Raymarine autopilot 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.

ST7001+
Autopilot
Control Unit
Owner’s
Handbook
Document number: 81191-2
Date: May 2001

ii ST7001+ Autopilot Control Unit - 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
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 thecontrol unit ................................................................ 4
Start-upmode ............................................................................4
Keypadfunctions ......................................................................4
Displaylayout ........................................................................... 5
2.2 Using Automode ...................................................................... 6
Engagingtheautopilot(Auto mode) .........................................6
Disengagingthe autopilot (Standbymode) .............................. 6
Changing course inAuto mode ................................................. 7
Adjustingperformance – Type150G/400G .............................7
Adjustingperformance – Types 150/400and100/300 .............9
Off Course warning .................................................................10
Dodgingobstacles andthenresuming course .........................10
Using theset course feature ....................................................12
Using sailboat features ...........................................................12
2.3 Adjustingdisplay/keypad lightingand contrast .....................15
Lighting ...................................................................................15
Contrast ...................................................................................16
Chapter 3: Advanced Operation ............................................17
3.1 Using Trackmode ...................................................................18
SelectingTrackmode .............................................................18
ExitingTrackmode .................................................................19
Crosstrack error ......................................................................19
Tidal stream compensation .....................................................20
Waypoint arrival and advance .................................................21
Waypoint Advance warning– summary .................................22
DodgesinTrackmode ............................................................23
SafetyinTrackmode ..............................................................24
3.2 Using WindVanemode– sail boats ........................................25
About WindVane mode ..........................................................25

iv ST7001+ Autopilot Control Unit - Owner’s Handbook
Selecting Wind Vane mode ..................................................... 26
ExitingWind Vane mode ........................................................26
Adjustingthe locked windangle .............................................26
Returningto the previouswindangle(LASTWND) .............27
DodgesinWindVane mode ....................................................27
WindShiftwarning .................................................................28
Using AutoTack inWind Vanemode ...................................... 28
OperatinghintsforWind Vanemode ...................................... 29
3.3 Adjustingthe rudder gain ........................................................ 29
3.4 Displayingdatapages .............................................................31
Waypoint names ..................................................................... 32
Watchtimer .............................................................................32
Warningmessages ..................................................................33
3.5 RemotelycontrollingST60 and ST80instruments ................ 34
Chapter 4: Fault Finding & Maintenance ..............................35
4.1 Fault finding ............................................................................36
Common autopilot problems .................................................. 36
Autopilot alarmmessages ....................................................... 37
4.2 Generalmaintenance ..............................................................39
Routinechecks ........................................................................39
Cleaningthedisplay................................................................39
EMC advice ............................................................................39
4.3 Productsupport .......................................................................40
Chapter 5: Installing the ST7001+ ..........................................45
5.1 Selectthe location ...................................................................46
Siterequirements ....................................................................46
5.2 Controlunitinstallation ..........................................................49
5.3 SeaTalk connections ...............................................................50
5.4 NMEAconnections ................................................................ 51
Receiving NMEA data ............................................................51
5.5 Functional test –repeater units only .......................................54
Chapter 6: Commissioning the Autopilot ............................55
6.1 DocksideChecks ....................................................................56
Step 1 - Switchon ................................................................... 56
Step 2 -Check theSeaTalk and NMEA connections .............. 57
Step 3 -Checkthe autopilotoperating sense ........................... 58
Step 4 - Adjust basic autopilot settings ................................... 59
6.2 SeatrialCalibration .................................................................63
Calibratingthe compass .......................................................... 64
Adjustingautopilotsettings ....................................................68

Preface v
Chapter 7: Adjusting Autopilot Settings ..............................75
7.1 Calibrationbasics ....................................................................76
Calibrationgroups ..................................................................76
AccessingtheCalibration mode .............................................78
7.2 DisplayCalibration ................................................................79
DisplayCalibrationscreens ....................................................79
7.3 User Calibration ...................................................................... 87
User Calibration screens .........................................................87
7.4 SeatrialCalibration .................................................................91
7.5 DealerCalibration ...................................................................92
Accessing Dealer Calibration .................................................92
DealerCalibration screensandsettings ..................................92
DealerCalibrationdefaults:Types150/150G& 400/400G .101
DealerCalibration options: Types150/150G& 400/400G ..102
Appendix: Using the ST7001+
With Non-150/400 Autopilots ...........................................103
Using the autopilot (non-150/400 systems) ............................104
Commissioning the autopilot (non-150/400 systems) ............105
DocksideChecks ..................................................................105
SeatrialCalibration ...............................................................105
Calibration mode (non-150/400 systems) ...............................106
Calibrationgroups ................................................................106
DealerCalibration screens ....................................................108
Dealer Calibration: possible settings with Type 100/300 ..... 114
Specifications .....................................................................115
ST7001+ control unit ..............................................................115
Course computer functions .....................................................115
Glossary ..............................................................................116
Index ....................................................................................119

vi ST7001+ Autopilot Control Unit - Owner’s Handbook

Preface vii
About this handbook
Welcome to the handbook for the ST7001+ autopilot control unit.
This handbook contains two main parts:
Part 1: Using the ST7001+
Part 2: Installing the ST7001+
Attheend ofthishandbookwehaveincludedanappendix,product
specifications, a glossary, an index, installation template, and
warranty information.
Note:This handbook contains important informationabout
installing,usingand maintainingyour new Raymarineproduct.To
get thebest from the product, please read 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,
adjusting autopilotperformance, and changing the control
unit lighting.
page 3
3Chapter 3: Advanced Operation
Explains how to use Track and Wind Vane modes, adjust
rudder gain and display data pages.
page 17
4Chapter 4: Fault Finding & Maintenance
Provides general maintenance procedures and
trouble-shooting information (including alarm messages).
page 35
5
Chapter 5: Installing the ST7001+
Explains how to install your ST7001+ control unit and
connect it to your autopilot system.
page 45
6
Chapter 6: Commissioning the Autopilot
Covers dockside checks after installation, and the initial
seatrial calibration.
page 55
7
Chapter 7: Adjusting Autopilot Settings
Provides details on adjusting the control unit and autopilot
settings in Calibration mode.
page 75

viii ST7001+ Autopilot Control Unit - Owner’s Handbook
Important Information
Warranty
ToregisteryournewRaymarineproduct,pleasetakeafewminutesto
filloutthewarrantycard.It isimportantthatyoucompletethe owner
informationandreturnthecardtoustoreceivefullwarranty benefits.
Safety notices
WARNING: Product installation
Thisequipmentmustbeinstalledandoperatedin accordance
withtheinstructionscontainedinthishandbook.Failuretodoso
couldresultin poorproductperformance,personalinjury
and/ordamagetoyourboat.
WARNING: Electrical safety
Makesurethepowersupplyisswitchedoffbeforeyoumakeany
electrical connections.
WARNING: Calibration
Wesupplythisproductcalibratedtodefaultsettingsthatshould
provideinitialstableperformanceformostboats.Toensure
optimumperformanceonyourboat,youmustcompleteChapter
6: Commissioning the Autopilot before use.
WARNING: Navigation aid
Althoughwehavedesignedthis producttobeaccurateand
reliable, manyfactorscanaffectits performance. As aresult,it
shouldonlybeusedasanaidtonavigationandshouldnever
replacecommonsenseandnavigationaljudgement.Always
maintaina permanentwatchsoyou canrespondtosituationsas
theydevelop.
YourRaymarineautopilotwill add a new dimension toyourboating
enjoyment. However, it is the skipper’s responsibility to ensure the
safety ofthe boat atall times byfollowing these basic rules:
•Ensure that someoneis present at the helm ATALL TIMES, to
take manual control in anemergency.

Preface ix
•Make sure that all membersof crew know how to disengage the
autopilot.
•Regularlycheckforotherboatsandanyobstaclestonavigation–
nomatterhowcleartheseamayappear,adangeroussituationcan
develop rapidly.
•Maintain an accurate record ofthe boat’sposition by usingeither
anavigationaidor visual bearings.
•Maintainacontinuousplotofyourboat’spositionona current
chart.Ensurethat the locked autopilot heading will steerthe boat
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.
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.
Handbook information
To the best ofour knowledge, the information in this handbook was
correct when it wentto press. However, Raymarine cannotaccept
liabilityforanyinaccuraciesoromissionsitmaycontain.Inaddition,
ourpolicy of continuousproduct improvementmaychange
specifications without notice. As aresult, Raymarine cannot accept
liability for any differences between the product and the handbook.

x ST7001+ Autopilot Control Unit - Owner’s Handbook

Part 1:
Using the
ST7001+
Part 1: Using the ST7001+

Part 1: Using the ST7001+

Chapter 1: Introduction 1
1 Introduction
Chapter 1: Introduction
The Raymarine ST7001 Plus (ST7001+) isa SeaTalk®compatible
autopilotcontrol unit. It is designed as the main controlunit for
Raymarine Type 150, 150G, 400and 400G coursecomputers.
The ST7001+control unithas the following modes:
1. Standby: autopilot off (see page 6)
2. Auto: autopilot steers the boat to maintain a lockedheading
(see page 6)
3. Track: autopilot steers the boat to maintain a track between two
waypoints created on a navigation aid (see page 18)
4. Wind Vane:autopilotsteerstheboattomaintainacourserelative
to a true or apparentwind angle (see page 25)
5. Calibration: so youcan adjustthe autopilot togive optimum
performanceforyourboat(seepage 76).Thisincludesautomatic
compass deviation correction (all autopilots) and AutoLearn
automatic steering calibration(Type 150G/400Gsystems only)
The ST7001+ alsoprovides:
•automatic tack (AutoTack) in Auto and Wind Vane modes
•Northerly/Southerly headingcompensation
•waypoint advancefeature in Track mode
D5461-1

2 ST7001+ Autopilot Control Unit - Owner’s Handbook
1 Introduction
Functions with Type 150/150G and 400/400G autopilots
ThefunctionsprovidedwithType150/150GandType400/4000G
autopilots depend on whether the course computer contains an
internal GyroPlus yaw sensor:
Extended systems
You can connect the ST7001+ to other Raymarine SeaTalk
equipment soit cansend and receive SeaTalk data:
•it can usewindinformation from a SeaTalk wind instrument for
WindVanesteering
•it can use waypoint information from a SeaTalk navigation
instrumentto provide track control
•itcanuseboatspeedfromaSeaTalkspeedinstrumenttooptimize
track-keepingperformance
You canalso use theST7001+ autopilot withanynavigator
(GPS, Decca, Loran) or wind instrumentthat transmits National
MarineElectronicsAssociation(NMEA)0183data.
The ST7001+ can display SeaTalk and NMEA instrument data in a
user-definedselection of data pages. When you are usingthe
ST7001+torepeatinstrumentdata,itshowsa‘pop-up’pilotpage for
5 seconds whenever you make a change in autopilot control.
Compatibility with other autopilots
The ST7001+ is also compatible with RaymarineType 100 and
Type 300 course computers (see the Appendixfor more details).
You can also use it as anadditional repeater control unit forany
SeaTalk autopilot system, allowing autopilot control from a
secondarylocation.
Type 150G/400G (with GyroPlus) Type 150/400 (without GyroPlus)
Internal GyroPlus yaw sensor provides
enhanced course keeping using AST
(Advanced Steering Technology)
Full basic functionality: uses Raymarine
steering algorithm without AST
Improved track-keeping Improved track-keeping
Steering to true and apparent wind in
Wind Vane mode
Steering to true and apparent wind in
Wind Vane mode
Improved calibration access, including
AutoLearn (self-learning calibration)
Improved calibration access, but
without AutoLearn

Chapter 2: Basic Operation 3
2 Basic Operation
Chapter 2: Basic Operation
Thesectionsin thischapterexplainhow to usethebasic functionson
your ST7001+ autopilot control unit:
Note:If you are using the control unit with a non-150/400 autopilot
system,refertothenotesintheAppendix.
2.1 Using the control unit
Summarizes the key functions and screen layouton the
ST7001+ control unit.
page 4
2.2
Using Auto mode
Provides instructions for engaging/disengaging the
autopilot, using Auto mode and adjusting the
autopilot’s performance.
page 6
2.3
Adjusting display/keypad lighting and
contrast
Explains how to change the lighting and contrast on
the control unit display and keypad.
page 15

4 ST7001+ Autopilot Control Unit - Owner’s Handbook
2 Basic Operation
2.1 Using the control unit
Start-up mode
The autopilot always powers upin Standby mode withthe display
showingthe boat’s current compass heading.
Note:You can press standby atany time to returnto manual
steering.
Keypad functions
Theautopilotiscontrolledusingsimplepush-buttonoperations,allof
which are confirmed with a short beep. In addition to the main
single-keyfunctions, there areseveral dual key operations.
&
track
Press for Track mode from Auto mode
(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
-1 = Port 1˚
-10 = Port 10˚
+1 = Starboard 1˚
+10 = Starboard 10˚
-1 plus -10
Press together for
AutoTack to port
+1 plus +10
Press together for
AutoTack to starboard
-1 plus +1
Press together for
response level
-1 plus +1
Press for 1 second
for rudder gain
standby plus auto
Press for Wind Vane mode (if a wind vane is connected)
Press for 1 second to display Last Wind
Press again to accept Last Wind D5448-1
resp
Press to display
response level
Press for 1 second
for rudder gain
set crs
Press to set course bearing
res'm
Press to resume previous course
Press to adjust calibration parameters,
response and gain
disp
Press to display
data pages
Press for 1 second
for lamp control

Chapter 2: Basic Operation 5
2 Basic Operation
Display layout
The ST7001+ displayscreen providesthe followinginformation:
Thebargraphatthebottomofthescreenisnormallyarudderposition
indicator. This indicates the current position of therudder, as
measuredby therudder positionsensor.
Note:Youcanchangethistoaheading/crosstrack/winderrorbarin
DisplayCalibration, see page 79.
Autopilot mode indicators
Rudder position indicator or error bar
GyroPlus indicator (appears if a
yaw sensor is connected to the autopilot)
Variable text area (up to 9 characters)
Port and Starboard
direction-to-steer
indicators
Heading indicators
Calibration mode indicator
(displayed on calibration pages)
D5458-1
Distance units:
•no units = kilometres
•nm = nautical miles
•SM = statute miles

6 ST7001+ Autopilot Control Unit - Owner’s Handbook
2 Basic Operation
2.2 Using Auto mode
CAUTION:
BeforeusingAutomode,makesurethatthe pilot hasbeen
correctlycommissioned.
Engaging the autopilot (Auto mode)
To engage the autopilot:
1. Steady the boat on the required heading.
2. Pressauto:
•in Auto mode, the display shows the locked autopilot heading
CAUTION:
Autopilot course control makes it easier to sail a boat, but it is
NOTasubstituteforgoodseamanship.ALWAYSmaintaina
permanentwatchbythehelm.
Disengaging the autopilot (Standby mode)
Press standby to disengage the autopilot:
•inStandbymode,the displayshowsthe boat’s current compass
heading.
•the last headingis memorized and canbe recalled (see page 11).
D5515-1
D4209-2

Chapter 2: Basic Operation 7
2 Basic Operation
Changing course in Auto mode
In Auto mode,use the -1 and-10 (port)and+1 and+10 (starboard)
keystochangethelocked headinginstepsof1°or 10°.For example:
press -10 threetimesfora 30°course change to port.
Adjusting performance – Type 150G/400G
The mainway youcan adjust theperformance of Type 150G/400G
(GyroPlus)autopilot systems isby changing the responselevel. This
istheonlyuser adjustmentyoushouldneed to make to the autopilot
on a regularbasis.
The response level controls the relationshipbetween the autopilot’s
coursekeeping accuracyand the amountof helm/drive activity.
Type 150G and 400G autopilot systems have9 levelsof response:
•level 1 gives the least pilot activity to conserve power,but may
compromiseshort-termcourse-keeping accuracy
•levels 4 to 6 should give good course keeping under normal
operatingconditions–with crisp, well controlled turns but
withoutbeingover-aggressive
•level9 gives the tightest course keeping and greatest rudder
activity, but may lead to a rough passage in open waters as the
autopilot may ‘fight’thesea
When you require extra tight course keeping (e.g. for pilotage in
confined and sheltered waters),increase the setting. If youwant to
minimize drive activity andconservebattery power, decrease
the setting.
Port Starboard
oror
D3320-2