displaying Data Pages. 2.1 Key functions The autopilot is controlled using simple push-button operations, all of which are confirmed with a beep. In addition to the main single key functions, there are several dual key functions.
4 ST6000 Plus Autopilot Control Unit Owner’s Handbook 2.2 Display layout The following illustration shows all the elements, together with a brief description, that make up the ST6000 Plus autopilot LCD display. Rudder or Steer Direction Indicator • The bar graph at the bottom of the display is normally a direction-tosteer indicator.
5 Chapter 2: Basic Operation 2.3 Using Auto mode Engaging the Autopilot (Auto) 1. Steady the vessel on the required heading. 2. Press auto. • In Auto mode, the display shows the locked autopilot heading. Disengaging the autopilot (Standby) to return to hand steering • Press standby. • In Standby mode, the display shows the vessel’s current compass heading. • The previous autopilot heading is memorised and can be recalled (see Returning to the previous locked heading).
6 ST6000 Plus Autopilot Control Unit Owner’s Handbook Dodging obstacles in Auto mode In order to avoid an obstacle when your vessel is under autopilot control, select a course change in the appropriate direction (for example, port 30° = press –10 three times). • When safely clear of the obstacle, you can reverse the previous course change (for example, press +10 three times), or return to the previous locked heading (LAST HDG).
7 Chapter 2: Basic Operation 1. Press auto for 1 second. The previous locked heading (LAST HDG?) is displayed for 10 seconds. 1 Note: A direction-to-steer indicator is displayed to show you the direction the vessel will turn. 2. To accept this heading, and resume the original course, press auto once within this 10 second period. If you do not press auto while the display is flashing, the current heading will be maintained.
8 ST6000 Plus Autopilot Control Unit Owner’s Handbook AutoTack to starboard • Press the +1 and +10 keys together to tack to starboard. AutoTack to port • Press the -1 and -10 keys together to tack to port . Off course alarm The off course alarm will sound if the locked autopilot heading and the vessel’s current heading differ for more than 20 seconds, by more than the alarm angle set in calibration (the factory default is 20°). 133_3c02.
9 Chapter 2: Basic Operation 1. To cancel the off course alarm, press standby to return to hand steering. 2. Check whether your vessel is carrying too much sail, or whether the sails are badly balanced. Significant improvements in course keeping can usually be obtained by improving sail balance. Operating hints Making major course changes • It is sound seamanship to make major course changes only when steering manually.
10 ST6000 Plus Autopilot Control Unit Owner’s Handbook 4. Select auto and let the vessel settle onto course. 5. Bring the vessel to the final course with 1° increments. Gusty conditions In gusting conditions, the course may tend to wander slightly, particularly if the sails are badly balanced. A significant improvement in course keeping can always be obtained by improving sail balance.
11 Chapter 2: Basic Operation 1 The display times out to normal operation after 10 seconds of keypad inactivity. Pressing any other key before the 10 second time-out will select the mode assigned to that key (for example, auto selects Auto mode, standby selects Standby mode). Note: If other SeaTalk instruments or autopilot control units are connected to SeaTalk, the illumination can be adjusted from these units. Any adjustments to the illumination are lost when the unit is switched off.
12 ST6000 Plus Autopilot Control Unit Owner’s Handbook • To return to a previous Data Page, press disp for 1 second within 2 seconds of displaying a page. You can continue to move backwards through the Data Page sequence in this way. Up to 7 Data Pages are available using the disp key. The number of pages, and the information displayed on each page, depends on the selections made in User Setup (see section 5.1). The following illustration shows the default settings for the Data Pages.
13 Chapter 3: Advanced Operation Chapter 3: Advanced Operation This chapter provides information on: • Operation in Track mode • Operation in Vane mode (WindTrim) • Adjusting the response level and rudder gain • Alarms 3.1 Operation in Track mode Track mode is used to maintain a track between two waypoints created on a GPS, Decca, or Loran navigation system. The ST6000 Plus will then compute any course changes to keep your boat on track, automatically compensating for tidal streams and leeway.
14 ST6000 Plus Autopilot Control Unit Owner’s Handbook Automatic acquisition Automatic acquisition can only be achieved if the pilot is receiving cross track error and bearing to waypoint information (via SeaTalk or NMEA 0183). It is initiated as follows: 1. Bring the vessel to within 0.1 nm of track 2. Press auto. 3. Press track to enter Track mode, with the current locked heading displayed.
15 Chapter 3: Advanced Operation Previous Heading D3505-1 • The display shows the new bearing to waypoint. Manual acquisition For manual track acquisition, when only cross track error data is available: 1. Steer the vessel to within 0.1 nm of track. 2. Bring the heading to within 5° of the bearing to the next waypoint. 3. Press auto. 4. Press track to enter Track mode. • The display shows the locked pilot heading.
16 ST6000 Plus Autopilot Control Unit Owner’s Handbook Cross track error Cross track error (XTE) is the distance between the current position and a planned route. This is displayed in nautical miles (nm), statute miles (SM) or kilometres, and is taken directly from your navigator. The Large XTE alarm sounds if the XTE exceeds 0.3 nm • The direction of the error is identified as “Pt” port or “Stb” starboard.
17 Chapter 3: Advanced Operation performance over a wide range of vessel speeds. If speed data is available, the ST6000 Plus uses the measured vessel speed. Otherwise, the Speed Over Ground (SOG) or specified cruise speed is used, depending on the calibration setting (see Dealer Setup in Chapter 4). Vessel's speed Vessel's Waypoint arrival and advance As the vessel arrives at the target waypoint, the navigation receiver should select (manually or automatically) the next target waypoint.
18 ST6000 Plus Autopilot Control Unit Owner’s Handbook Skipping a waypoint – SeaTalk navigators only If you wish to advance to the next waypoint before you have arrived at the target waypoint, press track for 1 second. The Waypoint Advance information for the next waypoint is displayed. Advance While the waypoint advance alarm is sounding, Track mode is suspended and the ST6000 Plus maintains the current boat heading. 1. Check that it is safe to turn onto the new track. 2. Press the track key.
19 Chapter 3: Advanced Operation Position confirmation at the start of a passage At the start of a passage you must always confirm the fix given by the position transducer, using an easily identifiable fixed object. Check for fixed positional errors and compensate for them. Verifying computed positions • Verify the computed position with a dead reckoned position, calculated from the average course steered and the distance logged. Plot frequency • In open water, plots should be at least hourly.
20 ST6000 Plus Autopilot Control Unit Owner’s Handbook Vane mode uses the fluxgate compass as the primary heading reference and, as changes in the apparent wind angle occur, the locked compass heading is adjusted to maintain the original apparent wind angle.
21 Chapter 3: Advanced Operation Note: This method should only be used for minor adjustments to the apparent wind angle, since turning the boat affects the relationship between the true and apparent wind angles. For major changes, return to Standby mode, steer onto the new heading, and reselect Vane mode.
22 ST6000 Plus Autopilot Control Unit Owner’s Handbook Wind shift alarm The wind shift alarm sounds, and the text WINDSHIFT is displayed, if a wind shift of more than 15° is detected. 1. Press standby to cancel the alarm and return to hand steering, and steer onto the required heading. 2. Press standby and auto together to return to Vane mode with the new apparent wind angle. Using AutoTack in Vane mode The automatic tack function tacks the vessel through a set angle (the factory default is 100°).
23 Chapter 3: Advanced Operation Operating hints • It is important to ensure that the amount of standing helm is minimised by careful sail trimming. • The headsail and mainsail should be reefed a little early rather than too late. • In Vane Mode the pilot will react to long-term wind shifts, but will not correct for short-term changes, such as gusts.
24 ST6000 Plus Autopilot Control Unit Owner’s Handbook D3606-1 Changing the rudder gain Press the +1 and -1 keys together for 1 second to display the Rudder Gain screen, and adjust the setting in the same way as for the response level. Refer to Chapter 6, Post installation procedures, for instructions on how to check that the rudder gain is set correctly. WARNING: It is important that the rudder gain is correctly set on planing craft.
25 Chapter 3: Advanced Operation Off course OFFCOURSE This alarm is activated when the vessel has been off course from the locked heading by more than the specified angle for more than 20 seconds (see section 2.3, Using Auto mode). The alarm is cleared if the heading recovers or the course is changed, or if the operating mode is changed. Wind shift WINDSHIFT This alarm is activated when a change in the apparent wind angle requires an adjustment of the locked heading by more than 15° (see section 3.
26 ST6000 Plus Autopilot Control Unit Owner’s Handbook • Track mode is engaged and the position transducer (GPS, Loran, Decca) is receiving a low strength signal – this will clear as soon as the signal strength improves. • Vane mode is engaged and the autopilot has not received wind angle data for 30 seconds. The autopilot stops adjusting the locked heading as soon as data is lost.
27 Chapter 3: Advanced Operation Watch alarm WATCH ALM The Watch alarm is activated in Watch mode when the timer reaches 4 minutes. It is not available from Standby mode. If you wish to set the Watch mode, the WATCH screen must be configured as one of the Data Pages for display, as described in section 5.1. To set and control the Watch alarm: 1. Select Auto, Track or Vane mode. 2. Press the disp key until the WATCH Data Page is displayed. • The watch timer starts counting.
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29 Chapter 4: Customising the System Chapter 4: Customising the System The ST6000 Plus provides setup and configuration options that are used to adjust the settings for the ST6000 Plus itself, the compass, and the autopilot. Note: You should perform the post installation procedures described in Chapter 6 before adjusting any other calibration features.
30 ST6000 Plus Autopilot Control Unit Owner’s Handbook Adjusting User Setup Values -1 133_3c04.
31 Chapter 4: Customising the System Compass deviation correction (SWING COMPASS) The compass deviation correction option allows you to correct the compass for deviating magnetic fields. The procedure must be performed as the first item in your initial sea trial, and is described in detail in Chapter 6, Post Installation Procedures. Deviation display (DEVIATION) The deviation screen shows the current deviation value, calculated from the correction procedure (Swing Compass). You cannot edit this value.
32 ST6000 Plus Autopilot Control Unit Owner’s Handbook Mode Bar Standby Rudder bar for systems with rudder reference transducer Auto Heading error bar Track XTE bar Vane Wind angle error bar Data pages (DATA PAGE) The next 7 User setup pages allow the settings for the Data Pages to be modified. These are the SeaTalk/NMEA data pages of available during normal operation (see section 2.5). Each setup page initially shows the title DATA PAGE.
33 Chapter 4: Customising the System Data Displayed as 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 Universal Time Constant UTC There are 3 depth pages and 2 water temperature pages. Data is displayed in the units defined by the selected page.
34 ST6000 Plus Autopilot Control Unit Owner’s Handbook Note: If a man overboard (MOB) message is received by the autopilot, the BTW and DTW pages will display the bearing and distance to the MOB location, so it is good practice to retain these pages for display. 4.2 Dealer setup: Type 100/300 Course Computer This section applies if you have installed the ST6000 Plus as the control unit for a Type 100/300 Course Computer.
35 Chapter 4: Customising the System The features that can be adjusted are listed in the table at the end of this chapter, where you can record your settings for future reference. Information on the functions of the different settings is given in the remainder of this section. The following points should be noted: • Make sure that the autopilot is in Standby mode before you access Dealer Setup • Setup options are always saved on exit Pilot type This should be set when the system is first switched on.
36 ST6000 Plus Autopilot Control Unit Owner’s Handbook Range: 1 to 9 Default: 5 (Displacement) 5 (Semi-displacement) 4 (Planing) 3 (Sterndrive) Rate level Rate Level applies rudder to reduce rate or changes of course. Rate level will, if the rate at which the vessel is turning is too fast, counter this turn with opposite rudder.
37 Chapter 4: Customising the System The range available is as follows: Range: 15° to 40° Defaults: 30° Displacement, semi-displacement, planing 20° Sterndrive Turn limit This limits the rate of turn of your vessel when making a course change under pilot control. The value must be within the range 5 to 20°. For sailboat applications it should be set to 20°.
38 ST6000 Plus Autopilot Control Unit Owner’s Handbook The value must be within the range 15 to 40°, and can be adjusted in 1° steps. Range: 15 to 40° Default: 20° AutoTrim The AutoTrim level 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. The settings are: 133_3c04.
39 Chapter 4: Customising the System The default setting (Level 3) should provide optimum performance with the ST6000 Plus autopilot. However, depending on the vessel’s dynamic stability, an incorrect rate of trim application may result in poor course keeping due to autopilot instability. After gaining experience with the ST6000 Plus, you may wish to change the setting. The effect of the setting must be evaluated while under sail.
40 ST6000 Plus Autopilot Control Unit Owner’s Handbook Range: 1 = Mechanically driven vessels without a rudder reference unit 2 = Hydraulic, no rudder reference unit 3 = Linear, rotary and sterndrive with a rudder reference unit 4 = Hydraulic with rudder reference unit Default: Displacement 3, semi displacement 4, planing 4 and sterndrive 3 Rudder damping Set this option only if your system includes a rudder reference unit, and the drive “hunts” when trying to position the rudder.
41 Chapter 4: Customising the System AutoAdapt The patented AutoAdapt feature allows the ST6000 Plus to compensate for heading errors at higher latitudes, which are caused by the increasing dip of the earth’s magnetic field. The increased dip has the effect of amplifying rudder response on northerly headings in the northern hemisphere, and on southerly headings in the southern hemisphere. Set AutoAdapt to nth in the northern hemisphere, or sth in the southern hemisphere.
42 ST6000 Plus Autopilot Control Unit Owner’s Handbook Note: If valid latitude data is available via SeaTalk or NMEA, it will be used instead of this calibration value. Wind Trim This varies the response of the autopilot when in wind mode.
43 Chapter 4: Customising the System Range: Level 1 (Auto Seastate) Level 2 (Auto sea state inhibit) Level 3 (Auto sea state inhibit counter rudder) Default: Level 1 Recording calibration settings Having fine-tuned the calibration settings during initial sea trials, record them for future reference, in the table on the following page.
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45 Chapter 5: Installation Chapter 5: Installation 5.1 Planning the Installation This chapter explains how to install and connect the ST6000 Plus autopilot control unit. Before starting the installation, decide how you will site the unit and run the cables. EMC installation guidelines All Raytheon equipment and accessories are designed to the best industry standards for use in the leisure marine environment.
46 ST6000 Plus Autopilot Control Unit Owner’s Handbook The following illustration shows the typical range of suppression ferrites fitted to Raytheon equipment. Always use the ferrites specified by Raytheon. Connections to other equipment If your Raytheon equipment is going to be connected to other equipment using a cable not supplied by Raytheon, a suppression ferrite MUST always be fitted to the cable close to the Raytheon unit.
47 Chapter 5: Installation Siting The control head is completely waterproof and should be sited where it is: • Within easy reach of the steering position • Protected from physical damage • At least 230 mm (9 in) from any compass • At least 500 mm (20 in) from any radio/radar receiving/transmitting equipment Note: The back cover is designed to breath through the cable boss to prevent moisture accumulation. This must be protected from the weather by following the mounting procedure.
48 ST6000 Plus Autopilot Control Unit Owner’s Handbook 1 4 2 3 D3243-2 8. Assemble the control head to the bulkhead. 9. Secure the control head with the thumb nuts (3) provided. Tighten the thumb nuts BY HAND. Do NOT use a wrench. Flush mounting To fit a flush mount control head: 1. Ensure that the panel on which you intend to mount the control head is between 3 mm and 20 mm thickness. 2.
49 Chapter 5: Installation 4 3 1 6 5 D4585-1 7. Mount the assembled control head, studs, and gasket into the panel. 8. Locate the bracket (6) onto the fixing studs and secure the assembly to the panel with the thumb-nuts (5). Tighten the thumb nuts BY HAND. Do NOT use a wrench. Connections to the SeaTalk bus SeaTalk cables The ST6000 Plus is supplied with a 9 m SeaTalk cable as standard. The following table lists other cables available from your dealer: 133_3c05.
50 ST6000 Plus Autopilot Control Unit Owner’s Handbook Cable types The following illustration shows the different types of SeaTalk cables available. D3445-1 Typical SeaTalk cabling ST6000 Plus Repeater SeaTalk Instrument 100/300 Course Computer SeaTalk Bus ST6000 Plus Control Head D3446-1 5.3 NMEA interface ST6000 Plus accepts NMEA navigation data for display and use in Track and Vane modes. The required NMEA data formats are shown in the table at the end of this section. 133_3c05.
51 Chapter 5: Installation Cabling The NMEA port should be connected to a Navigator or Wind instrument. Navigator with NMEA output Red (Data In +ve) Blue (Data In -ve) D3442-1 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 boot – incorrect fitting will give intermittent contact which will lead to faulty autopilot operation.
52 ST6000 Plus Autopilot Control Unit Owner’s Handbook Data formats The following NMEA 0183 wind and navigation data can be decoded by the ST6000 Plus.
53 Chapter 5: Installation 5.4 Switch on and initial test Use the procedures in this section to switch on your ST6000 Plus and check its operation. If you have installed the ST6000 Plus as the only control unit for a Type 100/300 course computer, also carry out the procedures in Chapter 6, Post Installation Procedures EMC conformance • Always check the installation before going to sea to make sure that it is not affected by radio transmissions, engine starting etc..
54 ST6000 Plus Autopilot Control Unit Owner’s Handbook Navigation interface (GPS, Decca, Loran) If the ST6000 Plus is interfaced to a navigator, via its NMEA data port, the interface can be checked by displaying the default Data Pages. These are XTE, BTW, and DTW. Press disp to display the first page, and check that the expected data is displayed. Press disp again to check each successive page.
55 Chapter 6: Post Installation Procedures Chapter 6: Post Installation Procedures This chapter applies to systems where the ST6000 Plus has been installed as the only control unit for a Type 100/300 Course Computer. Once you have installed the system, you need to confirm that it is wired correctly and is also set up to suit your type of boat.
56 ST6000 Plus Autopilot Control Unit Owner’s Handbook D3393-1 3. If the helm produces a turn to port, reverse the motor connections at the course computer. 4. If the helm overshoots and has to drive back or starts to hunt back and forth, you need to increase the Rudder Damping option in Dealer setup (see Chapter 4).
57 Chapter 6: Post Installation Procedures 6.2 Initial sea trial EMC conformance • Always check the installation before going to sea to make sure that it is not affected by radio transmissions, engine starting etc. • 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 can lead to it resetting, or momentarily may result in faulty operation.
58 ST6000 Plus Autopilot Control Unit Owner’s Handbook Automatic compass deviation correction The ST6000 Plus will correct the fluxgate compass for most deviating magnetic fields. Compass errors due to deviating magnetic fields can be up to 15°, depending on your vessel type. The correction procedure reduces these to a few degrees, so it is essential to perform the procedure as the first item in your initial sea trial.
59 Chapter 6: Post Installation Procedures 4. Press the +1 or -1 key to change the setting from OFF to YES. The TURN BOAT page is then displayed. D3451-1 5. Keeping the boat speed below 2 knots, turn the vessel in slow circles. It should take at least 3 minutes to complete 360°. 6. Keep turning your boat until the unit beeps and the Deviation screen is displayed. This shows the maximum deviation detected, and indicates that compass correction has been completed successfully.
60 ST6000 Plus Autopilot Control Unit Owner’s Handbook 7. Press the disp key to move on to the Heading Alignment page. 8. Use the +1 and -1 keys, or the +10 and -10 keys, to increase or decrease the displayed heading, until it agrees with the ship’s steering compass or a known transit bearing. 9. Press and hold standby for 2 seconds to exit calibration and save the new settings. Note: Setup options are always saved on exit.
61 Chapter 6: Post Installation Procedures If the average heading error is more than 5°, you should perform the compass deviation correction procedure again. Checking autopilot operation Having calibrated the compass the following procedure is recommended to familiarise yourself with autopilot operation: 1. Steer onto a compass heading and hold the course steady. 2. Press auto to lock onto the current heading. A constant heading should be achieved in calm sea conditions. 3.
62 ST6000 Plus Autopilot Control Unit Owner’s Handbook These actions are most easily recognised in calm sea conditions where wave action does not mask basic steering performance. 2. Refer to Chapter 4, Customising the System, for instructions on how to adjust the default rudder gain setting. Note that you can also make temporary adjustments to rudder gain during normal operation (see section 3.3). 3. Repeat the test until a crisp course change with no more 5° of overshoot is achieved.
63 Chapter 7: Maitenance Chapter 7: Maintenance General • In certain conditions, condensation may appear on the LCD window. This will not harm the unit, and can be cleared by switching on the illumination for a while. • Never use chemical or abrasive materials to clean your autopilot. If the pilot is dirty, wipe it with a clean, damp cloth. • Periodically check the cabling for chafing or damage to the outer casing – replace any damaged cables.
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65 Chapter 8: Fault Finding Chapter 8: Fault Finding All Raytheon products are subjected to a comprehensive test procedure prior to packing and shipping. In the unlikely event that a fault does occur with your autopilot, the following check list should help identify the problem and provide a cure. The autopilot display is blank • No power – check the fuse/circuit breaker.
66 ST6000 Plus Autopilot Control Unit Owner’s Handbook Position information not received • Navigator not transmitting the correct position data. The autopilot will not auto advance to the next waypoint • No bearing to waypoint information received from the navigator. A series of rotating dashes are displayed on screen • Compass deviation correction is running. The display shows a series of stationary dashes • Data is not being received – check the cabling.
67 Index Index A Adjusting the Locked Wind Angle 20 Advance 18 Advanced Operation 13 Advice 63 Alarms 24 Apparent wind angle Adjusting 20 Previous 21 Auto mode 5 AutoAdapt 41 Automatic Acquisition 14 Automatic Compass Deviation Correction Automatic Deadband 23 Automatic track acquisition 14 AutoRelease 42 AutoSeastate 23 AutoTack 7 To Port 8 To Starboard 8 Vane mode 22 AutoTrim 38 58 B Bar graph 4 Bar Selection 31 Basic Operation 3 C Cabling 46, 63 Calibration Lock 35 Cancelling a Dodge Manoeuvre 18 cha
68 ST6000 Plus Autopilot Control Unit Owner’s Handbook Compass alignment 60 Compass Deviation Correction 31 Compass deviation correction 31, 58 Connections to the SeaTalk Bus 49 Control Head 46 Course changes 5 operating hints 9 Course Changes Under Autopilot Control Cross Track Error 16 Cross track error (XTE) 16 Cruise Speed 37 Cruise speed 42 Customising the autopilot 29–43 9 D Data Not Received 25 Data Pages 11, 32 Setting up 32 Deadband 23 Dealer Setup 34, 34–43 Deviation 59 Deviation Display 31 Di
69 Index F Fault Finding 65 Fault finding 65 Functional test 53–54, 55 Functional Test (Repeater Unit) 53, 55 Further Heading Alignment Adjustment 60 G Graph use 31 H Hand steering 5 Heading 6 Heading alignment 31 Heading alignment adjustment Heading mode 31 60 I Illumination 10 Initiating a Dodge Manoeuvre Initiating Track Mode 13 Installation 45 Interfaces 54 18 K Key functions 3 Keypad Illumination 10 L Large Cross Track Error 25 Large Cross Track Error alarm LAST HDG 6 LAST WND 21 Latitude 41 Lig
70 ST6000 Plus Autopilot Control Unit Owner’s Handbook M Maintenance 63 Major Course Changes 9 Man Overboard (MOB) 27 Manual Acquisition 15 Manual mode 10 Manual steering 5 Manual track acquisition 15 Minimum Deadband 23 N Navigation data displays 11 Navigation Interface 54 Navigation interface (GPS, Decca, Loran) NEXT WPT 26 NMEA Cable Connectors 51 NMEA Data Transmission 52 NMEA Interface 50 No Data alarm 25 No Link 24 54 O Off Course 25 Off Course Alarm 8, 37 Off Course alarm 8 Default angle 37 Opera
71 Index R Recommended Settings 34 Recording Calibration Settings 43 Response 36 Response level 23 Default setting 36 Returning to the Previous Locked Heading Rudder bar 31 Rudder damping 42 Rudder Gain 35 Rudder gain 24, 35, 61 Rudder Limit 36 Rudder offset 37 6 S Safety 18 Safety Information ix Sea trial 57 SeaTalk data displays 11 SeaTalk Failure 24 SeaTalk interface 54 Servicing 63 Servicing and Safety 63 Setting Waypoints 19 Skipping a Waypoint 18 Specification 2 Standby mode 5 Steering bar 31 Swing
72 ST6000 Plus Autopilot Control Unit Owner’s Handbook V Vane Mode 20 Vane mode 19–20 Variation 40 Verifying Computed Positions 19 W Warranty x Watch alarm 27 Waypoint Advance 26 Waypoint arrival and advance 17 Wind Shift alarm 22 Wind transducer interface 56 Wind Trim 42 WindTrim 19, 19–20 133_3ind.
133_3tem.p65 Surface mount template Drill 5mm (3/16in) 1 Machine hole 90mm (3.
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Flush Mount Template TOP 4 holes 6 mm diameter 114 mm Shaded area to be removed 109 mm D4437-2 133_3tem.
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Limited Warranty Certificate Raytheon Marine Company 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 Raytheon Marine Company or an authorized Raytheon dealer.
United States of America Raytheon Marine Company Recreational Products 676 Island Pond Road Manchester, NH 03109-5420 U.S.A.