Raymarine autopilot ST4000+ 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.

ST4000+
Wheel & Tiller
Autopilots
Owner’s
Handbook
Document number: 81131-6
Date: August 2001

ii ST4000+ Wheel & Tiller Autopilots: 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.

Preface iii
OR
Boat's electrical
distribution panel
Rudder position sensor
(optional fit for wheel pilot only)
ST4000+
control unit
Fluxgate compass
SeaTalk instrument
NMEA
instrument
or navigator
Tiller drive
Wheel drive
ST4000+ autopilot system layout
D5332-1

iv ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook

Preface v
Contents
About this handbook ...........................................................ix
Important Information .........................................................x
Warranty ......................................................................................x
Safety notices ..............................................................................x
EMC conformance .....................................................................xi
Handbook information ...............................................................xi
Chapter 1: Introduction ............................................................1
1.1 Features .....................................................................................1
1.2 Extendedsystems......................................................................2
Chapter 2: Basic Operation .......................................................3
2.1 Using thecontrol unit ................................................................ 4
Keyfunctions ............................................................................4
Displaylayout ...........................................................................5
2.2 Using Automode ......................................................................6
Engagingtheautopilot(Auto mode) .........................................6
Disengagingthe autopilot (Standby mode) .............................. 7
Changing course inAuto mode ................................................. 8
Dodgingobstacles inAutomode ..............................................8
Returning tothe previous lockedheading (LAST HDG) .........9
Automatictack(AutoTack) ....................................................10
Makingmajor course changes ................................................10
Gustingconditions .................................................................. 11
2.3 Adjustingautopilotperformance ............................................12
Changing theresponse level(AutoSeastate) ..........................12
Changing the rudder gain ........................................................ 13
2.4 Autopilot alarms .....................................................................14
Respondingto alarms ..............................................................14
2.5 Adjustingdisplayandkeypadlighting ...................................18
Chapter 3: Advanced Operation ............................................19
3.1 Using Trackmode ...................................................................20
SelectingTrackmode .............................................................20
ExitingTrackmode .................................................................22
Crosstrackerror ......................................................................22
Tidal streamcompensation .....................................................23
Waypoint arrivaland advance .................................................24
DodgesinTrackmode ............................................................25
SafetyinTrackmode ..............................................................25

vi ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
3.2 UsingWind Vanemode ..........................................................27
Selecting Wind Vane mode ..................................................... 27
ExitingWind Vanemode ........................................................28
Adjustingthe locked wind angle ............................................. 28
Returningto theprevious apparentwind angle
(LASTWND) .........................................................................28
Dodgesin Wind Vanemode ....................................................29
Wind shift alarm...................................................................... 29
Using AutoTack in Wind Vane mode ......................................30
Operatinghints forWindVane mode ......................................30
3.3 Displayingdata pages .............................................................31
Chapter 4: Maintenance & Fault Finding ..............................33
4.1 Fault finding ............................................................................34
4.2 Generalmaintenance .............................................................. 36
Wheeldrive .............................................................................36
Controlunit .............................................................................38
EMC advice ............................................................................39
4.3 Productsupport .......................................................................40
Softwareversion .....................................................................40
Chapter 5: Installing the ST4000+ ..........................................43
5.1 Planningtheinstallation .........................................................44
Toolsrequired .........................................................................44
EMC installationguidelines ................................................... 46
5.2 Controlunit .............................................................................48
Location ..................................................................................48
Mountingprocedure ...............................................................49
Cable connectors.....................................................................51
Powersupplyconnection ........................................................ 51
SeaTalk connections ...............................................................52
NMEAconnections ................................................................53
5.3 Fluxgatecompass ...................................................................55
Location ..................................................................................55
Mounting ................................................................................ 57
Connectingto thecontrol unit ................................................. 58
5.4 Tiller drive (tiller pilots only) .................................................. 59
Criticaldimensions .................................................................59
Basic installation .....................................................................60
Installation accessories ...........................................................61
Connectingto thecontrol unit ................................................. 68

Preface vii
5.5 Wheel drive(wheel pilots only) ..............................................70
Installationstages ....................................................................70
Drilling thespoke clamp holes ................................................71
Securing thewheel drive to the wheel .....................................74
Attaching thepedestal bracket ................................................ 75
Connectingto the control unit .................................................79
5.6 Rudderposition sensor (wheel pilotoption) ...........................81
Ensuring correct alignment .....................................................81
Securing the sensor tothe boat ................................................83
Attaching the sensor to the tiller arm .......................................83
Checkingalignment ................................................................84
Connectingto the control unit .................................................84
Chapter 6: Setting-up the ST4000+ ........................................85
6.1 Functionaltest .........................................................................86
Switchon ................................................................................86
Autopilot steeringdirection ....................................................86
Checkingconnections .............................................................88
6.2 Check rudder sensor operation(if fitted) ................................90
6.3 Initial sea trial ..........................................................................91
Overview ................................................................................91
Correctingthecompass deviation ..........................................92
Adjustingthe headingalignment ............................................95
Checking autopilot operation ..................................................95
Checking the rudder gain ........................................................96
6.4 Autopilot calibration techniques .............................................98
Step 1 - Switch onancillary equipment ................................... 98
Step 2 - Applyinitial settings ..................................................98
Step 3 - Adjust the rudder damping .........................................99
Step 4 - Adjust the rudder gain ................................................99
Step 5 - Adjust theAutoTrim setting .......................................99
Step 6 - Further adjustments ....................................................99
Chapter 7: Customizing the ST4000+ ..................................101
7.1 User setup ..............................................................................102
Compassdeviationcorrection(SWING COMPASS) ..........102
Deviation display (DEVIATION) ........................................102
Headingalignment(ALIGNHDG) ......................................102
Headingmode(HDGMAG/TRU) .......................................102
Bar selection (RUDD BAR/STEER BAR/NO BAR) ..........104
Data pages1-7 (DATAPAGE) .............................................. 104

viii ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
7.2 Dealer setup .......................................................................... 106
Calibrationlock(CALLOCK) .............................................108
Pilottype(4000WHL/TILL) ...............................................108
Rudder gain (RUDD GAIN) ................................................. 108
Response level (RESPONSE) ..............................................108
Turn limit (TURN RATE) ..................................................... 108
Rudder alignment (ALIGN RUD) ........................................ 108
Rudder limit (RUD LIMIT) ..................................................109
Off course alarm (OFF COURSE) ........................................ 109
AutoTackangle(AUTOTACK) ...........................................109
AutoTrim (AUTOTRIM) ..................................................... 110
Drive type (DRIVE TYP) ..................................................... 110
Magnetic variation (VARIATION) ....................................... 110
AutoAdapt (AUTOADAPT) .................................................111
Latitude(LATITUDE) ...........................................................111
Rudder damping(RUDD DAMP) ........................................ 112
Cruise speed(CRUISESP) .................................................. 112
Specifications .................................................................... 113
Glossary .............................................................................. 115
Index ................................................................................... 117

Preface ix
About this handbook
Welcome to the handbook for the ST4000+ wheel and tiller
autopilot systems. This handbook contains two main parts:
Part 1: Using the ST4000+ Autopilot
Part 2: Installing the ST4000+ Autopilot
At the end of this handbook we have included product
specifications, a glossary and index, and templates for installing
different parts ofthe system.
Note:This handbook contains important informationabout
installing,usingand maintainingyournew Raymarine product.To
get thebest from the product, pleaseread this handbook thoroughly.
1Chapter 1: Introduction
Introduces the autopilot, its features and its use. page 1
2
Chapter 2: Basic Operation
Covers basic autopilot operation: using Auto mode,
interpreting alarms, adjusting autopilot performance and
changing the control unit lighting.
page 3
3Chapter 3: Advanced Operation
Explains how to use Track and Wind Vane modes, and
display data pages.
page 19
4
Chapter 4: Maintenance & Fault Finding
Provides general maintenance procedures and
information to help you resolve problems you may
encounter with the autopilot
page 33
5Chapter 5: Installing the ST4000+
Explains how to install your autopilot and its components. page 43
6
Chapter 6: Setting-up the ST4000+
Covers functional testing and dockside procedures after
installation, and initial sea trials.
page 85
7
Chapter 7: Customizing the ST4000+
Provides details on adjusting the autopilot settings to suit
your boat.
page 101