Raymarine Autohelm ST3000 User guide

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.

ST3000
Wheel Drive
Autopilot
Owner’s
Handbook
Document number: 81194-1
Date: June 2001
81194_1.book Page i Wednesday, July 25, 2001 12:10 PM

ii ST3000 Wheel Drive Autopilot - 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.
81194_1.book Page ii Wednesday, July 25, 2001 12:10 PM

Preface iii
Contents
Chapter 1: Introduction ............................................................1
1.1 Overview ..................................................................................1
1.2 Specifications............................................................................3
1.3 About thishandbook ................................................................. 4
Important Information .............................................................. 4
Chapter 2: Using the Wheel Pilot .............................................9
2.1 Overview ..................................................................................9
2.2 Using Automode .................................................................... 10
Engagingtheautopilot(Auto mode) .......................................10
Disengagingthe autopilot (Standbymode) ............................10
Changing course ..................................................................... 11
Automatic deadband control (Auto Seastate) .........................14
Operatinghints–trim changes ...............................................14
2.3 Switching displayilluminationon and off ..............................16
2.4 Using Track mode ...................................................................17
SelectingTrack mode .............................................................17
Returning toAuto fromTrack mode .......................................20
Cross track error (XTE) ..........................................................20
Tidal streamcompensation .....................................................21
Waypoint arrival and advance .................................................22
DodgesinTrackmode ............................................................22
SafetyinTrackmode ..............................................................23
Warningmessages inTrack mode ...........................................24
2.5 Using WindVane mode ..........................................................25
SelectingWindVanemode .....................................................25
Exiting Wind Vane mode ........................................................26
Returning tothe previous apparent wind angle .......................26
Wind shift alarm ......................................................................26
Operating hintsfor Wind Vane mode ......................................27
Chapter 3: Maintenance & Fault Finding ..............................29
3.1 Generalmaintenance ..............................................................29
3.2 Productsupport .......................................................................30
3.3 Fault finding ............................................................................30
Chapter 4: Installing the Wheel Pilot ....................................35
4.1 Planning the installation ..........................................................35
4.2 Control head installation ......................................................... 37
Mountingprocedure ...............................................................37
Cabling and socket installation ...............................................38
81194_1.book Page iii Wednesday, July 25, 2001 12:10 PM

iv ST3000 Wheel Drive Autopilot - Owner’s Handbook
Mountingthe socket ...............................................................42
4.3 Driveunitinstallation .............................................................43
Attaching thewheel drum ....................................................... 43
Mounting thedrive unit andbelt ............................................. 44
Driveunitcabling ...................................................................47
Chapter 5: Commissioning the Wheel Pilot .........................53
5.1 Functional tests .......................................................................53
Switchon ................................................................................53
Operatingsense .......................................................................53
Checking the navigation interface ..........................................54
Checkingthewind instrumentinterface .................................55
CheckingtheSeaTalk interface ..............................................55
5.2 Initialsea trial ..........................................................................56
Calibratingthe compass .......................................................... 56
Autopilot operation ................................................................. 58
5.3 Adjustingautopilotperformance ............................................59
Chapter 6: Adjusting Wheel Pilot Settings ..........................61
6.1 Introduction ............................................................................61
Adjustingcalibrationvalues ...................................................61
Calibrationfeatures .................................................................63
Default calibration values ....................................................... 63
6.2 Calibrating thewheel pilot ...................................................... 64
Calibration Level 1: Rudder gain ............................................ 64
Calibration Level 5: Cruisespeed ...........................................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 current latitude .......................... 66
Controllingaccesstocalibration .............................................66
Index ..................................................................................... 69
81194_1.book Page iv Wednesday, July 25, 2001 12:10 PM

Chapter 1: Introduction 1
1 Introduction
Chapter 1: Introduction
1.1 Overview
TheST3000wheelpilotisacockpitautopilotforwheelsteeredboats.
It is designed for owner installation and consists of two main units:
•bracket mounted ST3000control unit with built-in compass
•provenST3000 wheel driveunit
ST3000 control unit
Operating modes
The wheelpilot has four basic operatingmodes:
•Standbymode:autopilot off
•Automode: autopilot engagedand locked ontoa heading
•Trackmode: autopilot onandmaintaining a trackbetween two
waypointscreated on a navigationsystem
•WindVanemode:autopilotonandmaintainingacourserelative
to an apparent wind angle
SeaTalk and NMEA compatibility
The ST3000control unit is SeaTalk compatible, so it canshare data
transmittedfrom otherRaymarineSeaTalkinstruments:
•windinformationfrom a windinstrumentcan be used for
wind vane steeringwithout the need toinstall a separate vane
D5652-1
81194_1.book Page 1 Wednesday, July 25, 2001 12:10 PM

2 ST3000 Wheel Drive Autopilot - Owner’s Handbook
1 Introduction
•trackinformation,from a navigator,canprovideswaypoint
control from the autopilot
•boat speed from aspeed instrument canprovide optimum track
keepingperformance
•SeaTalkcompatibilityalsoallowsadditionalfixedandhand-held
autopilot control unitsto be easily connected at secondary
steeringand controlpositions
With an optional SeaTalk/NMEAinterface (part number: E85001)
thewheelpilotcanalsobeusedwithanynavigatororpositionsensor
transmitting NMEA 0183.
TheST3000canbe calibrated to suiteach installation. This can
provide optimum performance with many typesof boat and
steering systems.
ST3000 wheel drive unit
The wheel drive unit is attached by a singlepin to a clevis
permanentlyfixedtothe cockpitstructure.Driveistransmittedtothe
wheelbya tensionedtoothedbelt.A leveroperated eccentricbushin
the drive unit mounting arm enables belt tension to be released to
facilitatemanualoverrideby allowingthebelttoslip. The drive
disengagement system is both effective and reliable.
CAUTION:
TheST3000isrecommendedforwheelsteeredboatsup to
7000 kg(15,000 lb)displacement.Abovethislimitandfor heavy
duty applications, such as single handed racing or long distance
ocean sailing, we recommend one ofthe more powerful
Raymarineautopilots(suchastheST5000+systemor
Type 150/400coursecomputer).
81194_1.book Page 2 Wednesday, July 25, 2001 12:10 PM

Chapter 1: Introduction 3
1 Introduction
1.2 Specifications
EMC conformance
All Raymarine equipment andaccessories are designedto the best
industrystandards for use in the recreational marine environment.
The design andmanufacture of Raymarine equipment and
accessories conform to the appropriate Electromagnetic
Compatibility(EMC)standards,butcorrectinstallationisrequiredto
ensure that performance is notcompromised.
General specifications
Power supply: 10 V to 15 V DC
Current consumption: •Standby: 65 mA (120 mA with lighting)
•Auto: between 0.7 A and 2.5 A depending on
boat trim, helm load and sailing conditions
Operating temperature: 0°C to 70°C (32°F to 158°F)
Control unit •6 button digital keypad
•Liquid Crystal Display (LCD) showing heading,
locked course and navigational information
•SeaTalk compatible
•NMEA 0183 compatible via optional
SeaTalk/NMEA interface
Drive unit: •thrust torque: 70 Nm (52 lb.ft)
•helm speed: 3 rpm
•port or starboard mounting
•6 belt options
•maximum displacement: 7,000 kg (15,000 lb)
Main features •User calibration for optimum performance
•'WindTrim' control in Wind Vane mode
•Automatic tack
•Automatic compass deviation correction
•Northerly/Southerly heading compensation
•Automatic heading deadband
•Built-in navigator interface
•Track mode with waypoint advance feature
81194_1.book Page 3 Wednesday, July 25, 2001 12:10 PM

4 ST3000 Wheel Drive Autopilot - Owner’s Handbook
1 Introduction
1.3 About this handbook
Part 1: Using the Wheel Pilot
This part of the handbookexplains howto use your wheel pilot:
Part 2: Installing the Wheel Pilot
This part ofthe handbook explainshow to install your wheelpilot:
Note:This handbook containsimportant informationabout
installing,usingand maintainingyour newRaymarineproduct.To
get the bestfrom the product, please read this handbook thoroughly.
Important Information
Warranty
ToregisteryournewRaymarineproduct,pleasetakeafewminutesto
filloutthewarrantycard.It isimportantthatyoucompletethe owner
informationandreturnthecardtoustoreceivefullwarrantybenefits.
Handbook information
To the bestof our knowledge, the information in this handbook was
correct when it went to press. However, Raymarine cannot accept
liabilityforanyinaccuraciesoromissionsitmaycontain.Inaddition,
ourpolicy of continuousproduct improvementmaychange
specifications without notice.As a result, Raymarine cannotaccept
liabilityfor any differences between the product and the handbook.
2Chapter 2: Using the Wheel Pilot
How to use the wheel pilot. page 9
3Chapter 3: Maintenance & Fault Finding
Provides maintenance and fault finding information. page 29
4Chapter 4: Installing the Wheel Pilot
How to install your wheel pilot and its components. page 35
5Chapter 5: Commissioning the Wheel Pilot
How to check the wheel pilot and perform an initial sea trial. page 53
6Chapter 6: Adjusting Wheel Pilot Settings
How to change the wheel pilot calibration settings. page 61
81194_1.book Page 4 Wednesday, July 25, 2001 12:10 PM

Chapter 1: Introduction 5
1 Introduction
Safety notices
WARNING: Product installation
Thisequipmentmustbeinstalledandoperatedinaccordance
withtheinstructionscontainedinthishandbook.Failuretodoso
couldresultinpoorproductperformance,personalinjury
and/ordamagetoyourboat.
WARNING: Electrical safety
Makesurethepowersupplyisswitchedoffbeforeyoumakeany
electricalconnections.
WARNING: Navigation aid
Althoughwehavedesignedthisproducttobeaccurateand
reliable,manyfactors canaffectits performance.Asaresult,it
shouldonlybeusedas anaidtonavigationandshouldnever
replacecommon sense andnavigational judgement.Always
maintainapermanentwatchsoyoucanrespondtosituationsas
theydevelop.
Your Raymarine autopilot willadd a new dimension to your boating
enjoyment. However,itistheskipper’s responsibility to ensure the
safetyof the boat at all times byfollowing these basic rules:
•Ensure that someone is present at the helm AT ALL TIMES, to
take manual control in an emergency.
•Make sure that all crew members know how to disengage the
autopilot–youcannothandsteerwiththewheelpilotengaged.
•Regularlycheckforother boatsand anyobstaclestonavigation–
nomatterhowcleartheseamayappear,adangeroussituationcan
develop rapidly.
•Maintain an accurate recordofthe boat’spositionby using either
anavigationaidor visual bearings.
•Maintainacontinuousplotofyourboat’spositionon a current
chart.Ensurethat the locked autopilot heading will steertheboat
clear of all obstacles. Make proper allowance for tidal set –the
autopilotcannot.
•Evenwhen yourautopilotislockedontothe desiredtrackusinga
navigationaid,alwaysmaintainalogandmakeregularpositional
plots. Navigation signals can produce significant errors under
some circumstances and the autopilot will not be able to detect
these errors.
81194_1.book Page 5 Wednesday, July 25, 2001 12:10 PM

6 ST3000 Wheel Drive Autopilot - Owner’s Handbook
1 Introduction
81194_1.book Page 6 Wednesday, July 25, 2001 12:10 PM

Part 1:
Using the
Wheel Pilot
Part 1: Using the Wheel Pilot
81194_1.book Page 7 Wednesday, July 25, 2001 12:10 PM

Part 1: Using the Wheel Pilot
81194_1.book Page 8 Wednesday, July 25, 2001 12:10 PM

Chapter 2: Using the Wheel Pilot 9
2 Using the Wheel Pilot
Chapter 2: Using the Wheel Pilot
2.1 Overview
WARNING:
Passagemakingunderautopilotcontrolisanenjoyable
experience that can, ifyou arenot careful, leadto the relaxation
ofthepermanentwatch.Alwaysmaintainapermanentwatchno
matterhow clear theseamayappearto be.
•ThewheelpilotalwayspowersupinStandbymode(indicatedby
aflashing‘C’alongside the boat’scurrentcompassheading).
•The wheel pilotis controlled using simple push-button
operations. The control unit confirms all button presses with a
shortbeep.Inadditionto the main single keyfunctions, there are
several dual key operations.
•To select automatic steering:
•steadytheboatontherequiredheading
•engage the wheel drive clutch
•press AUTO:the display will then show an‘A’alongsidethe
current heading
•To return to manual steering at any time:
•press STANDBY
•disengage the clutchlever
•Youcanusethe-1,+1,-10,and+10 keystomakecourse changes
when the boat is under autopilot control.
D5608-1
81194_1.book Page 9 Wednesday, July 25, 2001 12:10 PM

10 ST3000 Wheel Drive Autopilot - Owner’s Handbook
2 Using the Wheel Pilot
2.2 Using Auto mode
Engaging the autopilot (Auto mode)
1. Steady the boat on the required heading.
2. Engage the wheel drive clutchby rotating the clutch lever
clockwise.
3. Pressauto: the wheel pilot will enter Auto mode and the display
willshowan‘A’(forauto)alongsidethelockedautopilotheading.
Disengaging the autopilot (Standby mode)
Toreturntohandsteering:
1. Pressstandby: the wheel pilot will return to Standby mode.
The display will show a flashing ‘C’andthe boat’s current
compass heading.
2. Disengage the wheel drive clutch by rotating the clutch lever
anti-clockwise.
3. The last heading is memorizedand can be recalled (see page 13).
D5610-1
+
D5609-1
+
81194_1.book Page 10 Wednesday, July 25, 2001 12:10 PM

Chapter 2: Using the Wheel Pilot 11
2 Using the Wheel Pilot
Changing course
In Auto mode,use the -1 and-10 (port)and+1 and +10 (starboard)
keysto change courseinstepsof 1°and10°.
For example: press -10 three times for a30°course change to port:
Port Starboard
or
or
D5611-1
D5612-1
x 3
Original
course
30˚ to port
81194_1.book Page 11 Wednesday, July 25, 2001 12:10 PM

12 ST3000 Wheel Drive Autopilot - Owner’s Handbook
2 Using the Wheel Pilot
Automatic tack feature (AutoTack)
Theautopilot has abuilt-inautomatictackfacility(inAutoand Wind
Vane modes)that turns theboat through 100°:
•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 anobstacle when you boat is underautopilot control,
select a course changein the appropriate direction. For example,
press-10 three times for a 30°dodge to port.
2. When safelyclear of the obstacle, you can either:
•reverse the previouscourse change (for example, by pressing
+10 three times), or
•return to the previous heading (see below)
and and
Wind
AutoTack - Starboard
D5619-1
Wind
AutoTack - Port
AutoTack
angle
AutoTack
angle
D5612-1
x 3
Original
course
30˚to port
81194_1.book Page 12 Wednesday, July 25, 2001 12:10 PM

Chapter 2: Using the Wheel Pilot 13
2 Using the Wheel Pilot
Returning to the previous heading
1. PressAUTO for1 second: the previousheadingwill flash for
10 seconds.
2. To accept the previous heading, press AUTO againwhile the
previousheading is flashing.
Note:Ifyoudonot press AUTO while the display is flashing, the
autopilot will maintain the current heading.
Off course alarm
The offcourse alarm sounds ifthe locked autopilotheading and the
boat’s current heading differby more than 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:The offcourse alarm isusually an indicationthat the boat is
carryingtoo much sail, orthatthesailsare badly balanced.In these
conditions,you can usually significantly improve coursekeeping by
improving the sail balance.
Original
course
Obstacle
1 SECOND
Resumed
course
Dodge
D5614-1
D191-2
81194_1.book Page 13 Wednesday, July 25, 2001 12:10 PM

14 ST3000 Wheel Drive Autopilot - Owner’s Handbook
2 Using the Wheel Pilot
Automatic deadband control (Auto Seastate)
The wheel pilot is set to AutoSeastate (automatic deadband control)
as a default. This causes the pilot to gradually ignore repetitive
movementsof the boat and respondonlytotruecourse variations.
By preventing unnecessary rudder movement, AutoSeastate
providesthe best compromise between powerconsumption and
coursekeeping accuracy.
If you want to switch off the AutoSeastate feature:
1. With the pilot in Auto mode, press -1 and+1 together to switch
fromAutoSeastatetoFixedMinimum Deadband(1°).
2. The“°”signflasheswhenFixedMinimumDeadbandisselected.
Minimumdeadband providesthe tightestcoursekeeping
possible,at the expense ofincreased power consumption and
drive unit activity.
To switch back to AutoSeastate, press -1 and+1 again.
Note:The autopilot revertsto Automatic DeadbandControl each
timeyouselectStandbymode.
Operating hints –trim changes
CAUTION:
Only make major course changeswhen steering MANUALLY.
Thisensuresthattheboatwillsafelyclearanyobstructionsor
otherboats,andyoucantakeintoaccountthechangedwindand
seaconditionsonthenewheadingbeforeengagingtheautopilot.
Large course changes which change the apparent wind direction can
producelargetrimchanges.Whenasuddentrimchange occurs (for
example due to weather helm or sail imbalance) there will be a delay
ofuptooneminutebeforetheautomatictrimappliesruddertorestore
thelocked heading.
D5618-1
and
From Auto mode
81194_1.book Page 14 Wednesday, July 25, 2001 12:10 PM

Chapter 2: Using the Wheel Pilot 15
2 Using the Wheel Pilot
Inthesesituations,theautopilotwillnotimmediatelyassumethenew
automatic heading,andwill onlysettle onto course when the
automatictrimhas beenfullyestablished.Tominimizethisproblem,
usethefollowingprocedure to make major course changes:
1. Note the required new heading.
2. PressSTANDBY, disengage theclutch, and steer manually.
3. Bringboat onto thenew heading andengage the clutch.
4. PressAUTO and let the boat settle on course.
5. Bring your boat onto the final course in 1°stepsusing-1 or+1.
Gusting conditions
Ingusting conditions,thecoursemay tend to wanderslightly,
particularlyifthesailsarebadlybalanced.Byimprovingsailbalance,
youcan improve course keeping.
If youtake the following precautions,the autopilot will be able to
maintain competent control even in gale force conditions:
•Do not allow theboat to heel overexcessively.
•Ease the mainsheet traveller to leeward toreduce heeling and
weather helm.
•Ifnecessary, reef the mainsail a little early.
•It is also advisable (whenever possible) to avoid sailing with the
winddeadasternwhenthereareverystrongwindsandlargeseas.
•Ideally, the wind should be at least 30°away from a dead run.
•In severe conditions, it maybe advisable to remove the mainsail
altogetherand sail underheadsail only.
81194_1.book Page 15 Wednesday, July 25, 2001 12:10 PM