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. ST6000 Plus Autopilot Control Unit Owner's Handbook Document number: 81133_3 Date: 1st April 1999 2 Title of handbook Preface 1 Raytheon Electronics, as part of its commitment to continuous imrovement 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. However, liability cannot be accepted for inaccuracies or omissions. Autohelm and SeaTalk are registered trademarks of Raytheon Electronics WindTrim, AutoTack, AutoTrim, AutoSeastate, AutoAdapt, AutoRelease and CodeLock are trademarks of Raytheon Electronics Copyright © Raytheon Electronics 1996 2 ST6000 Plus Autopilot Control Unit Owner,s Handbook Preface 3 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. Chapter 3: Explains how to use Track and Vane (WindTrim) modes and adjust autopilot performance, and summarises the ST6000 Plus alarms. Chapter 4: Explains how to use the CodeLock security feature. Chapter 5: Provides details on how to make adjustments to customise the autopilot to your particular vessel. Chapter 6: Explains how to install the ST6000 Plus. Chapter 7: Covers functional testing and initial calibration procedures after installation, and intial sea trials. Chapter 8: Provides general maintenance procedures. Chapter 9: Provides information to help you resolve any problems you may encounter with your autopilot. An index is included at the end of this handbook, followed by a template for the installation of the control unit. Safety information Passage making under autopilot control is an enjoyable experience that can, if you are not careful, lead to the relaxation of the permanent watch. A permanent watch MUST be maintained no matter how clear the sea may appear to be. WARNING: Remember, a large ship can travel two miles in five minutes just the time it takes to make a cup of coffee. 4 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. Ensure the locked autopilot heading steers you 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 radio navigation receiver, always maintain a log and make regular positional plots. Radio navigation signals can produce significant errors under some circumstances and the autopilot cannot detect this situation. · Make sure that all members of crew are familiar with the procedures to disengage the autopilot. Your Raytheon autopilot will add a new dimension to your boating enjoyment. However, it is the responsibility of the skipper to ensure the safety of the vessel at all times by careful observance of these basic rules. EMC conformance All Raytheon equipment and accessories are designed to the best industry standards for use in the leisure marine environment. Their design and manufacture conforms to the appropriate Electromagnetic Compatibility (EMC) standards, but correct installation is required to ensure that performance is not compromised. Warranty To verify the ownership of your new autopilot, please take a few minutes to complete the warranty card. It is important that you complete the owner information and return the card to the factory to receive full warranty benefits. Preface 5 Contents Preface ..................................................................................... 3 How this handbook is organised ....................................... 3 Warranty ............................................................................ 3 Safety information ............................................................. 3 EMC conformance ............................................................ 4 Chapter 1: Introduction ......................................................... 1 1.1 Overview ..................................................................... 1 1.2 Specification ............................................................... 2 Chapter 2: Basic Operation ................................................... 3 2.1 Key functions .............................................................. 3 2.2 Display layout ............................................................. 4 2.3 Using Auto mode ........................................................ 5 Engaging the Autopilot (Auto) .................................... 5 Disengaging the autopilot (Standby) to return to hand steering ........................................................................ 5 Changing course in Auto mode ................................... 5 Dodging obstacles in Auto mode ................................ 6 Returning to the previous locked heading ................... 6 Automatic tack (AutoTack) ......................................... 7 AutoTack to starboard ........................................... 7 AutoTack to port .................................................... 8 Off course alarm .......................................................... 8 Operating hints ............................................................ 9 Making major course changes ............................... 9 Course changes under autopilot control ................ 9 Sailboats in gusty conditions ............................... 10 2.4 Using Manual mode .................................................. 10 2.5 Display and keypad illumination .............................. 10 6 ST6000 Plus Autopilot Control Unit Owner,s Handbook 2.6 Data pages ................................................................. 11 Chapter 3: Advanced Operation ......................................... 13 3.1 Operation in Track mode .......................................... 13 Initiating Track mode ................................................ 13 Automatic acquisition .......................................... 14 Manual acquisition .............................................. 15 Cross track error ........................................................ 16 Tidal stream compensation ........................................ 16 Waypoint arrival and advance ................................... 17 Arrival .................................................................. 17 Skipping a waypoint ............................................ 18 Advance ............................................................... 18 Dodges ....................................................................... 18 Initiating a dodge manoeuvre .............................. 18 Cancelling a dodge manoeuvre ............................ 18 Safety ......................................................................... 18 Position confirmation at the start of a passage .... 19 Verifying computed positions .............................. 19 Plot frequency ...................................................... 19 Setting waypoints ................................................. 19 General ................................................................ 19 3.2 Operation in Vane mode (WindTrim) ....................... 19 Selecting Vane mode ................................................. 20 Adjusting the locked wind angle ............................... 20 Returning to the previous apparent wind angle ......... 21 Dodges ....................................................................... 21 Wind shift alarm ........................................................ 22 Using AutoTack in Vane mode .................................. 22 Operating hints .......................................................... 23 Preface 7 3.3 Adjusting autopilot performance .............................. 23 Changing the response level (AutoSeastate) ............. 23 Changing the rudder gain .......................................... 24 3.4 Alarms ....................................................................... 24 SeaTalk failure ..................................................... 25 No link ................................................................. 25 Off course ............................................................ 25 Wind shift ............................................................ 25 Large cross track error ......................................... 25 Drive stopped ....................................................... 25 Data not received ................................................. 26 Waypoint advance ................................................ 26 Low battery .......................................................... 26 Watch alarm ......................................................... 27 Man overboard (MOB) ........................................ 27 Chapter 4: CodeLock ............................................................ 29 4.1 CodeLock Modes ...................................................... 29 4.2 Setting Up CodeLock ................................................ 29 Initial Setup ............................................................... 29 Changing the code or master unit .............................. 31 4.3 Entering your code (Manual mode only) .................. 31 4.4 Code number problems ............................................. 32 Chapter 5: Customising the System .................................. 33 5.1 User setup ................................................................. 33 Compass deviation correction ................................... 35 Deviation display ....................................................... 35 Heading alignment .................................................... 35 Heading mode ........................................................... 35 Bar selection .............................................................. 35 8 ST6000 Plus Autopilot Control Unit Owner,s Handbook Rudder calibration ..................................................... 36 Data pages ................................................................. 36 5.2 Dealer setup: Type 100/300 Course Computer ......... 38 Recommended settings .............................................. 39 Pilot type ................................................................... 39 Calibration lock ......................................................... 40 Rudder gain ............................................................... 40 Rate level ................................................................... 40 Rudder offset ............................................................. 41 Rudder limit ............................................................... 41 Turn limit ................................................................... 41 Cruise speed .............................................................. 42 Off course alarm ........................................................ 42 AutoTrim ................................................................... 43 Power steer ................................................................ 43 Drive type .................................................................. 44 Rudder damping ........................................................ 44 Variation .................................................................... 45 AutoAdapt ................................................................. 45 Latitude ..................................................................... 46 Wind Trim ................................................................. 46 Tack angle ................................................................. 46 AutoRelease .............................................................. 47 Response ................................................................... 47 Recording calibration settings ................................... 47 Chapter 6: Installation ........................................................ 49 6.1 Planning the Installation ............................................ 49 EMC installation guidelines ...... ...