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. ST6001+ Autopilot Control Unit Owner's Handbook Document number: 81190-2 Date: May 2001 ii ST6001+ Autopilot Control Unit - 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 Contents About this handbook ......................................................... vii Important Information ..................................................... viii Warranty ...................................................................................viii Safety notices ...........................................................................viii EMC conformance .....................................................................ix Handbook information ............................................................... ix Chapter 1: Introduction ............................................................1 Chapter 2: Basic Operation .......................................................3 2.1 Using the control unit ................................................................ 4 Start-up mode ............................................................................ 4 Keypad functions ...................................................................... 4 Display layout ........................................................................... 5 2.2 Using Auto mode ...................................................................... 6 Engaging the autopilot (Auto mode) ......................................... 6 Disengaging the autopilot (Standby mode) .............................. 6 Changing course in Auto mode ................................................. 7 Adjusting performance ­ Type 150G/400G ............................. 7 Adjusting performance ­ Types 150/400 and 100/300 ............. 8 Off Course warning ................................................................. 10 Dodging obstacles and then resuming course ......................... 10 Using sail boat features ........................................................... 12 2.3 Adjusting display/keypad lighting ......................................... 14 Chapter 3: Advanced Operation ............................................15 3.1 Using Track mode ................................................................... 16 Selecting Track mode ............................................................. 16 Exiting Track mode ................................................................. 17 Cross track error ...................................................................... 17 Tidal stream compensation ..................................................... 18 Waypoint arrival and advance ................................................. 19 Waypoint Advance warning ­ summary ................................. 20 Dodges in Track mode ............................................................ 21 Safety in Track mode .............................................................. 22 3.2 Using Wind Vane mode ­ sail boats ........................................ 23 About Wind Vane mode .......................................................... 23 Selecting Wind Vane mode ..................................................... 24 Exiting Wind Vane mode ........................................................ 24 Adjusting the locked wind angle ............................................. 24 iv ST6001+ Autopilot Control Unit - Owner's Handbook Returning to the previous wind angle (LAST WND) ............. 25 Dodges in Wind Vane mode .................................................... 25 Wind Shift warning ................................................................. 26 Using AutoTack in Wind Vane mode ...................................... 26 Operating hints for Wind Vane mode ...................................... 27 3.3 Adjusting the rudder gain ........................................................ 27 3.4 Displaying data pages ............................................................. 29 Watch timer ............................................................................. 30 Warning messages .................................................................. 31 Chapter 4: Fault Finding & Maintenance ..............................33 4.1 Fault finding ............................................................................ 34 Common autopilot problems .................................................. 34 Autopilot alarm messages ....................................................... 35 4.2 General maintenance .............................................................. 37 Routine checks ........................................................................ 37 Cleaning the display ................................................................ 37 EMC advice ............................................................................ 37 4.3 Product support ....................................................................... 38 Chapter 5: Installing the ST6001+ ..........................................43 5.1 Select the location ................................................................... 44 Site requirements .................................................................... 44 5.2 Control unit installation .......................................................... 47 Surface mount control units .................................................... 47 Flush mount control units ....................................................... 48 5.3 SeaTalk connections ............................................................... 49 5.4 NMEA connections ................................................................ 50 Receiving NMEA data ............................................................ 50 5.5 Functional test ­ repeater units only ....................................... 53 Chapter 6: Commissioning the Autopilot ............................55 6.1 Dockside Checks .................................................................... 56 Step 1 - Switch on ................................................................... 56 Step 2 - Check the SeaTalk and NMEA connections .............. 57 Step 3 - Check the autopilot operating sense ........................... 58 Step 4 - Adjust basic autopilot settings ................................... 59 6.2 Seatrial Calibration ................................................................. 63 Calibrating the compass .......................................................... 64 Adjusting autopilot settings .................................................... 68 Preface v Chapter 7: Adjusting Autopilot Settings ..............................75 7.1 Calibration basics .................................................................... 76 Calibration groups .................................................................. 76 Accessing the Calibration mode ............................................. 78 7.2 Display Calibration ................................................................ 79 Display Calibration screens .................................................... 79 7.3 User Calibration ...................................................................... 83 User Calibration screens ......................................................... 83 7.4 Seatrial Calibration ................................................................. 87 7.5 Dealer Calibration ................................................................... 88 Accessing Dealer Calibration ................................................. 88 Dealer Calibration screens and settings .................................. 88 Dealer Calibration defaults: Types 150/150G & 400/400G ... 97 Dealer Calibration options: Types 150/150G & 400/400G .... 98 Appendix: Using the ST6001+ With Non-150/400 Autopilots .............................................99 Using the autopilot (non-150/400 systems) ............................ 100 Commissioning the autopilot (non-150/400 systems) ............ 101 Dockside Checks .................................................................. 101 Seatrial Calibration ............................................................... 101 Calibration mode (non-150/400 systems) ............................... 102 Calibration groups ................................................................ 102 Dealer Calibration screens .................................................... 104 Dealer Calibration: possible settings with Type 100/300 ..... 110 Specifications ..................................................................... 111 ST6001+ control unit .............................................................. 111 Course computer functions ..................................................... 111 Glossary .............................................................................. 112 Index .................................................................................... 115 vi ST6001+ Autopilot Control Unit - Owner's Handbook Preface vii About this handbook Welcome to the handbook for the ST6001+ autopilot control unit. This handbook contains two main parts: Part 1: Using the ST6001+ 1 Chapter 1: Introduction Introduces the autopilot, its features and its use. Chapter 2: Basic Operation Covers basic autopilot operation: using Auto mode, adjusting autopilot performance, and changing the control unit lighting. Chapter 3: Advanced Operation Explains how to use Track and Wind Vane modes, adjust rudder gain and display data pages. Chapter 4: Fault Finding & Maintenance Provides general maintenance procedures and trouble-shooting information (including alarm messages). page 1 2 page 3 3 page 15 4 page 33 Part 2: Installing the ST6001+ 5 Chapter 5: Installing the ST6001+ Explains how to install your ST6001+ control unit and connect it to your autopilot system. Chapter 6: Commissioning the Autopilot Covers dockside checks after installation, and the initial seatrial calibration. Chapter 7: Adjusting Autopilot Settings Provides details on adjusting the control unit and autopilot settings in Calibration mode. page 43 6 page 55 7 page 75 At the end of this handbook we have included an appendix, product specifications, a glossary, an index, installation templates, and warranty information. 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. viii ST6001+ Autopilot Control Unit - 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 initial stable performance for most boats. To ensure optimum performance on your boat, you must complete Chapter 6: Commissioning the Autopilot 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 ix · · · · · 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 a ...