Raymarine ST1000 Plus Tiller Pilots User guide

ST1000 Plus &
ST2000 Plus
Tiller Pilots
Owner’s
Handbook
Document number: 81130-3
Date: June 2001
81130_3.book Page i Wednesday, July 25, 2001 11:57 AM

ii ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Autohelm,HSB(HighSpeedBus),SailPilot,SeaTalkandSportPilot
are registered trademarks of Raymarine Ltd.
Raymarine,AST (AdvancedSteeringTechnology),AutoAdapt,
AutoLearn, AutoRelease, AutoSeastate, AutoTack, AutoTrim,
FastTrim, GyroPlus, RayGyro,RayPilotand WindTrim are
trademarks of Raymarine Ltd.
Handbook contents © Raymarine Ltd 2001.
81130_3.book Page ii Wednesday, July 25, 2001 11:57 AM

Preface iii
Contents
Chapter 1: Introduction ............................................................1
1.1 Overview ..................................................................................1
1.2 Specifications............................................................................2
1.3 About thishandbook .................................................................3
Important Information .............................................................. 3
Chapter 2: Using the Tiller Pilot ...............................................7
2.1 Overview ..................................................................................7
2.2 Using Automode ...................................................................... 8
Engagingthe autopilot(Automode) .........................................8
Disengagingthe autopilot (Standby mode) ..............................8
Changing course .......................................................................9
Displaying navigation informationpages ...............................12
Automatic deadband control (Auto Seastate) ......................... 12
Operatinghints –trim changes ...............................................13
2.3 Switching displayillumination on and off ..............................14
2.4 Using Trackmode ...................................................................15
SelectingTrackmode .............................................................15
Returning toAuto from Track mode .......................................17
Cross track error (XTE) ..........................................................17
Tidal stream compensation .....................................................18
Waypoint arrival and advance .................................................19
Dodgesin Track mode ............................................................19
Safetyin Trackmode ..............................................................20
Warningmessages inTrack mode ...........................................21
2.5 Using WindTrim mode ...........................................................23
SelectingWindTrim mode ......................................................23
ExitingWindTrim mode .........................................................24
Returning tothe previousapparent wind angle .......................24
Wind shift alarm ......................................................................24
Operating hints for WindTrim mode .......................................25
Chapter 3: Maintenance & Fault Finding ..............................27
3.1 Generalmaintenance ..............................................................27
3.2 Productsupport .......................................................................28
3.3 Fault finding ............................................................................28
Chapter 4: Installing the Tiller Pilot ......................................33
4.1 Planning the installation .......................................................... 33
4.2 Installing the tiller pin and mounting socket ...........................36
Measuringthe criticaldimensions ..........................................36
81130_3.book Page iii Wednesday, July 25, 2001 11:57 AM

iv ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Basic installation .....................................................................37
Installation accessories ........................................................... 38
4.3 Cabling andsocket installation ............................................... 45
Mountingthe socket ...............................................................45
Powersupply ..........................................................................46
SeaTalk cabling .......................................................................47
NMEAcabling ........................................................................49
ConnectingNMEAandSeaTalk ............................................50
Chapter 5: Commissioning the Tiller Pilot ...........................51
5.1 Functional tests .......................................................................51
Switchon ................................................................................51
Operatingsense .......................................................................51
Checking the navigation interface .......................................... 52
Checkingthewindinstrumentinterface .................................54
Checkingthe SeaTalk interface ..............................................54
5.2 Initialsea trial ..........................................................................55
Calibratingthe compass .......................................................... 56
Autopilot operation ................................................................. 58
5.3 Adjustingautopilotperformance ............................................58
Chapter 6: Adjusting Tiller Pilot Settings ............................61
6.1 Introduction ............................................................................61
Adjustingcalibrationvalues ...................................................61
Calibrationfeatures.................................................................63
Default calibration values ....................................................... 63
6.2 Calibrating thetiller pilot ........................................................64
Calibration Level 1: Rudder gain ............................................64
Calibration Level 5: cruise speed ............................................ 64
Calibration Level 6: off course alarm angle ............................ 64
Calibration Level 9: magnetic variation ................................. 65
Calibration Level 10: heading error correction ....................... 65
Calibration Level 11: boat’s currentlatitude ...........................66
Calibration Level 13: rudder damping ....................................66
Controllingaccess tocalibration .............................................66
Index ..................................................................................... 69
81130_3.book Page iv Wednesday, July 25, 2001 11:57 AM

Chapter 1: Introduction 1
1 Introduction
Chapter 1: Introduction
1.1 Overview
Your Raymarine tiller pilot is a totally self-contained autopilot
designed for tiller steered sailboats. Theautopilot is mounted
between the tiller and a single attachment point on the boat’s
structure.It is designed forowner installation and isready for use
after connectionto the boat’s 12 Velectrical system.
Operating modes
The tiller pilot hasfourbasic operatingmodes:
•Standbymode:autopilotoff
•Automode: autopilotengaged andlocked onto a heading
•Trackmode:autopilot on andmaintaininga track between two
waypointscreated ona navigation system
•WindTrimmode:autopilotonandmaintainingacourserelative
to an apparent wind angle
SeaTalk and NMEA compatibility
The tiller pilot is SeaTalk compatible, so it can share data transmitted
fromotherRaymarine SeaTalk instruments:
•windinformationfroma windinstrument can beusedfor
wind vane steeringwithout theneed toinstall aseparate vane
•track information, from a navigator, enables the autopilot to
providewaypoint control
•boat speedfrom a speed instrument can provide optimumtrack
keepingperformance
•SeaTalkcompatibilityalsoallowsadditional fixedandhand-held
autopilotcontrol units to be easily connected at secondary
steering andcontrol positions
D5557-2
81130_3.book Page 1 Wednesday, July 25, 2001 11:57 AM

2 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
1 Introduction
The ST1000 Plus and ST2000 Plus tiller pilots can also be used with
anynavigatortransmittingNMEA0183 or NMEA0180data.
The tiller pilot can be calibrated to suit each installationto provide
maximum performancewith many typesof boat.
1.2 Specifications
EMC conformance
All Raymarine equipment and accessories aredesigned tothe best
industrystandards for use in the recreational marineenvironment.
The design and manufacture of Raymarine equipment and
accessories conform tothe appropriate Electromagnetic
Compatibility(EMC)standards,butcorrectinstallationisrequiredto
ensure that performance is notcompromised.
General specifications
Power supply: 10 V to 15 V DC
Drive unit thrust torque: ST1000 Plus: 57 kg (125 lb)
ST2000 Plus: 77 kg (170 lb)
Maximum boat
displacement:
ST1000 Plus: 3 000 kg (6 600 lb)
ST2000 Plus: 4 500 kg (10 000 lb)
Drive mechanism: ST1000 Plus: lead-screw and nut drive
ST2000 Plus: re-circulating ball drive
Helm speed (lock to lock): ST1000 Plus: 8 seconds
ST2000 Plus: 4.5 seconds
Current consumption: •Standby: 40 mA (90 mA with full lighting)
•Auto: 0.5 A to 1.5 A depending on boat trim,
helm load and sailing conditions
Operating temperature: 0°C to +70°C (32°F to 158°F)
Main features: •6 button digital keypad
•Backlit LCD display of heading, locked course
and navigational information
•User calibration for optimum performance
•WindTrim control in WindTrim mode
•SeaTalk compatible
•Automatic compass deviation correction
•Northerly/Southerly heading compensation
•Automatic heading deadband –seastate control
•Automatic tack
•Built-in navigator interface (NMEA and SeaTalk)
•Waypoint advance feature
81130_3.book Page 2 Wednesday, July 25, 2001 11:57 AM

Chapter 1: Introduction 3
1 Introduction
1.3 About this handbook
Part 1: Using the Tiller Pilot
Thispartof the handbookexplainshow touse your tillerpilot:
Part 2: Installing the Tiller Pilot
Thispartof the handbookexplainshowtoinstall your tillerpilot:
Note:This handbook contains important informationabout
installing,usingand maintainingyournew Raymarine product.To
get thebest from the product, please readthis handbook thoroughly.
Important Information
Warranty
ToregisteryournewRaymarineproduct,pleasetakeafewminutesto
fillout thewarrantycard.It is importantthatyoucompletetheowner
informationandreturnthecardtoustoreceivefullwarrantybenefits.
Handbook information
To the best of our knowledge, the information in thishandbook was
correct when it wentto press.However, Raymarine cannot accept
liabilityforanyinaccuraciesoromissionsitmaycontain.Inaddition,
ourpolicyofcontinuousproductimprovementmay change
specifications without notice. As aresult, Raymarine cannot accept
liability for any differences between the product and the handbook.
2Chapter 2: Using the Tiller Pilot
How to use the tiller pilot. page 7
3Chapter 3: Maintenance & Fault Finding
Provides maintenance and fault finding information. page 27
4Chapter 4: Installing the Tiller Pilot
How to install your tiller pilot and its components. page 33
5Chapter 5: Commissioning the Tiller Pilot
How to check the tiller pilot and perform an initial sea trial. page 51
6Chapter 6: Adjusting Tiller Pilot Settings
How to change the tiller pilot calibration settings. page 61
81130_3.book Page 3 Wednesday, July 25, 2001 11:57 AM

4 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
1 Introduction
Safety notices
WARNING: Product installation
Thisequipment mustbeinstalledandoperatedin accordance
withtheinstructionscontainedinthishandbook.Failuretodoso
couldresultinpoorproductperformance,personalinjury
and/ordamageto yourboat.
WARNING: Electrical safety
Makesurethepowersupplyisswitchedoffbeforeyoumakeany
electrical connections.
WARNING: Navigation aid
Althoughwe havedesignedthisproducttobe accurateand
reliable,many factorscanaffectitsperformance. Asaresult,it
shouldonlybe usedasanaidto navigationandshouldnever
replacecommon senseandnavigationaljudgement.Always
maintainapermanentwatchsoyoucanrespondtosituationsas
theydevelop.
YourRaymarine autopilotwilladd a newdimensionto your boating
enjoyment. However, it is the skipper’s responsibility to ensure the
safety ofthe boat at all times byfollowing thesebasic rules:
•Ensure that someoneis present at thehelm AT ALL TIMES, to
take manual control in an emergency.
•Make sure thatall crew members know how to disengage the
autopilot.
•Regularlycheckforotherboatsand any obstaclestonavigation–
nomatterhowcleartheseamayappear,adangeroussituationcan
developrapidly.
•Maintain an accuraterecordofthe boat’spositionby usingeither
anavigationaid orvisual bearings.
•Maintain a continuousplot of your boat’spositionon acurrent
chart. Ensure thatthe locked autopilot headingwill steer the boat
clear of all obstacles. Make proper allowance for tidal set –the
autopilot cannot.
•Evenwhenyourautopilotislockedontothedesiredtrackusinga
navigationaid,alwaysmaintainalogandmakeregularpositional
plots.Navigationsignalscan produce significanterrors under
some circumstances and the autopilot will not be able to detect
these errors.
81130_3.book Page 4 Wednesday, July 25, 2001 11:57 AM

Part 1:
Using the
Tiller Pilot
Part 1: Using the Tiller Pilot
81130_3.book Page 5 Wednesday, July 25, 2001 11:57 AM

Part 1: Using the Tiller Pilot
81130_3.book Page 6 Wednesday, July 25, 2001 11:57 AM

Chapter 2: Using the Tiller Pilot 7
2 Using the Tiller Pilot
Chapter 2: Using the Tiller Pilot
2.1 Overview
WARNING:
Passagemakingunderautopilotcontrolisanenjoyable
experience that can, ifyou are notcareful, lead tothe relaxation
ofthepermanentwatch.Alwaysmaintainapermanentwatchno
matterhow cleartheseamayappeartobe.
•ThetillerpilotalwayspowersupinStandbymode(indicatedbya
flashing‘C’alongside the boat’s current compass heading).
•Thetillerpilotiscontrolledusingsimplepush-buttonoperations,
all of which are confirmed with a shortbeep. In addition to the
main single key functions, there are several dual key operations.
•To select automatic steering:
•steadythe boat ontherequired heading
•place the pushrod over thetiller pin (ifnecessary, extend or
retract the pushrod using the -1, +1,-10, and +10 keys)
•press auto:the display willthen show an ‘A’alongsidethe
current heading
•To return to manual steering at any time:
•press standby
•remove the pushrod from the tiller pin
•Youcanusethe-1,+1,-10,and+10 keystomakecoursechanges
when the boat is under autopilot control.
D355-2
81130_3.book Page 7 Wednesday, July 25, 2001 11:57 AM

8 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
2 Using the Tiller Pilot
2.2 Using Auto mode
Engaging the autopilot (Auto mode)
1. Steady the boat on the required heading.
2. Placethepushrodoverthetillerpin.Ifnecessary,extendorretract
thepushrodusingthe -1,+1,-10, and+10 keys.
3. Pressauto: the tiller pilot will enter Auto mode and the display
willshowan‘A’(forauto)alongsidethelockedautopilotheading.
Disengaging the autopilot (Standby mode)
To returnto hand steering:
1. Pressstandby.
2. Removethepushrodfromthetillerpintoreturntohandsteering:
the display will show a flashing ‘C’andthe boat’scurrent
compass heading.
3. The last heading is memorizedand can be recalled (see page 11).
D354-2
D353-2
81130_3.book Page 8 Wednesday, July 25, 2001 11:57 AM

Chapter 2: Using the Tiller Pilot 9
2 Using the Tiller Pilot
Changing course
In Auto mode,use the -1 and-10 (port)and+1 and+10 (starboard)
keystochange course insteps of1°and10°.
For example: press -10 three times for a30°course change to port:
Port Starboard
oror
D3320-2
D3254-2
Original
course
30˚ to port
81130_3.book Page 9 Wednesday, July 25, 2001 11:57 AM

10 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
2 Using the Tiller Pilot
Automatic tack feature (AutoTack)
Theautopilothasabuilt-inautomatictackfacility(inAuto,Trackand
WindTrim modes)that turnstheboatthrough100°:
•to AutoTack 100°to port,press -1 and -10 together
•to AutoTack 100°to starboard, press+1 and +10 together
Dodging obstacles
1. To avoid an obstacle when youboat isunder autopilot control,
select a course changein theappropriate direction. For example,
press-10 three times for a 30°dodgetoport.
2. When safelyclear ofthe obstacle,you can either:
•reverse the previouscourse change (for example, by pressing
+10 three times), or
•return to the previous heading (see below)
Wind
AutoTack - Starboard
D5399-1
Wind
AutoTack - Port
AutoTack
angle
AutoTack
angle
D3255-2
Original
course
30˚dodge
to port
Obstacle
81130_3.book Page 10 Wednesday, July 25, 2001 11:57 AM

Chapter 2: Using the Tiller Pilot 11
2 Using the Tiller Pilot
Returning to the previous heading
1. Pressauto for1 second: the previousheading willflash for
10 seconds.
2. To accept the previous heading, press auto againwhile the
previousheading is flashing.
Note:If you donotpressauto while the display is flashing, the
autopilot will maintain the current heading.
Off course alarm
The off course alarm soundsif the locked autopilotheading and the
boat’s current heading differ by morethan the value set in
calibration level 6 (see page 64)for 20 seconds.
Cancelling the off course alarm
To cancel the off course alarm, press standby to return to manual
steering.
Note:Iftheoffcoursealarmsounds,thisisusuallyanindicationthat
the boat iscarryingtoo much sail, or that the sailsare badly
balanced.Inthese conditions,youcanusually obtainsignificant
improvements in course keeping by improvingthe sail balance.
Original
course
Obstacle
SECOND
Resumed
course
Dodge
D3256-2
D191-2
81130_3.book Page 11 Wednesday, July 25, 2001 11:57 AM

12 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
2 Using the Tiller Pilot
Displaying navigation information pages
Ifnavigationinformation(e.g.distancetowaypoint,crosstrackerror
andbearingtowaypoint)isavailable,youcandisplayitinAutomode
orStandbymodebypressingeither-1 and+10 or+1 and-10 together
momentarily. The display will then cycle through thenavigation
informationpages:
You can revert to normal operationby pressingeither-1 and+10 or
+1 and-10 togetheragain.
Automatic deadband control (Auto Seastate)
In Auto, WindTrim or Track modes, the tiller pilot is set to
AutoSeastate (automatic deadband control) as a default. This causes
the pilot to gradually ignore repetitive movements of the boat and
respond only to true course variations.
By preventing unnecessary rudder movement, AutoSeastate
providesthe bestcompromise betweenpower consumption and
coursekeeping accuracy.
If you want to switch off the AutoSeastate feature:
1. FromAuto,WindTrimorTrackmode,press-1 and+1 togetherto
switchfromAutoSeastateto Fixed MinimumDeadband.
2. The“°”signflasheswhenFixedMinimumDeadbandisselected.
Minimumdeadband providesthe tightestcourse keeping
possible,at the expense of increased power consumption and
drive unit activity.
D178-2
Locked heading
Distance to waypoint
(if available)
Bearing to waypoint
(if available)
Cross track error
81130_3.book Page 12 Wednesday, July 25, 2001 11:57 AM

Chapter 2: Using the Tiller Pilot 13
2 Using the Tiller Pilot
To switch back to AutoSeastate, press -1 and +1 again.
Note:The autopilot reverts toAutomatic DeadbandControl each
time youselect Standby mode.
Operating hints –trim changes
CAUTION:
Only make majorcourse changes when steering MANUALLY.
Thisensures thattheboatwillsafely clearany obstructionsor
otherboats,andyoucantakeintoaccountthechangedwindand
seaconditionsonthenew headingbefore engagingtheautopilot.
Large coursechanges whichchange the apparent wind direction can
producelargetrim changes.When a suddentrim changeoccurs (for
example due toweatherhelm orsailimbalance)there will be adelay
ofuptooneminutebeforetheautomatictrimappliesruddertorestore
thelocked heading.
Inthesesituations,theautopilotwillnotimmediatelyassumethenew
automatic heading,and willonly settle onto coursewhen the
automatictrimhasbeenfully established.Tominimizethisproblem,
usethe following procedure tomakemajorcoursechanges:
1. Note the required new heading.
2. Pressstandby, removethe pushrod fromthe tillerpin, and steer
manually.
3. Bringboatontothenewheadingandfitthepushrodbackontothe
tiller pin.
4. Pressauto and let the boat settle on course.
5. Bring your boat onto the final course in 1°stepsusing-1 or+1.
D360-3a
81130_3.book Page 13 Wednesday, July 25, 2001 11:57 AM

14 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
2 Using the Tiller Pilot
Gusting conditions
Ingustingconditions,thecoursemay tendtowander slightly,
particularlyifthesailsarebadlybalanced.Byimprovingsailbalance,
youcanimprovecourse keeping.
If you take the following precautions, theautopilot will be able to
maintain competent control even in gale force conditions:
•Do not allow the boatto heel overexcessively.
•Ease the mainsheet traveller toleeward toreduceheelingand
weatherhelm.
•If necessary, reef themainsail a little early.
•It is also advisable (wheneverpossible) to avoid sailing with the
winddeadasternwhenthereareverystrongwindsandlargeseas.
•Ideally, the wind should be at least 30°awayfrom a deadrun.
•In severe conditions,it maybe advisable to remove the mainsail
altogether and sail underheadsail only.
2.3 Switching display illumination on and off
You canswitchthedisplayilluminationonand off whenthetiller
pilotisinStandbymode:
•fromStandby mode, press-1 and+1 together to switch the
illumination between on (L1) andoff(L0)
•to return to the previous mode either wait 10 seconds or pressthe
appropriatemode key
Note:The tillerpilotnormallypowers-up with the illumination
switched on (L1).
If other SeaTalk instrumentsor autopilot control units are connected
viaSeaTalk,you canalsocontrol the tillerpilot’s illumination from
these units.
D364-2
81130_3.book Page 14 Wednesday, July 25, 2001 11:57 AM

Chapter 2: Using the Tiller Pilot 15
2 Using the Tiller Pilot
2.4 Using Track mode
In Track mode, the tiller pilot maintains a trackbetween waypoints
created on a navigation system. The tiller pilot computes any course
changestokeep your boat ontrack,automaticallycompensatingfor
tidal streams and leeway. To operate in Track mode, the tiller pilot
must receive cross trackerror information from either:
•aSeaTalk navigator, or
•a non-SeaTalk navigation systemtransmitting NMEA 0180 or
0183data
Selecting Track mode
When youselect Trackmode, thetiller pilot canacquire the trackin
one of two ways:
•automaticacquisition–whenbothcrosstrackerrorandbearingto
waypointdata are available
•manualacquisition–whenCrossTrackErroristheonlyavailable
information
Automatic track acquisition
If crosstrack errorand bearing to waypoint data are bothavailable
(via SeaTalkor NMEA),thepilot canacquire atrack automatically:
1. Bring the boat to within 0.1 nm of track.
2. Pressauto.
3. Press-10 and +10 togethertoenterTrackmode.
4. An alarm will soundand the display will alternate between:
•the bearing to waypoint, and
•the direction the boat will turn to take up the new track
Current
heading
D3277-2
Waypoint
at 058˚
81130_3.book Page 15 Wednesday, July 25, 2001 11:57 AM

16 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
2 Using the Tiller Pilot
5. Check that it is safe to turn the boat onto the newcourse.
6. Press-10 and +10 together:
•the boat will now turn on to the new course
•the alarm will cancel
7. Thedisplaywillcontinuouslycycle through thefollowing
navigation information pages:
Manual track acquisition
Ifyournavigator only providescrosstrack error information,you
mustacquire the trackmanually:
1. Steer the boat to within 0.1nm of track.
2. Bringtheheadingtowithin5°ofthebearingtothenextwaypoint.
3. Pressauto.
4. Press-10 and +10 togetherto enterTrackmode:
•the autopilot will start tracking to the waypoint
•the display will alternate between crosstrack errorand the
locked pilot heading
D3257-2
Waypoint
at 058˚
D178-2
Locked heading
Distance to waypoint
(if available)
Bearing to waypoint
(if available)
Cross track error
81130_3.book Page 16 Wednesday, July 25, 2001 11:57 AM