User manual RAYMARINE ST6001 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. 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 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. x ST6001+ Autopilot Control Unit - Owner's Handbook Part 1: Using the ST6001+ Part 1: Using the ST6001+ Part 1: Using the ST6001+ Chapter 1: Introduction 1 Chapter 1: Introduction 1 Introduction D54 60- 1 The Raymarine ST6001 Plus (ST6001+) is a SeaTalk® compatible autopilot control unit. It is designed as the main control unit for Raymarine Type 150, 150G, 400 and 400G course computers. The ST6001+ control unit has the following modes: 1. Standby: autopilot off (see page 6) 2. Auto: autopilot steers the boat to maintain a locked heading (see page 6) 3. Track: autopilot steers the boat to maintain a track between two waypoints created on a navigation aid (see page 16) 4. Wind Vane: autopilot steers the boat to maintain a course relative to a true or apparent wind angle (see page 23) 5. Calibration: so you can adjust the autopilot to give optimum performance for your boat (see page 76). This includes automatic compass deviation correction (all autopilots) and AutoLearn automatic steering calibration (Type 150G/400G systems only) The ST6001+ also provides: · · · automatic tack (AutoTack) in Auto and Wind Vane modes Northerly/Southerly heading compensation waypoint advance feature in Track mode 2 ST6001+ Autopilot Control Unit - Owner's Handbook Functions with Type 150/150G and 400/400G autopilots 1 Introduction The functions provided with Type 150/150G and Type 400/4000G autopilots depend on whether the course computer contains an internal GyroPlus yaw sensor: Type 150G/400G (with GyroPlus) Type 150/400 (without GyroPlus) Internal GyroPlus yaw sensor provides Full basic functionality: uses Raymarine enhanced course keeping using AST steering algorithm without AST (Advanced Steering Technology) Improved track-keeping Steering to true and apparent wind in Wind Vane mode Improved track-keeping Steering to true and apparent wind in Wind Vane mode Improved calibration access, including Improved calibration access, but AutoLearn (self-learning calibration) without AutoLearn Extended systems You can connect the ST6001+ to other Raymarine SeaTalk equipment so it can send and receive SeaTalk data: · · · it can use wind information from a SeaTalk wind instrument for Wind Vane steering it can use waypoint information from a SeaTalk navigation instrument to provide track control it can use boat speed from a SeaTalk speed instrument to optimize track-keeping performance You can also use the ST6001+ autopilot with any navigator (GPS, Decca, Loran) or wind instrument that transmits National Marine Electronics Association (NMEA) 0183 data. The ST6001+ can display SeaTalk and NMEA instrument data in a user-defined selection of data pages. When you are using the ST6001+ to repeat instrument data, it shows a `pop-up' pilot page for 5 seconds whenever you make a change in autopilot control. Compatibility with other autopilots The ST6001+ is also compatible with Raymarine Type 100 and Type 300 course computers (see the Appendix for more details). You can also use it as an additional repeater control unit for any SeaTalk autopilot system, allowing autopilot control from a secondary location. Chapter 2: Basic Operation 3 Chapter 2: Basic Operation The sections in this chapter explain how to use the basic functions on your ST6001+ autopilot control unit: 2.1 Using the control unit Summarizes the key functions and screen layout on the ST6001+ control unit. Using Auto mode Provides instructions for engaging/disengaging the autopilot, using Auto mode and adjusting the autopilot's performance. Adjusting display/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 14 Note: If you are using the control unit with a non-150/400 autopilot system, refer to the notes in the Appendix. 4 ST6001+ Autopilot Control Unit - Owner's Handbook 2.1 Using the control unit Start-up mode The autopilot always powers up in Standby mode with the display showing the boat's current compass heading. Note: You can press standby at any time to return to manual steering. Keypad functions 2 Basic Operation The autopilot is controlled using simple push-button operations, all of which are confirmed with a short beep. In addition to the main single-key functions, there are several dual key operations. -1 plus -10 Press together for AutoTack to port DISP Press to display data pages 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 (if a navigator is connected) Press to accept waypoint advance Press for 1 second to skip waypoint AUTO Press for Auto mode Press for 1 second for Last Heading Press again to accept Last Heading STANDBY Press for Standby mode Press for 2 seconds to enter Calibration mode Course change keys Port 1° Starboard 1° Port 10° Starboard 10° STANDBY plus AUTO Press for Wind Vane mode (if a wind vane is connected) Press for 1 second for Last Wind Press again to accept Last Wind D5449-1 Chapter 2: Basic Operation 5 Display layout The ST6001+ display screen provides the following information: Variable text region (up to 9 characters/digits) Heading indicators Distance units: · no units = kilometres · nm = nautical miles · SM = statute miles Autopilot mode indicators 2 Basic Operation Port and Starboard direction-to-steer indicators Calibration mode indicator (displayed on calibration pages) Rudder position indicator or error bar D5457-1 The bar graph at the bottom of the screen is normally a rudder position indicator. This indicates the current position of the rudder, as measured by the rudder position sensor. Note: You can change this to a heading/cross track/wind error bar in Display Calibration, see page 79. 6 ST6001+ Autopilot Control Unit - Owner's Handbook 2.2 Using Auto mode CAUTION: Before using Auto mode, make sure that the pilot has been correctly commissioned. Engaging the autopilot (Auto mode) To engage the autopilot: 1. Steady the boat on the required heading. 2. Press auto: · in Auto mode, the display shows the locked autopilot heading 2 Basic Operation D3560-3 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 by the helm. Disengaging the autopilot (Standby mode) Press standby to disengage the autopilot: · · in Standby mode, the display shows the boat's current compass heading. the last heading is memorized and can be recalled (see page 11). D3561-3 Chapter 2: Basic Operation 7 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 Adjusting performance ­ Type 150G/400G The main way you can adjust the performance of Type 150G/400G (GyroPlus) autopilot systems is by changing the response level. This is the only user adjustment you should need to make to the autopilot on a regular basis. The response level controls the relationship between the autopilot's course keeping accuracy and the amount of helm/drive activity. Type 150G and 400G autopilot systems have 9 levels of response: · · level 1 gives the least pilot activity to conserve power, but may compromise short-term course-keeping accuracy levels 4 to 6 should give good course keeping under normal operating conditions ­ with crisp, well controlled turns but without being over-aggressive level 9 gives the tightest course keeping and greatest rudder activity, but may lead to a rough passage in open waters as the autopilot may `fight' the sea · When you require extra tight course keeping (e.g. for pilotage in confined and sheltered waters), increase the setting. If you want to minimize drive activity and conserve battery power, decrease the setting. 8 ST6001+ Autopilot Control Unit - Owner's Handbook You can adjust the default response level in either User or Dealer Calibration (see page 85). This determines the default power-up response level. However, when using your autopilot on a day-to-day basis, you can make temporary adjustments to the response level. By doing this you can match autopilot performance to different conditions. Temporary changes to response ­ Type 150G/400G With these points in mind, you should use the following procedure to make temporary adjustments to the response level when required: 1. Display the RESPONSE screen by pressing the -1 and +1 keys together momentarily. 2 Basic Operation Decrease response Increase response D5452-1 Note: The RESPONSE screen is set as a default data page (see page 81) so 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. Note: You will lose these temporary changes to response level whenever the system is powered off. You can make permanent adjustments in User or Dealer Calibration (see page 85). Adjusting performance ­ Types 150/400 and 100/300 To adjust the performance of Type 150/400 (non-GyroPlus) and Type 100/300 autopilot systems you can change the response level. Chapter 2: Basic Operation 9 Response level ­ Types 150/400 and 100/300 The response level controls the relationship between the autopilot's course keeping accuracy and the amount of helm/drive activity. You can adjust the default response level in either User or Dealer Calibration (see page 85). This determines the default power-up response level. However, when using your autopilot on a day-to-day basis, you will need to make temporary adjustments to the response level. By doing this you can match autopilot performance to different conditions. Type 150/400 (without GyroPlus) and Type 100/300 autopilot systems have three different response levels: 2 Basic Operation · 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 tighter course keeping. However, this results in increased power consumption and drive unit activity. Response Level 3: AutoSeastate off + yaw damping This setting provides the tightest possible course keeping by introducing counter rudder yaw damping. You can adjust the counter rudder setting in Dealer Calibration (see page 91) · · To make a temporary change to the response setting: 1. Display the RESPONSE screen by pressing the -1 and +1 keys together momentarily. 2. Press -1 or +1 to change the response between levels 1 to 3. 3. Press disp or wait for 5 seconds to return to the previous display. Note: You will lose these temporary changes to response level whenever the system is powered off. You can make permanent adjustments in User or Dealer Calibration (see page 85). 10 ST6001+ Autopilot Control Unit - Owner's Handbook Off Course warning = deviation to port = deviation to starboard D3315-2 2 Basic Operation The ST6001+ activates the OFF COURSE warning 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 off course angle in Dealer Calibration (see page 93). 1. To cancel the off course warning, 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 ST6001+ also clears the warning if the heading recovers, if you change the course, or if you change the operating mode. Dodging obstacles and then resuming course To avoid an obstacle when your boat is under autopilot control, you can dodge the obstacle and then resume your previous course. Dodging an obstacle Obstacle Original course Dodge D3303-2P Chapter 2: Basic Operation 11 Dodging an obstacle 1. Select a course change in the appropriate direction. For example, press -10 three times for a 30° dodge to port. 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) as described below Returning to the previous heading (LAST HDG?) When the boat is in Auto mode and you have steered the boat away from the selected locked heading for any reason (for example, to execute a dodge maneuver), you can return to the previous locked heading (the most recent heading held for 20 seconds). To do this: 1. Press auto for 1 second. The display flashes and shows the previous locked heading (LAST HDG?) for 10 seconds. The direction-to-steer indicator shows the direction the boat will turn. 2. To accept this heading, and resume this course, press auto when the display is flashing. Note: If you do not press auto while the display is flashing, the autopilot will maintain the current heading. Returning to last heading 2 Basic Operation Resumed course 1 SECOND Obstacle Original course Dodge D5499-1 12 ST6001+ Autopilot Control Unit - Owner's Handbook Using sail boat features Automatic tack (AutoTack) The ST6001+ has a built in automatic tack facility (AutoTack) that turns the boat through 100° in the required direction. If you have set the vessel type to SAIL BOAT, you can adjust the default AutoTack angle in User or Dealer calibration (see page 83). · · to AutoTack to port: press the -1 and -10 keys together to AutoTack to starboard: press the +1 and +10 keys together CAUTION: 2 Basic Operation When making major course changes, the trim on the boat may change substantially. Because of this, the autopilot may take some time to settle accurately onto the new course. AutoTack - Port Wind AutoTack - Starboard Wind AutoTack angle AutoTack angle D5399-1 Preventing accidental gybes Note: For the gybe inhibit feature to work, the autopilot needs suitable wind information (see page 23). The gybe inhibit feature stops the boat from performing an AutoTack away from the wind ­ this will prevent accidental gybes. On Type 150/150G and 400/400G autopilots, you can turn off this feature if required: Chapter 2: Basic Operation 13 · · with gybe inhibit on: · you will be able to perform an AutoTack into the wind · to prevent accidental gybes, the autopilot will prevent the boat from performing an AutoTack away from the wind with gybe inhibit off: · you can perform an AutoTack into or away from the wind. Note: Gybe inhibit is switched on as a default. On Type 150/150G and Type 400/400G autopilots you can switch it off in User or Dealer Calibration (see page 83). Gusty conditions In gusty 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 · 14 ST6001+ Autopilot Control Unit - Owner's Handbook 2.3 Adjusting display/keypad lighting Note: When the display lighting is off, the control unit 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 (the brightest setting), LAMP 2, LAMP 1, OFF, LAMP 1, LAMP 2, LAMP 3 and so on: · as you change the setting, the illumination on any other SeaTalk instruments or control units will also change 2 Basic Operation . SECOND D3313-3 3. The display automatically returns to the previous mode if you do not press a key for 10 seconds: · if you press another mode key within 10 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. Note: When you switch off the unit you lose any changes you have made to the lighting level. Chapter 3: Advanced Operation 15 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 ­ sail boats Using the autopilot to maintain a course relative to a true or apparent wind angle. Adjusting the rudder gain Explains how to adjust the rudder gain setting (mainly applies to non-GyroPlus Type 150/400 systems). Displaying data pages Describes how to use data pages to display SeaTalk and NMEA information on the control unit. This section also explains the Watch timer feature. page 16 3.2 page 23 3.3 page 27 3.4 page 29 Note: If you are using the control unit with a non-150/400 autopilot system, refer to the notes in the Appendix. 3 Advanced Operation 16 ST6001+ Autopilot Control Unit - Owner's Handbook 3.1 Using Track mode Note: You can only use Track mode if you have connected the autopilot to a suitable navigation system providing SeaTalk or NMEA navigation information. The autopilot system can receive track information from either: · · a SeaTalk navigation instrument or chartplotter (see page 49 for information on connecting to SeaTalk), or a non-SeaTalk navigation system transmitting data in the NMEA 0183 format (see page 50 for information on connecting NMEA equipment) In Track mode, the autopilot maintains a track between waypoints created on the navigation system. The autopilot makes any course changes necessary to keep your boat on track, automatically compensating for tidal streams and leeway. Selecting Track mode CAUTION: 3 Advanced Operation When you enter Track mode, the autopilot will bring the boat onto the track in a controlled way. The closer the boat is to the correct heading and track, the quicker the autopilot will settle the boat onto the new course. To avoid an unexpected turn, approximately align the boat with the required track before entering Track mode. To select Track mode: 1. Start with the autopilot in Auto mode. 2. Press track to enter Track mode. 3. Wait for the Waypoint Advance warning to sound. The display will show the bearing to the next planned waypoint and the direction the boat will turn to reach this waypoint. 4. Check that it is safe for the boat to turn onto the new course. 5. Press the track key: · the autopilot will turn the boat onto the new course in a controlled way · the display shows the heading required to achieve the required track Chapter 3: Advanced Operation 17 Note: The closer the boat is to the correct heading and track when you press track, the quicker the autopilot will bring the boat onto the new course. If the boat is more than 0.3 nm from the track, the Large Cross Track Error warning will sound (see page 17). 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 Exiting Track mode You can exit Track mode and return to Auto or Standby mode by: · · pressing auto to return to Auto mode pressing standby to steer manually in Standby mode 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. If the cross track error is greater than 0.3 nm, the ST6001+ will sound the Large Cross Track Error warning and show whether you are to the port (Pt) or starboard (Stb) of the planned track. 18 ST6001+ Autopilot Control Unit - Owner's Handbook Cross track error (XTE) more than 0.3 nm al Actu rout e Waypoint 2 e rout ned Plan D5415-1 Waypoint 1 Tidal stream compensation Under most conditions, the autopilot 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. 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 ee d th ro ug h w at er Chapter 3: Advanced Operation 19 In order of preference, the autopilot 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 Calibration (see page 95) Waypoint arrival and advance Note: Waypoint advance only operates if the ST6001+ is receiving valid bearing to waypoint and waypoint name information. Arrival As the boat arrives at the target waypoint the navigation aid will select the next target waypoint and transmit this to the autopilot. The autopilot will then detect the new target waypoint name, sound the Waypoint Advance warning and display the Waypoint Advance (NEXT WPT) screen. This shows the new bearing to the next waypoint and the direction the boat will turn to acquire the new track. Waypoint arrival and advance Waypoint arrival Next target waypoint at 270° Waypoint advance New target waypoint at 270° 3 Advanced Operation Target waypoint Old target waypoint D5416-1 20 ST6001+ Autopilot Control Unit - Owner's Handbook Advance When the ST6001+ sounds the Waypoint Advance warning, 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 warning and turn the boat towards the next waypoint. Note: If you do not press track to accept the Waypoint Advance, the autopilot will maintain the current heading and continue sounding the warning. 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. Check it is safe to turn, then press track to turn the boat towards the next waypoint. WARNING: 3 Advanced Operation Skipping a waypoint will take you straight to the next waypoint. Check your navigation before making the turn. Route Completed warning The ST6001+ displays the ROUTE COMPLETED warning when you have reached the last waypoint on a route in Track mode. To respond to this message: · · press auto to continue on the same heading or press standby to return to hand steering Waypoint Advance warning ­ summary The ST6001+ activates the Waypoint Advance warning (NEXT WPT?) in Track mode whenever the target waypoint name 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) Chapter 3: Advanced Operation 21 · · 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 warning 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 warning To respond to a Waypoint Advance warning: · · check that it is safe to turn onto the new track, then press track to accept the waypoint advance alternatively, you can cancel the warning without accepting the waypoint advance by pressing: · standby to return to hand steering · or auto to return to Auto mode Dodges in Track mode When the autopilot is in Track mode you still have full control from the keypad. 3 Advanced Operation 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. 22 ST6001+ Autopilot Control Unit - Owner's Handbook Safety in Track mode CAUTION: 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. 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. 3 Advanced Operation 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. Chapter 3: Advanced Operation 23 3.2 Using Wind Vane mode ­ sail boats Note: You can only select Wind Vane mode if the autopilot is receiving suitable SeaTalk or NMEA wind direction information. About Wind Vane mode When the autopilot is in Wind Vane mode it uses the fluxgate compass as the primary heading reference. As changes in the true or apparent wind angle occur, the autopilot adjusts the locked compass heading to maintain the original wind angle. Wind information To use Wind Vane mode, the autopilot must receive wind information from one of the following sources: · · · SeaTalk wind instrument connected to the autopilot via SeaTalk NMEA wind instrument Raymarine pushpit wind vane connected via a SeaTalk interface True and apparent wind Type 150/150G and 400/400G autopilots can maintain a course relative to either an apparent or true wind angle in Wind Vane mode: · · steering to apparent wind, the autopilot maintains the apparent wind angle steering to true wind, the autopilot maintains the true wind angle 3 Advanced Operation Note: The default setting is apparent wind. On Type 150/150G and 400/400G autopilots you can change this to true wind in User or Dealer Calibration (see page 85). Type 100/300 autopilots can only maintain a course relative to apparent wind. WindTrim In Wind Vane mode the autopilot uses WindTrim to eliminate the effects of turbulence and short term wind variations. This provides smooth and precise performance with minimal power consumption. You can adjust the wind response (WindTrim) level in User or Dealer Calibration (see page 85) to control how quickly the autopilot responds to changes in the wind direction. Higher wind trim settings will result in a pilot that is more responsive to wind changes. 24 ST6001+ Autopilot Control Unit - Owner's Handbook Selecting Wind Vane mode You can select Wind Vane mode from either Standby or Auto mode: 1. Steady the boat onto the required wind angle. 2. Press standby and auto together to select Wind Vane mode and lock the current wind angle: · the display shows the locked heading (e.g. 128°) and the wind angle (e.g.WIND 145P indicates an wind angle of 145° to port) · if the autopilot does not enter Wind Vane mode, it is not receiving wind data - check the instrument and connections D3565-3 The autopilot will then adjust the boat's heading to maintain the locked wind angle. Exiting Wind Vane mode 3 Advanced Operation You can exit Wind Vane mode by: · · pressing auto to return to Auto mode pressing standby to steer manually in Standby mode Adjusting the locked wind angle You can adjust the locked wind angle by using the -1, +1, -10 and +10 keys to change course. For example, to bear away by 10° when the boat is on a starboard tack: · · press -10 to turn the boat 10° to port ­ the locked wind angle and locked heading will both change by 10° the autopilot will then adjust the locked heading as required to maintain the new wind angle Note: Because turning the boat affects the relationship between the true and apparent wind angles, you should only use this method to make minor adjustments to the wind angle. For major changes, return to Standby mode, steer onto the new heading, then reselect Wind Vane mode. Chapter 3: Advanced Operation 25 Returning to the previous wind angle (LAST WND) If you have steered the boat away from the selected wind angle for any reason (such as a dodge maneuver or selecting Standby mode), you can return to the previous locked wind angle: 1. Press standby and auto together for 1 second to display the previous wind angle (LAST WND?): · the LAST WND?text alternates with the previous wind angle and direction. The display shows the previous locked heading and an indication of which direction the boat will turn SECOND D3566-3 2. Check that it is safe to turn onto this course. 3. To accept this wind angle, press standby and auto together within 10 seconds. Note: If you do not accept the previous wind angle within 10 seconds, the autopilot will lock onto the current wind angle. 3 Advanced Operation Dodges in Wind Vane mode When the autopilot is in Wind Vane mode you still have full control from the keypad. Initiating a dodge maneuver In Wind Vane mode, you can make a dodge maneuver by using the course change keys (-1, +1, -10 or +10) to select the desired course change. The autopilot will adjust both the locked heading and locked wind angle. Cancelling a dodge maneuver After you have avoided the hazard, you can reverse the previous course change, or return to the previous wind angle (LAST WND?). 26 ST6001+ Autopilot Control Unit - Owner's Handbook Wind Shift warning If the autopilot detects a wind shift of more than 15° it will sound the wind shift warning and display the WIND SHIFT message: · · To cancel the warning, and retain the existing wind angle and new heading, press standby and auto together. Alternatively, to cancel the warning and return to the previous heading, either: · adjust the locked wind angle using the -1, +1, -10 and +10 keys, or · press standby to return to hand steering, steer onto the required heading, and press standby and auto together to return to Wind Vane mode with the new wind angle Using AutoTack in Wind Vane mode Note: If you use the AutoTack function in Wind Vane mode, make sure the wind vane has been centered accurately. The ST6001+has a built in automatic tack facility (AutoTack) that turns the boat through 100° in the required direction: 3 Advanced Operation · · AutoTack - Port 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 Wind AutoTack angle AutoTack angle D5399-1 Note: If you have set the vessel type to SAIL BOAT, you can adjust the default AutoTack angle in User or Dealer calibration (see page 83). Chapter 3: Advanced Operation 27 When you AutoTack in Wind Vane mode, the boat turns through the AutoTack angle. The autopilot will then trim the heading to mirror the locked wind angle from the previous tack. Operating hints for Wind Vane mode · · · · Always trim your sails carefully to minimize the amount of standing helm. Reef the headsail and mainsail a little early rather than too late. In Wind Vane mode the pilot will react to long-term wind shifts, but will not correct for short-term changes such as gusts. In gusty and unsteady inshore conditions, it is best to sail a few degrees further off the wind so that changes in wind direction can be tolerated. 3.3 Adjusting the rudder gain Note: Although this feature is available on all systems, you should not need to adjust the rudder gain setting on Type 150G/400G autopilot systems after completing the AutoLearn (see page 68). 3 Advanced Operation Decrease rudder gain Increase rudder gain SECOND D5400-1 On Type 150/400 (non-GyroPlus) and Type 100/300 systems, you can make temporary adjustments to rudder gain to change the autopilot's steering characteristics. Rudder gain is a measure of how much helm the autopilot will apply to correct course errors: · if rudder gain is adjusted correctly, the course changes should result in a crisp turn followed by an overshoot of no more than 5° 28 ST6001+ Autopilot Control Unit - Owner's Handbook · · if rudder gain is too high, courses change will result in a distinct overshoot (A) if rudder gain is too low, the boat will feel sluggish ­ it will take a long time to make the turn and there will be no overshoot (B) New heading B New heading A New heading Rudder gain too low Rudder gain too high Correct rudder gain D3262-2 Note: See page 71 for a full explanation of rudder gain and how to adjust it correctly. 3 Advanced Operation If necessary, you can make a temporary change to rudder gain as follows: 1. Press the -1 and +1 keys together for 1 second to display the rudder gain (RUDD GAIN) screen: · if you have set up the RUDD GAIN screen as a default data page (see page 81) 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: You will lose these temporary changes to rudder gain whenever the system is powered off. You can make permanent adjustments in User or Dealer Calibration (see page 91). WARNINGS: 1. You must set rudder gain correctly on planing craft. Incorrect rudder gain will lead to poor steering performance and can be dangerous at high speeds. 2. If you increase the rudder gain setting on a Type 150G/400G autopilot, you must also increase the counter rudder setting. Chapter 3: Advanced Operation 29 3.4 Displaying data pages Use the disp key to show `data pages' of SeaTalk or NMEA data: 1. Press disp to access the first data page, and press it again to cycle through each data page in turn: · to return to a previous data page, press disp for 1 second within 2 seconds of displaying a page · when you cycle past the last data page, the display returns to the current autopilot mode screen (for example, Auto) · 4 data pages are set in the factory as a default (see diagram): within User setup you can select up to 7 pages and control the information they display (see page 81) 2. Select the data page you want to use as the main display: · the current autopilot mode is shown at the left of the display and the autopilot bar graph remains in use · if you then select a new mode or make a course change, the autopilot mode screen appears as a `pop-up' for 5 seconds Notes: 1. If the autopilot system cannot obtain the required information, the data page will show dashes instead of a value. 2. The direction-to-steer arrows relate to the data page information. 3. Most data pages show repeated data so you cannot adjust them: the exceptions are the RESPONSE and RUDDER GAIN data pages, which you can adjust using the -1 and +1 keys t 3 Advanced Operation Default data pages Data page 4 Autopilot mode Data page 1 Data page 3