User manual RAYMARINE ST6000+ AUTOPILOT CONTROL UNIT

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 ...................................... 49 Connections to other equipment ................................ 50 Cabling ...................................................................... 50 Preface 9 6.2 Control head .............................................................. 50 Siting ......................................................................... 51 Mounting procedure .................................................. 51 Connections to the SeaTalk bus ................................. 52 SeaTalk cables ..................................................... 52 Cable types .......................................................... 52 Typical SeaTalk cabling ....................................... 53 6.3 NMEA interface ........................................................ 53 Cabling ...................................................................... 53 NMEA cable connectors ........................................... 54 NMEA data transmission .......................................... 54 Transmission of NMEA data on SeaTalk .................. 55 6.4 Functional test (repeater unit) ................................... 55 Switch on ................................................................... 56 Navigation interface (GPS, Decca, Loran) ................ 56 SeaTalk interface ....................................................... 57 Chapter 7: Post Installation Procedures ........................... 59 7.1 Functional test and initial calibration ........................ 59 Switch on ................................................................... 59 Initial calibration ....................................................... 59 Operating sense ......................................................... 59 Navigation interface (GPS, Decca, Loran) ................ 60 Wind transducer interface ......................................... 61 SeaTalk interface ....................................................... 61 7.2 Initial sea trial ........................................................... 62 EMC conformance .................................................... 62 Overview ................................................................... 62 Automatic compass deviation correction .................. 63 Further heading alignment adjustment ...................... 65 10 ST6000 Plus Autopilot Control Unit Owner,s Handbook Checking autopilot operation .................................... 66 Checking the rudder gain .......................................... 66 Chapter 8: Maintenance ...................................................... 69 General ............................................................................ 69 Servicing and safety ........................................................ 69 Advice ............................................................................. 69 Chapter 9: Fault Finding ...................................................... 71 Index ...................................................................................... 73 Chapter 1: Introduction 1 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. The ST6000 Plus can share all data transmitted from other Raytheon SeaTalk instruments: Wind information from a wind instrument can be used for wind trim (Vane) steering without the need to install a separate vane. Track information, from a navigation instrument, provides waypoint control from the autopilot. Boat speed from the Speed instrument provides optimum trackkeeping performance. The ST6000 Plus autopilot can also be used with any navigator (GPS, Decca, Loran) transmitting NMEA 0183 data. There are five operating modes: Standby: Autopilot disengaged Auto: Autopilot engaged and locked onto a heading Track: Autopilot maintains a track between two waypoints created using a navigation system Vane: Autopilot maintains a course relative to an apparent wind angle Manual: Autopilot power steers rudder using joystick control When the ST6000 Plus is being used to repeat instrument data, pop-up pilot pages are displayed for 5 seconds whenever a change in autopilot control is made. The ST6000 Plus also provides the following: Automatic tack facility, which can be used in Auto and Vane modes Automatic compass deviation correction Northerly/Southerly heading compensation Automatic heading deadband seastate control Waypoint advance feature 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) Raytheon CodeLock security support 1.2 Specification Power Supply: 10 to 15 V dc Current consumption: Standby: 60 mA (less than 200 mA with full lighting) Operating temperature: 0°C to +70°C (32°F to 158°F) Eight button illuminated digital keypad LCD display of heading, locked course and navigational data, with three levels of illumination Input connections for SeaTalk and NMEA Output connection for SeaTalk Chapter 2: Basic Operation 3 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. -1 plus +1 Press for Response level -1 plus -10 Press together for AutoTack to port DISP Press for Data Page Press for 1 second for lamp control 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 Setup modes STANDBY plus AUTO Press for Vane mode Press for 1 second for Last Wind Press again to accept Last Wind D3447-1 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 The autopilot always powers up in Standby mode. (If the text CODE LOCK is displayed, enter your code as described in Chapter 4.) Course changes can be made at any time using the ­1, +1, ­10 and +10 keys. You can return to manual steering at any time by pressing standby. 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. MANUAL 3 Rudder or Steer Direction Indicator D3507-1 The bar graph at the bottom of the display is normally a rudder bar. If it has been set as a direction-to-steer indicator, the display depends on the current mode, as follows: Mode Standby Auto Track Vane Bar Not used Heading error bar Cross track error (XTE) bar, in 0.02 nm increments Wind angle error bar If neither distance units (nm or SM) is displayed, the distance is in Km. Chapter 2: Basic Operation 5 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 vessels current compass heading. The previous autopilot heading is memorised and can be recalled (see Returing to the previous locked heading). Changing course in Auto mode The +1 and +10 (starboard) and ­1 and ­10 (port) keys are used to change the locked heading, in increments of 1° and 10°, when the autopilot has control. Example: a 30° course change to port = press ­10 three times. 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). Returning to the previous locked heading (LAST HDG) If for any reason the vessel is steered away from the selected locked heading (for example, executing a dodge manoeuvre or selecting Standby) you can return to the previous locked heading: Chapter 2: Basic Operation 7 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. Automatic tack (AutoTack) The ST6000 Plus has a built in automatic tack facility that turns the vessel through a predetermined angle (the factory default is 100°) in the required direction. AutoTack to starboard Press the +1 and +10 keys together to tack to starboard. 8 ST6000 Plus Autopilot Control Unit Owner,s Handbook 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 vessels current heading differ for more than 20 seconds, by more than the alarm angle set in calibration (the factory default is 20°). Chapter 2: Basic Operation 9 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. Manual course changes ensure that obstructions or other vessels can be cleared properly, and due account taken of the changed wind and sea conditions on the new heading prior to engaging the autopilot. Course changes under autopilot control It is important to understand the effect of sudden trim changes on steering performance. When a sudden trim change occurs, due, for example, to weather helm or sail imbalance, there will be a delay before the automatic trim applies rudder to restore the locked heading. This correction can take up to one minute. Large course changes which change the apparent wind direction can produce large trim changes. 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, the following procedure can be adopted for large course changes: 1. Note the required new heading. 2. Select standby and steer manually. 3. Bring the vessel onto the new heading. 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. Sailboats in 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. Bear in mind the following important points: Do not allow the yacht to heel over excessively Ease the mainsheet traveller to leeward to reduce heeling and weather helm If necessary, reef the mainsail a little early It is also advisable, whenever possible, to avoid sailing with the wind dead astern in very strong winds and large seas. Ideally, the wind should be brought at least 30° away from a dead run and, in severe conditions, it may be advisable to remove the mainsail altogether and sail under headsail only. Provided these simple precautions are taken, the autopilot will be able to maintain competent control in gale force conditions. 2.4 Using Manual mode If your system is fitted with a joystick, the ST6000 Plus will enter Manual mode when the joystick is used. The ST6000 Plus will return to Standby mode when the joystick button is released, or if you press the standby key on the ST6000 Plus. 2.5 Display and keypad illumination Press disp for 1 second, from any mode, to enter illumination adjustment mode and turn the lights on. Subsequent presses of the disp key cycles the possible illumination settings: L3, L2, L1, OFF, L1, L2, L3 etc. where L3 is the brightest setting. Chapter 2: Basic Operation 11 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. The keys are still lit at a courtesy level when the display lighting is off. 2.6 Data pages The disp key is used to cycle pages of SeaTalk or NMEA data. Once a Data Page is selected, this page becomes the principle autopilot display. The autopilot mode displays (Standby, Auto, Track Vane and Manual) then become pop-ups, and are displayed for 5 seconds when the autopilot mode is changed or a course change is made. Press disp to display each Data Page in turn. When the last Data Page is cycled, the display returns to the current autopilot mode display (for example, Standby). 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. 12 ST6000 Plus Autopilot Control Unit Owner,s Handbook 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 the selections made in User Setup (see section 5.1). The following illustration shows the default settings for the Data Pages. D3581-1 If the required data for a page is not available, dashes are displayed instead of a value. Most displays are repeated data, and cannot be adjusted. The exceptions are the Response and Rudder Gain pages (if selected for display), which can be adjusted using the +1 and -1 keys. The current autopilot mode is shown at the left of the display, and the autopilot bar graph remains in use. The direction-to-steer arrows relate to the Data Page information. Chapter 3: Advanced Operation 13 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. The ST6000 Plus can receive cross track error (the distance your vessel is from a planned track) from: (a)A SeaTalk navigation instrument or chartplotter or (b)A non-SeaTalk navigation system transmitting data in the NMEA 0183 format this can be connected directly to the ST6000 Plus NMEA input, as described in the Installation Chapter). Track mode is selected by pressing the track key, but can only be selected from Auto mode. You can return to either Auto or Standby mode from Track mode, as follows: Press auto to leave Track mode and return to Auto mode. Press standby to leave Track mode and return to manual steering. Note: The ST6000 Plus control head can be programmed to display various pages of navigation data, such as XTE, BTW etc. Please refer to page 37 for details. Initiating Track mode When initiating Track mode, the track can be acquired in one of two ways: Automatic acquisition, when cross track error and bearing to waypoint data are available Manual acquisition, when cross track error is the only available data 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 0.1nm of track 2. Press auto. 3. Press track to enter Track mode, with the current locked heading displayed. After a short delay for data acquisition, the Waypoint Advance alarm will sound, and the display will show the planned bearing to waypoint alternating with the direction in which the boat will turn. Note: If the vessel is further than 0.3nm from the track, the Large Cross Track Error alarm will sound. Press standby to cancel the alarm, hand steer closer to the track, and press auto and track again. 4. Check that it is safe to turn onto the new course. 5. Press the track key. The boat will turn on to the new course and the alarm will be cancelled. Chapter 3: Advanced Operation 15 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 0.1nm 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. Note: At low speeds, the effect of tidal streams is far more significant than it is at higher speeds. Providing the tidal flow is less than 35% of the vessels speed, no noticeable difference should occur in the performance of Track mode. However, extra care should be taken during manual acquisition, as follows: Ensure that the vessel 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, before selecting Track mode. Make positive positional checks at regular intervals, especially if navigational hazards are close by. 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 0.3nm. The direction of the error is identified as Pt port or Stb starboard. To cancel the alarm and leave track mode, press standby to return to hand steering, or auto to return to Auto mode. Note: If the Large Cross Track Error alarm sounds, it is usually an indication that the cross tide is too great for the vessels 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 vessel speed when computing course changes to ensure optimum Chapter 3: Advanced Operation 17 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 5). Vessel's speed Vessel's Waypoint arrival and advance If your navigation receiver transmits valid NMEA waypoint number and bearing to waypoint data, it is possible to advance from one waypoint to the next by simply pressing track (only the last four characters of waypoint names are recognied and, therefore, adjacent waypoint names must be different.) Arrival As the vessel passes the target waypoint, the navigation receiver should select (manually or automatically) the next target waypoint. The ST6000 Plus detects the new target waypoint number, sounds the Waypoint Advance alarm and displays the Waypoint Advance information. This display shows the new bearing to waypoint and the direction the boat will turn to acquire the new track. D3457-1 18 ST6000 Plus Autopilot Control Unit Owner,s Handbook To accept the new target waypoint, press track. 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. This will cancel the waypoint arrival alarm and turn the boat towards the next waypoint. Unless the Waypoint Advance is accepted in the above manner, the alarm will continue to sound and the current heading will be maintained. Dodges Full control is still available from the keypad when the autopilot is in Track mode. Initiating a dodge manoeuvre In track mode, dodge manoeuvres are accomplished by simply selecting the desired course change using the course change keys (-1, +1, -10 or +10). Cancelling a dodge manoeuvre Once the hazard has been avoided, the course change selected for the dodge manoeuvre should be cancelled by selecting an equal course change in the opposite direction. Note: Provided the vessel remains within 0.1 nm of track, there is no need to steer back towards the track. Safety Passage making in Track mode removes the chores of compensating for wind and tidal drift, and will aid precise navigation. However, it is important to maintain an accurate log with regular plots. Chapter 3: Advanced Operation 19 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. In confined waters, or when potential hazards are near, plots should be more frequent. Local variations in radio signal quality, and changes in the tidal stream, will produce deviations from the desired track. Setting waypoints When setting waypoints, remember that deviations will 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 the zone. General The use of track mode will enable accurate track keeping even in complex navigational situations. However, it cannot remove the responsibility of the skipper to ensure the safety of his vessel at all times by careful navigation and frequent position checks. 3.2 Operation in Vane mode (WindTrim) Vane mode, also known as WindTrim, allows the ST6000 Plus to maintain a course relative to an apparent wind angle. It uses wind trim to eliminate the effects of turbulence and short term wind variations, and provides smooth precise performance under Vane mode operation with minimal power consumption. 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. 20 ST6000 Plus Autopilot Control Unit Owner,s Handbook To use Vane mode, the ST6000 Plus must receive wind information from one of the following sources: SeaTalk Wind instrument, connected to a ST6000 Plus via SeaTalk NMEA wind information Raytheon wind vane connected to a SeaTalk interface box Selecting Vane mode Vane mode can be selected from either Standby or Auto modes, as follows: 1. Steady the vessel onto the required apparent wind angle. 2. Press standby and auto together to select Vane mode and lock the current apparent wind angle. The locked heading is displayed along with the apparent wind angle. The boat heading is adjusted by the pilot to maintain the locked apparent wind angle. Adjusting the locked wind angle The locked wind angle can be adjusted by changing course using the -1, +1, -10 and +10 keys. For example, to bear away by 10° when the vessel is on starboard tack, press -10 to turn the vessel 10° to port. The locked apparent wind angle and locked heading both change by 10°. The new apparent wind angle is maintained, and the locked heading adjusted by the autopilot as required. 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. Chapter 3: Advanced Operation 21 Returning to the previous apparent wind angle (LAST WND) If for any reason the vessel is steered away from the selected apparent wind angle (for example, a dodge manoeuvre or selecting Standby) you can return to the previous locked wind angle: 1. Press standby and auto together for 1 second to display the previous apparent wind angle (LAST WND?). 1 The LAST WND? text alternates with the previous wind angle and direction. The previous locked heading is displayed, with an indicator to show you the direction in which the vessel will turn. 2. Check that it is safe to turn on to this course. 3. To accept this apparent wind angle, press standby and auto together within 10 seconds. If you do not accept the previous wind within this time, the autopilot will lock on to the current apparent wind angle. Dodges Full control is still available from the keypad when the autopilot is in Vane mode. Dodge manoeuvres are accomplished by simply selecting the desired course change using the course change keys (-1, +1, -10 or +10). Both the locked heading and locked apparent wind angle are adjusted. Once the hazard has been avoided, you can reverse the previous course change, or return to the previous apparent wind angle (LAST WND). 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°). The locked heading can then be adjusted until the required apparent wind angle is achieved. To tack to starboard, press the +1 and +10 keys together. To tack to port, press the -1 and -10 keys together. Note: If you use the Autotack function in Vane mode, it is important to check that the wind vane has been centred accurately when it was installed. AutoTack Angle Course adjustment may be necessary to mirror the previous apparent wind angle Apparent Wind Angle D4373_1 Chapter 3: Advanced Operation 23 Operating hints Major changes to the selected apparent wind angle should be made by returning to Standby mode, changing course manually, then reselecting Vane Mode. Vane mode filters the windvane output. This provides the optimum response for off-shore conditions where genuine shifts in wind direction occur gradually. In gusty and unsteady inshore conditions, it is best to sail a few degrees further off the wind so that changes in apparent wind direction can be tolerated. It is important to ensure that the amount of standing helm is minimised by careful sail trimming and positioning of the mainsheet traveller. The headsail and mainsail should be reefed a little early rather than too late. 3.3 Adjusting autopilot performance The response level and rudder gain can be adjusted during normal operation using a combined key-press. Alternatively, you can set up these two control displays as default Data Pages (see section 2.5). The default calibration settings for response and rudder gain (refer to Dealer Setup) are restored when the system is powered on. Changing the response level (AutoSeastate) The response level controls the relationship between the autopilots course keeping accuracy and the amount of helm/drive activity. Response Level 1, AutoSeastate (Automatic Deadband), causes the autopilot to gradually ignore repetitive movements of the vessel 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 (Minimum Deadband) provides the tightest course keeping possible. However, tighter course keeping results in increased power consumption and drive unit activity. Response Level 3 (also Minimum Deadband) provides the tightest course keeping possible by introducing yaw damping. 24 ST6000 Plus Autopilot Control Unit Owner,s Handbook The response can be changed at any time. To do so: 1. Press the +1 and -1 keys together momentarily to display the RESPONSE screen. 2. Press +1 or -1 to change the response level. 3. Wait for 10 seconds, or press disp , to return to the previous display. 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 7, 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. Incorrect adjustment will lead to poor steering performance and is dangerous at high speeds. 3.4 Alarms This section summarises the alarms (in order of priority) that are reported by the ST6000 Plus. Press standby to clear an alarm and return to hand steering, unless indicated otherwise. Chapter 3: Advanced Operation 25 SeaTalk failure ST FAIL This silent alarm indicates that there is a wiring fault in the SeaTalk connection. No link NO LINK This silent alarm indicates that there is no link between the ST6000 Plus and the course computer. 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 3.2, Operation in Vane mode). Large cross track error LARGE XTE This alarm is activated when the cross track error exceeds 0.3 nm (see section 3.1, Operation in Track mode. The alarm is cleared if the heading recovers or the course is changed, or if the operating mode is changed. Drive stopped DRIVESTOP This alarm is activated if the autopilot is unable to turn the rudder. This occurs if the weather load on helm is too high, or if the requested rudder position is past the pre-set rudder limits or the rudder end-stops. 26 ST6000 Plus Autopilot Control Unit Owner,s Handbook Data not received NO DATA This alarm is displayed in the following circumstances: Track mode is engaged and the autopilot is not receiving SeaTalk navigation data. 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. Waypoint advance NEXT WPT? The waypoint advance alarm sounds whenever the target waypoint number changes, which occurs in the following circumstances: Automatic acquisition is selected by pressing track from Auto mode Waypoint arrival. Vessel arrives at the target waypoint and moves onto the next waypoint in the route. Waypoint advance is requested by pressing track for 1 second in Track mode (SeaTalk Navigators only). When the alarm sounds, the pilot continues on its current heading, but displays the bearing to the next waypoint and the direction in which the boat will turn to take up that bearing. Check that it is safe to turn onto the new track, and press track to accept the waypoint advance. To cancel the alarm without accepting the waypoint advance, press standby to return to hand steering, or auto to return to Auto. Note: The waypoint advance will only operate on pilots receiving valid bearing to waypoint and waypoint number information. Low battery LOW BATT The Low Battery alarm sounds when the supply voltage drops below acceptable limits. Chapter 3: Advanced Operation 27 Press standby to clear the alarm and return to hand steering. Start the engine to recharge the battery. 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. When the timer reaches 3 minutes, the text on the display starts flashing to indicate the last minute of Watch alarm. When the timer reaches 4 mins, the audible Watch alarm activates. 3. Press auto at any time to silence the alarm and reset the timer to 4 minutes. (Pressing any other key resets the timer and perform the keys normal function.) 4. To clear Watch mode, press disp to display a different page, or press standby. Note: You cannot engage Auto mode from Watch mode pressing auto only resets the Watch timer. Man overboard (MOB) If a man overboard (MOB) message is received from another instrument on the SeaTalk system, the text MOB is shown instead of the waypoint number for the XTE, DTW and BTW Data Pages. If the autopilot is operating in Track mode, the Waypoint Advance alarm will sound to notify the change in waypoint. 28 ST6000 Plus Autopilot Control Unit Owner,s Handbook Chapter 4: CodeLock 29 Chapter 4: CodeLock CodeLock is a personal four-digit security feature designed to protect your valuable instruments against theft. You dont have to activate the system, but its there if you need to. You can activate it using any CodeLock-compatible control unit on your SeaTalk system. When you first enter a code and activate CodeLock, the code is sent to all the CodeLock-compatible units on the system. After this, whenever you power on the system, the units will only start up if they receive the correct code. Remember to fix a CodeLock sticker by each instrument, to deter potential thieves. 4.1 CodeLock Modes When you set up CodeLock, you can choose whether the code will be sent automatically or must be entered manually at power on, as follows: Auto mode is used when there is a display unit situated in a secure location, ideally below deck, or one which can be unplugged and removed to a secure location. You enter your chosen code on this master unit when you first activate CodeLock. This code is then automatically sent to all CodeLock-compatible display heads on SeaTalk, without further intervention, every time the system is powered on. Manual mode is used to provide a higher degree of security, perhaps when all your instruments are mounted in exposed locations. In this case, you must enter your personal code every time the system is switched on. The code can be entered into any convenient CodeLock-compatible control unit, and is then sent to all the other compatible units via SeaTalk. 4.2 Setting Up CodeLock CodeLock is set up and activated on the ST6000 Plus using the Intermediate Setup options. Initial Setup When you first install your ST6000 Plus, CodeLock is set OFF. To activate CodeLock, refer to the flow diagram on the next page. 30 ST6000 Plus Autopilot Control Unit Owner,s Handbook . Make sure that the autopilot is in Standby mode before accessing Intermediate Setup. If the CAL LOCK screen is displayed instead of the VERSION screen, you need to turn off the lock feature in Dealer Setup. Chapter 4: CodeLock 31 The Intermediate Setup displays have the following functions: Version numbers: Displays the current ST6000 Plus version number, alternating with the Course Computer version number (if applicable). You cannot adjust these displays. CodeLock status: Reports the current status, which can be OFF or SET. You cannot adjust this display directly. CodeLock entry: Used to enter a new code if CodeLock is OFF, or to turn CodeLock off if it is already set. CodeLock mode: Used to select Auto or Manual CodeLock mode, when a new code has been entered. Changing the code or master unit You can change the code from any CodeLock compatible control unit on your SeaTalk system, provided you know the current code. Note: If you set up CodeLock in Auto mode, the unit on which you enter the new code becomes the new master unit. To change the code: 1. Display the CodeLock entry screen and enter your current code, as shown in the flowchart. The code is checked. If it is incorrect, the four dashes are redisplayed and you must enter the code again. If it is correct, the CodeLock status screen is displayed, with the status set to OFF. 2. Press disp to display the CodeLock entry screen again. 3. Enter the new code and move on to the CodeLock mode selection screen. 4. Set the mode to Auto or Manual, as required. 5. Press and hold standby for 1 second to exit Intermediate Setup and save the new settings. 4.3 Entering your code (Manual mode only) If CodeLock has been set up in Manual mode, the correct code must be entered on one of the control units every time the system is switched on. The code number created on the master is entered via the keypad from any CodeLock-compatible instrument, and this code is then sent to all compatible instruments on the same SeaTalk bus. Once this code has been received the instruments operate in the normal way. 32 ST6000 Plus Autopilot Control Unit Owner,s Handbook To enter your chosen code number on the ST6000 Plus display unit, use the keys as shown. Move the flashing cursor to the next position Adjust value at the cursor Adjust value at the cursor D3394-1 To enter the code on any other master display unit, refer to the handbook for that unit for details of the code entry procedure. 4.4 Code number problems If an incorrect code number has been entered, the four dashes are redisplayed, with the prompt enter code. Repeat the procedures illustrated above entering the correct four digit number. If you forget your code number, you must take your master unit to an authorised dealer, together with appropriate proof of ownership such as the original invoice. The dealer will be able to reset the unit so that you can enter a new code. Chapter 5: Customising the System 33 Chapter 5: 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 7 before adjusting any other calibration features. There are three setup levels: User Setup, which controls compass setup, rudder calibration and the ST6000 Plus display features Intermediate Setup, which controls the CodeLock security feature and displays status and version number information (see Chapter 4) Dealer Setup, which controls the autopilot settings, and also the calibration lock which can be used to prevent accidental access to User and Intermediate Setup The Dealer Setup options described in this chapter only apply if you have installed the ST6000 Plus as the control unit for a Type 100/300 course computer. If you have installed the ST6000 Plus as a repeater unit on an autopilot system, please refer to the Dealer Setup instructions in the handbook for the main control unit. Note: If the vessel type is changed, you must then relinearise the fluxgate compass. If an ST4000/5000 control unit is used, please refer to the appropriate manual for system calibration. 5.1 User setup The flow chart on the following page shows the User Setup control procedure, and the setup screens with their default settings. Information on the functions of the different settings is given in the remainder of this section. The following points should be considered: Make sure that the autopilot is in Standby mode before you access User Setup If the CAL LOCK screen is displayed instead of the initial page, you need to turn off the lock feature in Dealer Setup Setup options are always saved on exit 34 ST6000 Plus Autopilot Control Unit Owner,s Handbook Chapter 5: Customising the System 35 Compass deviation correction (SWING COMPASS) The compass deviation correction option allows you to correct the compass for deviating magentic fields. The procedure must be performed as the first item in your initial sea trial, and is described in detail in Chapter 7, 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. Heading alignment (HDG ALIGN) The heading alignment screen shows the current reported heading. Note: You should always check the compass alignment after performing a compass deviation correction (see Post Installation Procedures). However, once the initial correction procedure has been performed, you can make adjustments to the alignment as often as you wish, without re-correcting your compass. Steer your vessel onto a known heading, and check the heading displayed. If required, adjust the heading value to match the known value, using the +1, -1, +10 and -10 keys. Heading mode (HDG) Select either magnetic or true heading mode. When heading data is displayed in normal operation, the screen indicates whether true or magnetic mode has been selected. Bar selection (RUDD BAR) Select the type of bar graph that is shown at the bottom of the SeaTalk displays. The options are as follows: RUDD BAR: This shows the rudder position, and is the default setting. Note that a rudder reference transducer is required for accurate rudder position information. STEER BAR: The bar graph is used as follows: 36 ST6000 Plus Autopilot Control Unit Owner,s Handbook Mode Standby Auto Track Vane Bar Not used Heading error bar XTE bar Wind angle error bar Rudder calibration (DOCKSIDE RUDD CAL) The Dockside Rudder Calibration function performs an automatic calibration of the rudder range, for systems with a rudder reference unit. If a rudder reference unit is not installed, the function determines the helm drive speed. WARNING: This procedure moves the helm, and should only be used when the vessel is at the dockside. For sterndrive systems, the engines must running before you start the procedure. The auto dockside procedure is not available if the ST6000 Plus is used with a Type 100/300 Course Computer. If you start the procedure by mistake, press any key to cancel it. Data pages (DATA PAGE) The next 7 pages of User Setup allow you change the default settings for the Data Pages. These are the pages of SeaTalk or NMEA data available for display using the disp key during normal operation (see section 2.5). Each of the setup pages initially shows the title DATA PAGE. After 1 second, this changes to show the title of the data currently set for that page. The available pages are as follows: Chapter 5: Customising the System 37 Data Speed Knots Log Trip Average Speed, Knots Wind Direction Wind Speed Depth Metres Depth Feet Depth Fathoms Heading Water Temperature, Degrees C Water Temperature, Degrees F Course Over Ground Speed Over Ground, Knots Cross Track Error Distance to Bearing to Waypoint Rudder Gain Response Watch Univeral Time Constant Displayed as SPEED KTS LOG XXXX.X TRIP XXX.X AV. SPD KTS E.g. WIND PORT WIND KTS DEPTH M DEPTH FT DEPTH FA HEADING WATER ºC WATER ºF COG SOG KTS XTE WaypointDTW BTW RUDD GAIN RESPONSE WATCH UTC