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.

ST6001+
Autopilot
Control Unit
Owner’s
Handbook
Document number: 81190-2
Date: May 2001

ii ST6001+ 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,RayPilotandWindTrim 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 (Standby mode) .............................. 6
Changing course inAuto mode ................................................. 7
Adjustingperformance – Type150G/400G .............................7
Adjustingperformance– Types 150/400and100/300 .............8
Off Course warning .................................................................10
Dodgingobstacles and then resuming course .........................10
Using sailboat features ...........................................................12
2.3 Adjustingdisplay/keypad lighting .........................................14
Chapter 3: Advanced Operation ............................................15
3.1 Using Trackmode ...................................................................16
SelectingTrackmode .............................................................16
ExitingTrackmode .................................................................17
Crosstrack error ......................................................................17
Tidal stream compensation .....................................................18
Waypoint arrival and advance .................................................19
Waypoint Advance warning– summary .................................20
DodgesinTrack mode ............................................................21
SafetyinTrackmode ..............................................................22
3.2 Using WindVane mode –sailboats ........................................23
About WindVane mode ..........................................................23
SelectingWindVane mode .....................................................24
Exiting Wind Vanemode ........................................................24
Adjustingthe locked windangle .............................................24

iv ST6001+ Autopilot Control Unit - Owner’s Handbook
Returningto the previous wind angle (LASTWND) .............25
DodgesinWindVane mode ....................................................25
WindShiftwarning .................................................................26
Using AutoTack inWind Vanemode ...................................... 26
OperatinghintsforWind Vanemode ......................................27
3.3 Adjustingthe rudder gain ........................................................ 27
3.4 Displayingdatapages .............................................................29
Watchtimer .............................................................................30
Warningmessages ..................................................................31
Chapter 4: Fault Finding & Maintenance ..............................33
4.1 Fault finding ............................................................................34
Common autopilot problems .................................................. 34
Autopilot alarmmessages ....................................................... 35
4.2 Generalmaintenance ..............................................................37
Routinechecks ........................................................................37
Cleaningthedisplay................................................................37
EMC advice ............................................................................37
4.3 Productsupport .......................................................................38
Chapter 5: Installing the ST6001+ ..........................................43
5.1 Selectthelocation ...................................................................44
Siterequirements ....................................................................44
5.2 Controlunitinstallation ..........................................................47
Surface mountcontrol units .................................................... 47
Flush mount control units .......................................................48
5.3 SeaTalk connections ...............................................................49
5.4 NMEAconnections ................................................................ 50
Receiving NMEA data ............................................................50
5.5 Functional test –repeater units only .......................................53
Chapter 6: Commissioning the Autopilot ............................55
6.1 DocksideChecks ....................................................................56
Step 1 - Switchon ................................................................... 56
Step 2 -Checkthe SeaTalk andNMEA 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 ......................................................................83
User Calibration screens .........................................................83
7.4 SeatrialCalibration .................................................................87
7.5 DealerCalibration ...................................................................88
Accessing Dealer Calibration .................................................88
DealerCalibration screensandsettings ..................................88
DealerCalibrationdefaults:Types150/150G&400/400G ...97
DealerCalibrationoptions: 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
DocksideChecks ..................................................................101
SeatrialCalibration ...............................................................101
Calibration mode (non-150/400 systems) ...............................102
Calibrationgroups ................................................................102
DealerCalibration 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+
Part 2: Installing the ST6001+
Attheend ofthishandbookwehaveincludedanappendix,product
specifications,a glossary, an index,installation templates, 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 15
4Chapter 4: Fault Finding & Maintenance
Provides general maintenance procedures and
trouble-shooting information (including alarm messages).
page 33
5
Chapter 5: Installing the ST6001+
Explains how to install your ST6001+ control unit and
connect it to your autopilot system.
page 43
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 ST6001+ Autopilot Control Unit - Owner’s Handbook
Important Information
Warranty
ToregisteryournewRaymarineproduct,pleasetakeafewminutesto
filloutthe warrantycard.It isimportantthatyoucompletethe owner
informationandreturn thecardtoustoreceivefull warrantybenefits.
Safety notices
WARNING: Product installation
Thisequipment mustbeinstalledand operatedin accordance
withtheinstructionscontainedinthishandbook.Failuretodoso
couldresultin poorproduct performance,personalinjury
and/ordamageto yourboat.
WARNING: Electrical safety
Makesurethepowersupplyisswitchedoffbeforeyoumakeany
electrical connections.
WARNING: Calibration
Wesupplythisproductcalibratedtodefaultsettingsthatshould
provideinitialstableperformanceformostboats.Toensure
optimumperformanceonyourboat,youmustcompleteChapter
6: Commissioning the Autopilot before use.
WARNING: Navigation aid
Althoughwehavedesignedthisproducttobeaccurateand
reliable, manyfactorscanaffectits performance.As aresult,it
shouldonlybeusedasanaidtonavigationandshouldnever
replacecommonsenseandnavigationaljudgement.Always
maintaina permanentwatchsoyoucanrespondtosituationsas
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’spositionby usingeither
anavigationaid or visual bearings.
•Maintainacontinuousplotof yourboat’sposition on a current
chart.Ensurethat the locked autopilot heading will steertheboat
clear of all obstacles. Make proper allowance for tidal set –the
autopilotcannot.
•Evenwhenyourautopilotislockedontothedesiredtrackusinga
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,
ourpolicyof continuousproduct improvementmay change
specifications without notice. As aresult, 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
1 Introduction
Chapter 1: Introduction
The Raymarine ST6001 Plus (ST6001+) isa SeaTalk®compatible
autopilotcontrol unit. It is designed as the main controlunit for
Raymarine Type 150, 150G, 400 and400G coursecomputers.
The ST6001+ control unit hasthe followingmodes:
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 16)
4. Wind Vane:autopilotsteerstheboattomaintainacourserelative
to a true or apparentwind angle (see page 23)
5. Calibration: so youcanadjust the autopilot togive optimum
performanceforyourboat(seepage 76).Thisincludesautomatic
compass deviation correction (all autopilots) and AutoLearn
automatic steering calibration(Type 150G/400Gsystems only)
The ST6001+ alsoprovides:
•automatic tack (AutoTack) in Auto and Wind Vane modes
•Northerly/Southerly headingcompensation
•waypoint advancefeature in Track mode
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2 ST6001+ Autopilot Control Unit - Owner’s Handbook
1 Introduction
Functions with Type 150/150G and 400/400G autopilots
ThefunctionsprovidedwithType150/150Gand Type400/4000G
autopilots depend on whether the coursecomputer contains an
internal GyroPlus yaw sensor:
Extended systems
You can connect the ST6001+ 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 theST6001+ autopilot withany navigator
(GPS, Decca, Loran) or wind instrumentthat transmits National
MarineElectronicsAssociation(NMEA)0183data.
The ST6001+ can display SeaTalk and NMEA instrument data in a
user-definedselection of data pages. When you are usingthe
ST6001+torepeatinstrumentdata,itshowsa‘pop-up’pilotpagefor
5 seconds whenever you make a change in autopilot control.
Compatibility with other autopilots
The ST6001+ is also compatible with RaymarineType 100 and
Type 300 course computers (see the Appendixfor moredetails).
You canalso useit as an additional repeater control unit for any
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
Thesectionsinthischapterexplainhowtousethe basicfunctionson
your ST6001+ autopilot control unit:
Note:If you are using the control unit with a non-150/400autopilot
system,refertothenotesintheAppendix.
2.1 Using the control unit
Summarizes the key functions and screen layouton the
ST6001+ 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
Explains how to change the lighting on the control unit
display and keypad.
page 14

4 ST6001+ 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
(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
DISP
Press to display
data pages
Press for 1 second
for lamp control
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
-1 plus +1
Press for Response level
Press for 1 second
for Rudder Gain +1 plus +10
Press together
for AutoTack
to starboard
-1 plus -10
Press together
for AutoTack
to port
D5449-1

Chapter 2: Basic Operation 5
2 Basic Operation
Display layout
The ST6001+ displayscreen providesthe followinginformation:
Thebargraphatthebottomofthescreenisnormallyarudderposition
indicator. This indicates the current position of therudder, as
measuredby therudderpositionsensor.
Note:Youcanchangethistoaheading/crosstrack/winderrorbarin
DisplayCalibration, see page 79.
Rudder position indicator or error bar
Port and Starboard
direction-to-steer
indicators
Autopilot mode
indicators
Distance units:
•no units = kilometres
•nm = nautical miles
•SM = statute miles
Heading indicators
Variable text region (up to 9 characters/digits)
D5457-1
Calibration mode
indicator (displayed on
calibration pages)

6 ST6001+ 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.ALWAYS maintaina
permanentwatchbythehelm.
Disengaging the autopilot (Standby mode)
Press standby to disengage the autopilot:
•inStandbymode,the display showstheboat’s current compass
heading.
•the last headingis memorized and canbe recalled (see page 11).
D3560-3
D3561-3

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°or10°.Forexample:
press -10 three times fora 30°course change to port.
Adjusting performance – Type 150G/400G
The mainway youcan adjust theperformance of Type 150G/400G
(GyroPlus) autopilot systemsis by changing the response level. This
istheonlyuser adjustmentyou shouldneed to make to the autopilot
on a regularbasis.
The response level controls the relationshipbetween the autopilot’s
coursekeeping accuracyandthe amount of 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 thetightest course keeping andgreatest 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 you want to
minimize drive activity andconservebattery power, decrease
the setting.
Port Starboard
oror
D3320-2