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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. ST4000+ Wheel & Tiller Autopilots Owner's Handbook Document number: 81131-6 Date: August 2001 ii ST4000+ Wheel & Tiller Autopilots: 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 ST4000+ autopilot system layout Wheel drive OR Tiller drive Boat's electrical distribution panel Fluxgate compass ST4000+ control unit Rudder position sensor (optional fit for wheel pilot only) SeaTalk instrument NMEA instrument or navigator D5332-1 iv ST4000+ Wheel & Tiller Autopilots: Owner's Handbook Preface v Contents About this handbook ...........................................................ix Important Information .........................................................x Warranty ...................................................................................... x Safety notices .............................................................................. x EMC conformance .....................................................................xi Handbook information ............................................................... xi Chapter 1: Introduction ............................................................1 1.1 Features ..................................................................................... 1 1.2 Extended systems ...................................................................... 2 Chapter 2: Basic Operation .......................................................3 2.1 Using the control unit ................................................................ 4 Key functions ............................................................................ 4 Display layout ........................................................................... 5 2.2 Using Auto mode ...................................................................... 6 Engaging the autopilot (Auto mode) ......................................... 6 Disengaging the autopilot (Standby mode) .............................. 7 Changing course in Auto mode ................................................. 8 Dodging obstacles in Auto mode .............................................. 8 Returning to the previous locked heading (LAST HDG) ......... 9 Automatic tack (AutoTack) .................................................... 10 Making major course changes ................................................ 10 Gusting conditions .................................................................. 11 2.3 Adjusting autopilot performance ............................................ 12 Changing the response level (AutoSeastate) .......................... 12 Changing the rudder gain ........................................................ 13 2.4 Autopilot alarms ..................................................................... 14 Responding to alarms .............................................................. 14 2.5 Adjusting display and keypad lighting ................................... 18 Chapter 3: Advanced Operation ............................................19 3.1 Using Track mode ................................................................... 20 Selecting Track mode ............................................................. 20 Exiting Track mode ................................................................. 22 Cross track error ...................................................................... 22 Tidal stream compensation ..................................................... 23 Waypoint arrival and advance ................................................. 24 Dodges in Track mode ............................................................ 25 Safety in Track mode .............................................................. 25 vi ST4000+ Wheel & Tiller Autopilots: Owner's Handbook 3.2 Using Wind Vane mode .......................................................... 27 Selecting Wind Vane mode ..................................................... 27 Exiting Wind Vane mode ........................................................ 28 Adjusting the locked wind angle ............................................. 28 Returning to the previous apparent wind angle (LAST WND) ......................................................................... 28 Dodges in Wind Vane mode .................................................... 29 Wind shift alarm ...................................................................... 29 Using AutoTack in Wind Vane mode ...................................... 30 Operating hints for Wind Vane mode ...................................... 30 3.3 Displaying data pages ............................................................. 31 Chapter 4: Maintenance & Fault Finding ..............................33 4.1 Fault finding ............................................................................ 34 4.2 General maintenance .............................................................. 36 Wheel drive ............................................................................. 36 Control unit ............................................................................. 38 EMC advice ............................................................................ 39 4.3 Product support ....................................................................... 40 Software version ..................................................................... 40 Chapter 5: Installing the ST4000+ ..........................................43 5.1 Planning the installation ......................................................... 44 Tools required ......................................................................... 44 EMC installation guidelines ................................................... 46 5.2 Control unit ............................................................................. 48 Location .................................................................................. 48 Mounting procedure ............................................................... 49 Cable connectors ..................................................................... 51 Power supply connection ........................................................ 51 SeaTalk connections ............................................................... 52 NMEA connections ................................................................ 53 5.3 Fluxgate compass ................................................................... 55 Location .................................................................................. 55 Mounting ................................................................................ 57 Connecting to the control unit ................................................. 58 5.4 Tiller drive (tiller pilots only) .................................................. 59 Critical dimensions ................................................................. 59 Basic installation ..................................................................... 60 Installation accessories ........................................................... 61 Connecting to the control unit ................................................. 68 Preface vii 5.5 Wheel drive (wheel pilots only) .............................................. 70 Installation stages .................................................................... 70 Drilling the spoke clamp holes ................................................ 71 Securing the wheel drive to the wheel ..................................... 74 Attaching the pedestal bracket ................................................ 75 Connecting to the control unit ................................................. 79 5.6 Rudder position sensor (wheel pilot option) ........................... 81 Ensuring correct alignment ..................................................... 81 Securing the sensor to the boat ................................................ 83 Attaching the sensor to the tiller arm ....................................... 83 Checking alignment ................................................................ 84 Connecting to the control unit ................................................. 84 Chapter 6: Setting-up the ST4000+ ........................................85 6.1 Functional test ......................................................................... 86 Switch on ................................................................................ 86 Autopilot steering direction .................................................... 86 Checking connections ............................................................. 88 6.2 Check rudder sensor operation (if fitted) ................................ 90 6.3 Initial sea trial .......................................................................... 91 Overview ................................................................................ 91 Correcting the compass deviation .......................................... 92 Adjusting the heading alignment ............................................ 95 Checking autopilot operation .................................................. 95 Checking the rudder gain ........................................................ 96 6.4 Autopilot calibration techniques ............................................. 98 Step 1 - Switch on ancillary equipment ................................... 98 Step 2 - Apply initial settings .................................................. 98 Step 3 - Adjust the rudder damping ......................................... 99 Step 4 - Adjust the rudder gain ................................................ 99 Step 5 - Adjust the AutoTrim setting ....................................... 99 Step 6 - Further adjustments .................................................... 99 Chapter 7: Customizing the ST4000+ ..................................101 7.1 User setup .............................................................................. 102 Compass deviation correction (SWING COMPASS) .......... 102 Deviation display (DEVIATION) ........................................ 102 Heading alignment (ALIGN HDG) ...................................... 102 Heading mode (HDG MAG/TRU) ....................................... 102 Bar selection (RUDD BAR/STEER BAR/NO BAR) .......... 104 Data pages 1-7 (DATA PAGE) .............................................. 104 viii ST4000+ Wheel & Tiller Autopilots: Owner's Handbook 7.2 Dealer setup .......................................................................... 106 Calibration lock (CAL LOCK) ............................................. 108 Pilot type (4000 WHL/TILL) ............................................... 108 Rudder gain (RUDD GAIN) ................................................. 108 Response level (RESPONSE) .............................................. 108 Turn limit (TURN RATE) ..................................................... 108 Rudder alignment (ALIGN RUD) ........................................ 108 Rudder limit (RUD LIMIT) .................................................. 109 Off course alarm (OFF COURSE) ........................................ 109 AutoTack angle (AUTOTACK) ........................................... 109 AutoTrim (AUTOTRIM) ..................................................... 110 Drive type (DRIVE TYP) ..................................................... 110 Magnetic variation (VARIATION) ....................................... 110 AutoAdapt (AUTOADAPT) .................................................111 Latitude (LATITUDE) ...........................................................111 Rudder damping (RUDD DAMP) ........................................ 112 Cruise speed (CRUISE SP) .................................................. 112 Specifications .................................................................... 113 Glossary .............................................................................. 115 Index ................................................................................... 117 Preface ix About this handbook Welcome to the handbook for the ST4000+ wheel and tiller autopilot systems. This handbook contains two main parts: Part 1: Using the ST4000+ Autopilot 1 Chapter 1: Introduction Introduces the autopilot, its features and its use. Chapter 2: Basic Operation Covers basic autopilot operation: using Auto mode, interpreting alarms, adjusting autopilot performance and changing the control unit lighting. Chapter 3: Advanced Operation Explains how to use Track and Wind Vane modes, and display data pages. Chapter 4: Maintenance & Fault Finding Provides general maintenance procedures and information to help you resolve problems you may encounter with the autopilot page 1 2 page 3 3 page 19 4 page 33 Part 2: Installing the ST4000+ Autopilot 5 6 Chapter 5: Installing the ST4000+ Explains how to install your autopilot and its components. Chapter 6: Setting-up the ST4000+ Covers functional testing and dockside procedures after installation, and initial sea trials. Chapter 7: Customizing the ST4000+ Provides details on adjusting the autopilot settings to suit your boat. page 43 page 85 7 page 101 At the end of this handbook we have included product specifications, a glossary and index, and templates for installing different parts of the system. Note: This handbook contains important information about installing, using and maintaining your new Raymarine product. To get the best from the product, please read this handbook thoroughly. x ST4000+ Wheel & Tiller Autopilots: 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. Failure to do so could result in poor product performance, personal injury and/or damage to your boat. WARNING: Electrical safety Make sure the power supply is switched off before you make any electrical connections. WARNING: Calibration We supply this product calibrated to default settings that should provide stable performance for most boats. To ensure optimum performance on your boat, you must complete Chapter 6: Setting-up the ST4000+ before use. WARNING: Navigation aid Although we have designed this product to be accurate and reliable, many factors can affect its performance. As a result, it should only be used as an aid to navigation and should never replace common sense and navigational judgement. Always maintain a permanent watch so you can respond to situations as they develop. Your Raymarine autopilot will add a new dimension to your boating enjoyment. However, it is the skipper's responsibility to ensure the safety of the boat at all times by following these basic rules: · Ensure that someone is present at the helm AT ALL TIMES, to take manual control in an emergency. Preface xi · · · · · 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. Make proper allowance for tidal set ­ the autopilot cannot. Even when your autopilot is locked onto the desired track using a navigation aid, always maintain a log and make regular positional plots. Navigation signals can produce significant errors under some circumstances and the autopilot will not be able to detect these errors. EMC conformance All Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine environment. The design and manufacture of Raymarine equipment and accessories conform to the appropriate Electromagnetic Compatibility (EMC) standards, but correct installation is required to ensure that performance is not compromised. Handbook information To the best of our knowledge, the information in this handbook was correct when it went to press. However, Raymarine cannot accept liability for any inaccuracies or omissions it may contain. In addition, our policy of continuous product improvement may change specifications without notice. As a result, Raymarine cannot accept liability for any differences between the product and the handbook. xii ST4000+ Wheel & Tiller Autopilots: Owner's Handbook Part 1: Using the ST4000+ Part 1: Using the ST4000+ Part 1: Using the ST4000+ Chapter 1: Introduction 1 Chapter 1: Introduction 1 Introduction D54 60- 1 1.1 Features The Raymarine ST4000 Plus (ST4000+) is a SeaTalk® compatible autopilot available in versions suitable for boats with either tiller or wheel steering systems. This autopilot system will steer your boat to a heading automatically, accurately and reliably. The ST4000+ has four main operating modes: 1. Standby: autopilot off (see page 7) 2. Auto: autopilot engaged and locked onto a heading (see page 6) 3. Track: autopilot engaged and maintaining a track between two waypoints created using a navigation system (see page 20) 4. Wind Vane: autopilot engaged and maintaining a course relative to an apparent wind angle (see page 27) The ST4000+ also provides the following features: · · · · · · automatic tack facility (AutoTack) in Auto and Wind Vane modes automatic compass deviation correction Northerly/Southerly heading compensation automatic heading deadband ­ seastate control waypoint advance feature setup and calibration options to optimize performance on your boat 2 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook 1.2 Extended systems 1 Introduction The ST4000+ is compatible with all other SeaTalk instruments. You can connect it to additional fixed or handheld SeaTalk autopilot control units located at secondary steering and control positions (see page 52). You can also use the ST4000+ autopilot with any navigator (GPS, Decca, Loran) or wind instrument that transmits data in the internationally-accepted National Marine Electronics Association (NMEA) 0183 format. The ST4000+ can display SeaTalk and NMEA instrument data in a user-defined selection of data pages. When you are using the ST4000+ to repeat instrument data, it shows a `pop-up' pilot page for 5 seconds whenever you make a change in autopilot control. The ST4000+ can share all data transmitted from SeaTalk instruments: · it can use wind information from a SeaTalk wind instrument for wind trim steering in Wind Vane mode without the need for a separate vane it can use track information from a SeaTalk navigation instrument to provide waypoint control in Track mode it can use boat speed from a SeaTalk speed instrument to optimize track-keeping performance · · Rudder position sensor (wheel drives only) On wheel drive systems you can fit a rudder position sensor to improve the wheel pilot's performance (see page 81). This is particularly advisable if your boat's steering system has significant backlash, or you require optimum performance from a mechanical or cable steering system. By using the information from the rudder angle sensor, the ST4000+ will also be able to show the true rudder angle in Standby and Auto modes. Note: You MUST add a rudder position sensor if fitting the ST4000+ to a hydraulic steering system. Chapter 2: Basic Operation 3 Chapter 2: Basic Operation The sections in this chapter explain how to use the basic functions on your autopilot: 2.1 Using the control unit Summarizes the key functions and screen layout on the ST4000+ control unit. Using Auto mode Provides instructions for engaging/disengaging the autopilot and using Auto mode. Adjusting autopilot performance Making temporary adjustments to response level and rudder gain to enhance autopilot performance. Autopilot alarms Describes how to recognize and respond to the autopilot alarms. Adjusting display and keypad lighting Explains how to change the lighting on the control unit display and keypad. page 4 2.2 page 6 2 Basic Operation 2.3 page 12 2.4 page 14 2.5 page 18 CAUTION: Important note for wheel drive systems After each trip, flush inside the drive unit by inserting a hose pipe in the free slot on the back cover. This will prevent any build-up of salt on the drive ring and bearings. 4 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook 2.1 Using the control unit Key functions · · The autopilot always powers up in Standby mode. You control the autopilot by pressing the buttons on the control unit. The control unit confirms each button press with a short beep. You access the main functions by pressing a single key: · for example, when the autopilot is operating you can make course changes using the -1, +1, -10 and +10 keys To access other functions you need to press two keys together: · for example, when the autopilot is operating you make an AutoTack to port by pressing the -1 and -10 keys together You can return to manual steering at any time by pressing standby and disengaging the autopilot (see page 7). · · 2 Basic Operation · -1 plus -10 Press together for AutoTack to port DISP Press for Data Page Press for 1 second for lamp control -1 plus +1 Press for Response level Press for 1 second for Rudder Gain +1 plus +10 Press together for AutoTack to starboard TRACK Press for Track mode from Auto Press to accept waypoint advance Press for 1 second to skip waypoint STANDBY Press for Standby mode Press and hold for User and Dealer setup modes Course change keys Port 1° Starboard 1° Port 10° Starboard 10° AUTO Press for Auto mode Press for 1 second for Last Heading Press again to accept Last Heading STANDBY plus AUTO Press for Wind Vane mode Press for 1 second for Last Wind Press again to accept Last Wind D3447-2 Chapter 2: Basic Operation 5 Display layout The ST4000+ autopilot display provides the following information: Variable text region (up to 9 characters/digits) Heading indicators Distance units Response level indicator Autopilot mode indicators 2 Basic Operation Port and Starboard direction-to-steer indicators Calibration mode indicator Rudder or Steer direction indicator (bar graph in 2° increments) D3316-2 · · If the display shows no distance unit all distances are in kilometres (Km), otherwise distances are in nautical miles (nm) or statute/land miles (SM). The bar graph at the bottom of the screen is normally a direction-to-steer indicator (you can change this in User setup, see page 104). The information displayed on the bar graph varies according to the autopilot mode: Autopilot mode Standby Auto Track Wind Vane Information displayed on bar graph Rudder bar (only if a rudder position sensor is fitted) Heading error bar Cross track error (XTE) bar, in 0.02 nm increments Wind angle error bar 6 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook 2.2 Using Auto mode Engaging the autopilot (Auto mode) 1. Steady the boat on the required heading. 2. Wheel Pilot: Engage the wheel drive clutch by rotating the clutch lever clockwise (so the lever engages fully onto the locating pip). Tiller Pilot: Place the pushrod end over the tiller pin. If necessary, extend or retract the pushrod using the -1, +1, -10 and +10 keys. WARNING: Wheel drive clutch Always reach AROUND (not through) the wheel to operate the wheel drive clutch lever. . 2 Basic Operation Wheel pilot Engage the clutch on the wheel pilot Tiller pilot a b Use these keys to extend or retract the pushrod D5341-1 3. Press auto: · in Auto mode, the display shows the locked autopilot heading D3560-2 Chapter 2: Basic Operation 7 CAUTION: Autopilot course control makes it easier to sail a boat, but it is NOT a substitute for good seamanship. ALWAYS maintain a permanent watch, no matter how clear the sea appears to be. Disengaging the autopilot (Standby mode) 1. Press standby. · in Standby mode, the display shows the boat's current compass heading. 2 Basic Operation D3561-2 2. Disengage the autopilot to return to hand steering: · Wheel Pilot: Disengage the wheel drive clutch by rotating the clutch lever anti-clockwise (so the lever engages fully onto the locating pip). · Tiller Pilot: Remove the drive unit from the tiller pin. If required, retract the push rod using -1, +1, -10 and +10 keys. 3. The last heading is memorized and can be recalled (see page 9). CAUTION: Wheel drive systems On wheel drive systems, always make sure that the clutch is FULLY DISENGAGED before you leave the boat. 8 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook 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 2 Basic Operation or or D3320-2 Dodging obstacles in Auto mode To avoid an obstacle when your boat is under autopilot control: 1. Select a course change in the appropriate direction. For example, press -10 three times for a 30° dodge to port. Obstacle Original course Dodge D3303-2 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) Chapter 2: Basic Operation 9 Returning to the previous locked heading (LAST HDG) If you have steered the boat away from the selected locked heading for any reason (for example, executing a dodge maneuver or selecting Standby), you can return to the previous locked heading as follows: 1. Press auto for 1 second. The display shows the previous locked heading (LAST HDG?) for 7 seconds. SECOND 2 Basic Operation D3562-2 Note: The direction-to-steer indicator shows the direction the boat will turn. 2. To accept the previous heading, and resume this course, press auto within this 7 second period. Obstacle Resumed course Original course Dodge D5431-1 Note: If you do not press auto while the display is flashing, the autopilot will maintain the current heading. 10 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook Automatic tack (AutoTack) The ST4000+ has a built in automatic tack facility (AutoTack) that turns the boat through a pre-determined angle in the required direction. The default AutoTack angle is 100°, but you can adjust this in Dealer setup (see page 109). · · AutoTack - Port Wind to AutoTack to port: press the -1 and -10 keys together to AutoTack to starboard: press the +1 and +10 keys together AutoTack - Starboard Wind 2 Basic Operation AutoTack angle AutoTack angle D5399-1 Making major course changes CAUTION: Only make major course changes when steering MANUALLY. This ensures that the boat will safely clear any obstructions or other boats, and you can take into account the changed wind and sea conditions on the new heading before engaging the autopilot. Large course changes which change the apparent wind direction can produce large trim changes. When a sudden trim change occurs (for example due to weather helm or sail imbalance) there will be a delay of up to one minute before the automatic trim applies rudder to restore the locked heading. 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 eliminate this problem, use the following procedure to make major course changes: Chapter 2: Basic Operation 11 1. Note the required new heading. 2. Select standby for manual steering, so you can bring the boat to the new heading MANUALLY. 3. Select auto: allow the boat to settle onto course, then bring the boat to the final course in 1° steps using the -1 or +1 keys Gusting conditions In gusting conditions, the course may tend to wander slightly, particularly if the sails are badly balanced. If you take the following precautions, the autopilot will be able to maintain competent control even in gale force conditions: · You can significantly improve course keeping by improving the sail balance: · do not allow the boat to heel over excessively · ease the mainsheet traveller to leeward to reduce heeling and weather helm · if necessary, reef the mainsail a little early In very strong winds and large seas, you should avoid sailing with the wind dead astern: · ideally, bring the wind at least 30° away from a dead run · in severe conditions, you may also need to remove the mainsail and sail under headsail only 2 Basic Operation · 12 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook 2.3 Adjusting autopilot performance During normal autopilot operation in any mode you can make temporary adjustments to: · · response level rudder gain Note: You will lose these temporary changes to response level and rudder gain whenever the system is powered off then on again. You can make permanent adjustments in Dealer setup (see page 108). Changing the response level (AutoSeastate) 2 Basic Operation The response level controls the relationship between the autopilot's course keeping accuracy and the amount of helm/drive activity. · Response Level 1: AutoSeastate on (Automatic deadband) This setting causes the autopilot to gradually ignore repetitive boat movements and only react to true variations in course. This provides the best compromise between power consumption and course keeping accuracy, and is the default calibration setting. Response Level 2: AutoSeastate off (Minimum deadband) This setting provides the tightest course keeping possible. However, tighter course keeping results in increased power consumption and drive unit activity. · To make a temporary change to the response setting: 1. Display the RESPONSE screen by pressing the -1 and +1 keys together momentarily. D3310-4 Chapter 2: Basic Operation 13 Note: If you have set up the RESPONSE screen as a default data page (see page 104) you can also access it by pressing disp and then scrolling through the data pages. 2. Press -1 or +1 to change the response level. 3. Press disp or wait for 5 seconds to return to the previous display. Changing the rudder gain 2 Basic Operation Decrease rudder gain Increase rudder gain SECOND D5400-1 To make a temporary change to the rudder gain: 1. Press the -1 and +1 keys together for 1 second to display the rudder gain (RUDD GAIN) screen Note: If you have set up the RUDD GAIN screen as a default data page (see page 104) you can also access it by pressing disp and then scrolling through the data pages. 2. Press -1 or +1 to change the rudder gain. 3. Press disp or wait for 5 seconds to return to the previous display. Note: See page 96 for instructions on how to check that the rudder gain is set correctly. 14 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook 2.4 Autopilot alarms Responding to alarms The ST4000+ activates the alarms listed on the following pages: · · Unless otherwise stated, you should deal with alarms by pressing standby to clear the alarm and return to hand steering. In some situations, the autopilot will raise more than one alarm. When you have dealt with the first alarm, the autopilot will display the next alarm. SeaTalk Failure alarm (STLK FAIL) 2 Basic Operation The ST4000+ displays the SeaTalk failure message if there is a wiring fault in the SeaTalk connection. Off Course alarm (OFFCOURSE) = deviation to port = deviation to starboard D3315-2 The ST4000+ activates this alarm 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 alarm angle in Dealer setup (see page 109). 1. To cancel the off course alarm, press standby to return to hand steering. 2. Check whether your boat is carrying too much sail, or whether the sails are badly balanced. You can usually significantly improve course keeping by improving the sail balance. Note: The ST4000+ also clears the alarm if the heading recovers, if you change the course, or if you change the operating mode. Chapter 2: Basic Operation 15 Wind Shift alarm (WINDSHIFT) The ST4000+ activates the Windshift alarm when it detects a change in the apparent wind angle of more than 15° (see page 29). Large Cross Track Error alarm (LARGE XTE) The ST4000+ activates this alarm when the cross track error exceeds 0.3 nm (see page 22).The alarm clears if the heading recovers, if you change the course, or if you change the operating mode. Drive Stopped alarm (DRIVESTOP) The ST4000+ activates this alarm if: 2 Basic Operation · · the rudder position sensor fails, or the autopilot is unable to turn the rudder (this occurs if the weather load on helm is too high, or if the rudder position sensor has passed beyond the preset rudder limits or rudder end-stops) Data Not Received alarm (NO DATA) The ST4000+ activates this alarm in 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 boat has arrived at the last waypoint in the track, or · the autopilot is not receiving SeaTalk navigation data, or · the position sensor (GPS, Loran, Decca) is receiving a low strength signal ­ this will clear as soon as the signal strength improves The autopilot stops adjusting the heading as soon as it loses data. Waypoint Advance alarm (NEXT WPT?) The ST4000+ activates the Waypoint Advance alarm whenever the target waypoint number changes. This occurs when: · · you select automatic acquisition by pressing track from Auto you request waypoint advance by pressing track for 1 second in Track mode (with SeaTalk navigators only) 16 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook · · 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 alarm 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 alarm To respond to a Waypoint Advance alarm: · 2 Basic Operation · check that it is safe to turn onto the new track, then press track to accept the waypoint advance alternatively, you can cancel the alarm without accepting the waypoint advance by pressing: standby to return to hand steering, or auto to return to Auto mode. Note: Waypoint advance only operates if the ST4000+ is receiving valid bearing to waypoint and waypoint number information. Low Battery alarm (LOW BATT) The ST4000+ activates the Low Battery alarm when the supply voltage drops below 10 V (±0.5 V). Responding to a Low Battery alarm: To respond to a Low Battery alarm: · · press standby to clear the alarm and return to hand steering start the engine to recharge the battery Watch alarm (WATCH) The ST4000+ activates the Watch alarm when the autopilot is in Watch mode and the timer has reached 4 minutes. 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 104). 2. When you have done this select Auto, Track or Wind Vane mode. Chapter 2: Basic Operation 17 3. Press the disp key until you see the WATCH data page: · the watch timer will start counting · when the timer reaches 3 minutes, the WATCH text starts flashing to indicate that the timer is in the last minute · when the timer reaches 4 minutes, the ST4000+ activates the audible Watch alarm Responding to a Watch alarm To respond to a Watch alarm: · · press auto to silence the alarm and reset the timer to 4 minutes or press any other key to silence the alarm, reset the timer and perform that key's normal function 2 Basic Operation Note: You cannot engage Auto mode directly from Watch mode ­ pressing auto will only reset the Watch timer. If you want to enter Auto mode, you must first exit Watch mode (see below). Exiting Watch mode To exit Watch mode: · · press disp to display a different data page or press standby Shallow alarm (SHALLOW) The ST4000+ activates the Shallow alarm if it receives a shallow depth alarm via SeaTalk: · press standby or disp to cancel the alarm Man Overboard alarm (MOB) The ST4000+ activates the Man Overboard alarm 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. If the autopilot is in Track mode, it will sound the Waypoint Advance alarm to notify you of the change in waypoint. 18 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook 2.5 Adjusting display and keypad lighting Note: When the display lighting is off, the control unit still illuminates the keys at a courtesy level. To adjust the display and keypad lighting: 1. Press disp for 1 second from any mode to access the LAMP screen and turn on the lights. 2. Press the disp key to cycle through the possible illumination settings: LAMP 3, LAMP 2, LAMP 1, OFF, LAMP 1, LAMP 2, LAMP 3 and so on. Note: LAMP 3 is the brightest setting. . 2 Basic Operation SECOND D3313-3 3. The display automatically returns to the previous mode if you do not press a key for 7 seconds: · if you press another mode key within 7 seconds you will select the mode assigned to that key (for example: auto selects Auto mode, standby selects Standby mode) Note: You can also adjust the lighting level from any other SeaTalk instrument or control unit connected to SeaTalk. Note: When you switch off the unit you lose any changes you have made to the lighting. Chapter 3: Advanced Operation 19 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. Using Wind Vane mode Using the autopilot to maintain a course relative to the apparent wind angle. Displaying data pages Describes how to use data pages to display SeaTalk and NMEA information on the control unit. page 20 3.2 page 27 3.3 page 31 3 Advanced Operation 20 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook 3.1 Using Track mode Note: You can only use Track mode if you have connected the ST4000+ to a suitable navigation system providing SeaTalk or NMEA navigation information. The ST4000+ can receive track and cross track error information from either: · a SeaTalk navigation instrument or chartplotter (see page 52 for information on connecting to SeaTalk) or a non-SeaTalk navigation system transmitting data in the NMEA 0183 format ­ you can connect this directly to the ST4000+ NMEA input (see page 53 for information on connecting to NMEA equipment) · In Track mode, the ST4000+ maintains a track between two waypoints created on the navigation system. The autopilot computes any course changes to keep your boat on track, automatically compensating for tidal streams and leeway. Selecting Track mode 3 Advanced Operation To select Track mode, press the track key with the autopilot in Auto mode. When you select Track mode, the autopilot can acquire a track through either: · automatic acquisition (see below), when both cross track error (XTE) and bearing to waypoint (BTW) data are available or manual acquisition (see page 21), when only cross track error information is available · Automatic track acquisition If cross track error and bearing to waypoint information are both available (via SeaTalk or NMEA), the autopilot can acquire a track automatically: 1. Bring the boat within 0.1 nm of track. 2. Press auto. The autopilot will display the current locked heading. 3. Press track to enter Track mode. Chapter 3: Advanced Operation 21 4. Wait for the Waypoint Advance alarm to sound. The display will show the bearing to the next planned waypoint and the direction the boat will turn to reach this waypoint. Note: If the boat is more than 0.3 nm from the track, the Large Cross Track Error alarm will sound (see page 22). Press standby to cancel the alarm, hand steer closer to the track, press auto and then press track. 5. Check that it is safe to turn the boat onto the new course. 6. Press the track key: · the boat will turn onto the new course · the display shows the new bearing to waypoint Automatic track acquisition From auto mode, press track to enter Track mode: Waypoint at 270° Then press track again to turn boat to waypoint: Waypoint at 270° Current heading Previous heading 3 Advanced Operation D5414-1 Manual track acquisition If your navigation system 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. Press track to enter Track mode. The display then shows the locked pilot heading. 22 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook Note: Tidal streams have a far more significant effect at lower speeds than at higher speeds. If the tidal flow is less than 35% of the boat's speed, you will not notice any difference in the autopilot's performance in Track mode. However, you should take extra care during manual acquisition, as follows: · Before you select Track mode, make sure the boat is as close as possible to track, and the direction made good over the ground is as close as possible to the direction of the next waypoint. Make positive checks of the boat's position at regular intervals, especially if you are close to potential navigational hazards. · Exiting Track mode You can return to either Auto or Standby mode from Track mode by: · · pressing auto to return to Auto mode pressing standby to return to manual steering Cross track error Cross track error (XTE) is the distance between the current position and a planned route. The autopilot receives the cross track error information from the navigation equipment, and displays the XTE in nautical miles (nm), statute miles (SM) or kilometres. 3 Advanced Operation Cross track error (XTE) more than 0.3 nm a Actu l rou te Waypoint 2 e rout ned Plan D5415-1 Waypoint 1 Chapter 3: Advanced Operation 23 If the cross track error is greater than 0.3 nm, the ST4000+ will sound the Large Cross Track Error alarm and shows whether you are to the port (Pt) or starboard (Stb) of the planned track. To cancel the Large Cross Track Error alarm: · · press standby to return to hand steering, or press auto to return to Auto mode and retain the current heading Note: When the Large Cross Track Error alarm sounds, it usually means that the cross tide is too great for your boat's current speed. Tidal stream compensation Under most 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. In order of preference, the ST4000+ 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 setup (see page 112) 3 Advanced Operation Waypoint 2 d Ti al co m po ne nt Boat's speed over ground Waypoint 1 D3261-2 Bo at 's sp e ed th ro ug h w at er 24 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook Waypoint arrival and advance Arrival As the boat arrives at the target waypoint the navigation aid should manually or automatically select the next target waypoint. The ST4000+ will then detect the new target waypoint number, sound the Waypoint Advance alarm and display the Waypoint Advance screen. This shows the new bearing to the next waypoint and the direction the boat will turn to acquire the new track. Advance When the ST4000+ sounds the Waypoint Advance alarm, 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 alarm and turn the boat towards the next waypoint. Note: If you do not press track to accept the Waypoint Advance, the ST4000+ will maintain the current heading and continue sounding the alarm. 3 Advanced Operation Waypoint arrival and advance Waypoint arrival Next target waypoint at 270° Waypoint advance New target waypoint at 270° Target waypoint Old target waypoint D5416-1 Chapter 3: Advanced Operation 25 Note: When you reach the last waypoint in the track, the NO DATA alarm will sound to indicate that there is no further waypoint information. Press auto to continue on the same heading, or standby to return to hand steering. Skipping a waypoint ­ SeaTalk navigators only If you want to advance to the next waypoint before you have arrived at the target waypoint, you can skip a waypoint by pressing track for 1 second. The display will then show the Waypoint Advance screen for the next waypoint. Dodges in Track mode When the autopilot is in Track mode you still have full control from the keypad. Initiating a dodge maneuver In Track mode, you can make a dodge maneuver by using the course change keys (-1, +1, -10 or +10) to select the desired course change. Cancelling a dodge maneuver After you have avoided the hazard, you can cancel the dodge course change by making an equal course change in the opposite direction. Note: Provided the boat remains within 0.1 nm of track, you do not need to steer back towards the track. 3 Advanced Operation 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. 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. 26 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook Confirming position at the start of a journey At the start of a journey you must always use an easily identifiable fixed object to confirm the fix given by the navigation system. Check for fixed positional errors and compensate for them. Verifying computed positions Always verify the computed position with a dead reckoned position, calculated from the average course steered and the distance logged. Plot frequency · · In open water, you should make plots at least every hour. In confined waters or when near to potential hazards, you should make plots more frequently. Setting waypoints · Local variations in radio signal quality and changes in the tidal stream can produce deviations from the desired track. When setting waypoints, remember that deviations can occur. Thoroughly check along each track. Check up to 0.5 nm each side of the track to ensure that there are no hazards within this zone. · 3 Advanced Operation Note: For the waypoint advance function to work, the last four characters of adjacent waypoint names must be different. Chapter 3: Advanced Operation 27 3.2 Using Wind Vane mode Note: You can only use Wind Vane mode if you have connected the ST4000+ to a suitable wind instrument/vane providing SeaTalk or NMEA wind direction information. To use Wind Vane mode (also known as Vane mode), the ST4000+ must receive wind information from one of the following sources: · · · SeaTalk wind instrument, connected to the ST4000+ via SeaTalk NMEA wind instrument Raymarine wind vane connected through a SeaTalk interface box In Wind Vane mode the ST4000+ maintains a course relative to an apparent wind angle. It uses wind trim to eliminate the effects of turbulence and short term wind variations. This provides smooth and precise performance with minimal power consumption. When the ST4000+ is in Wind Vane mode it uses the fluxgate compass as the primary heading reference. As changes in the apparent wind angle occur, the ST4000+ adjusts the locked compass heading to maintain the original apparent wind angle. Selecting Wind Vane mode You can select Wind Vane mode from either Standby or Auto mode: 1. Steady the boat onto the required apparent wind angle. 2. Press standby and auto together to select Wind Vane mode and lock the current apparent wind angle: · the display shows the locked heading (e.g. 128°) along with the apparent wind angle (e.g.WIND 145P indicates an apparent wind angle of 145° to port) 3 Advanced Operation D3565-2 The ST4000+ will then adjust the boat's heading to maintain the locked apparent wind angle. 28 ST4000+ Wheel & Tiller Autopilots: Owner's Handbook Exiting Wind Vane mode You can return to Auto or Standby mode from Wind Vane mode by: · · pressing auto to return to Auto mode pressing standby to steer manually in Standby mode Adjusting the locked wind angle