Raymarine ST4000 Plus 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 Pl us
Wheel & Tiller
Aut opilot s
Ow ner ’ s
Handbook
Document number : 81131_4
Dat e: 18t h Apr i l 1999

2Titleofhandbook

Pr ef ace i
Boat's Electrical
Distribution Panel
Rudder Reference Unit
(optional fit for wheel pilot only)
ST4000 Plus
Control Head
Fluxgate Compass SeaTalk Instruments
Tiller Pilot Actuator
Wheel Pilot Actuator
D3456-1

ii ST4000PlusWheel &TillerAutopilotsOwner’sHandbook
Raytheon Electronics, as part of its commitment to continuous improvement and updating,
reserve the right to make changes, without prior notice, to the equipment, equipment
specifications, and the instructions contained within this handbook.
To the best of our knowledge, the information contained within this handbook was correct
as it went to press.
A great deal of care has been taken to ensure that this handbook is as accurate as possible.
However, liability cannot be accepted for inaccuracies or omissions.
Autohelm and SeaTalk are registered trademarks of Raytheon Electronics of Raytheon
Electronics
WindTrim, AutoTack, AutoTrim, Auto Seastate, AutoAdapt and Auto Dockside are
trademarks
Copyright © Raytheon Electronics 1996

Pr ef ace iii
Pref ace
This handbook contains information on the operation and installation
of your new equipment. In order to obtain the best performance from
your autopilot, please read this handbook thoroughly.
How t his handbook is organised
This handbook is divided into the following chapters:
Chapter 1: Introduces the autopilot, its features and its use.
Chapter 2: Covers basic autopilot operation.
Chapter 3: Explains how to use Track and Vane (WindTrim) modes
and adjust autopilot performance, and summarises the ST4000 Plus
alarms.
Chapter 4: Explains how to use the CodeLock security feature.
Chapter 5: Provides details on how to make adjustments to customise
the autopilot to your particular vessel.
Chapter 6: Explains how to install your autopilot and its components.
Chapter 7: Covers functional testing and dockside procedures after
installation, and intial sea trials.
Chapter 8: Provides general maintenance procedures.
Chapter 9: Provides information to help you resolve any problems you
may encounter with your autopilot.
An index is included at the end of this handbook, followed by templates
for the installation of the control head, SeaTalk deck connector and
rudder reference transducer.
War rant y
To verify the ownership of your new autopilot, please take a few
minutes to complete the warranty card. It is important that you
complete the owner information and return the card to the factory to
receive full warranty benefits.

iv ST4000PlusWheel &Tiller AutopilotsOwner’sHandbook
Saf et y i nf or ma t i on
Passage making under autopilot control is an enjoyable experience that
can, if you are not careful, lead to the relaxation of the permanent
watch. A permanent watch MUST be maintained no matter how clear
the sea may appear to be.
Remember, a large ship can travel two miles in five minutes – just the
time it takes to make a cup of coffee.
The following rules should always be observed:
•Maintainapermanentwatchandregularlycheckallaroundforother
vessels and obstacles to navigation – no matter how clear the sea
may appear a dangerous situation can develop rapidly.
•Maintainanaccuraterecordofthevessel’spositioneitherbyuseof
a radio navigation receiver or visual bearings.
•Maintainacontinuousplotofpositiononacurrentchart.Ensurethe
locked autopilot heading steers you clear of all obstacles. Make
proper allowance for Tidal Set – the autopilot cannot!
•EvenwhenyourautopilotislockedontothedesiredTrackusinga
radio navigation receiver, always maintain a log and make regular
positional plots. Radio navigation signals can produce significant
errors under some circumstances and the autopilot cannot detect this
situation.
•Makesurethatallmembersofcrewarefamiliarwiththeprocedures
to disengage the autopilot.
Your Raytheon autopilot will add a new dimension to your boating
enjoyment. However, it is the responsibility of the skipper to ensure the
safety of the vessel at all times by careful observance of these basic
rules.
EM C Conf or ma nce
All Raytheon equipment and accessories are designed to the best
industry standards for use in the leisure marine environment.
Their design and manufacture conforms to the appropriate
Electromagnetic Compatibility (EMC) standards, but correct
installation is required to ensure that performance is not compromised.

Pr ef ace v
Contents
Preface ................................................................................... iii
How this handbook is organised ...................................... iii
Warranty ........................................................................... iii
Safety information ............................................................ iv
EMC Conformance .......................................................... iv
Chapter 1: Introduction ......................................................... 1
1.1 Overview ..................................................................... 1
1.2 Extended systems ........................................................ 2
1.3 Specification ............................................................... 2
Chapter 2: Basic Operation ................................................... 3
2.1 Key functions .............................................................. 3
2.2 Display layout ............................................................. 4
2.3 Using Auto mode ........................................................ 5
Engaging the autopilot (Auto) ..................................... 5
Disengaging the autopilot (Standby) to return to hand
steering ........................................................................ 6
Changing course in Auto mode ................................... 6
Dodging obstacles in Auto mode ................................ 7
Returning to the previous locked heading ................... 7
Automatic tack (AutoTack) ......................................... 8
AutoTack to starboard ........................................... 8
AutoTack to port .................................................... 9
Off course alarm .......................................................... 9
Operating hints .......................................................... 10
Making major course changes ............................. 10
Course changes under autopilot control .............. 10
Gusty conditions .................................................. 11

vi ST4000 PlusWheel & Tiller AutopilotsOwner’sHandbook
2.4 Display and keypad illumination .............................. 11
2.5 Data pages ................................................................. 12
Chapter 3:Advanced Operation ......................................... 15
3.1 Operation in track mode............................................ 15
Initiating track mode ................................................. 15
Automatic acquisition .......................................... 16
Manual acquisition .............................................. 17
Cross track error ........................................................ 18
Tidal stream compensation ........................................ 18
Waypoint arrival and advance ................................... 19
Arrival .................................................................. 19
Skipping a waypoint – SeaTalk navigators only .. 20
Advance ............................................................... 20
Dodges....................................................................... 20
Initiating a dodge manoeuvre .............................. 20
Cancelling a dodge manoeuvre ............................ 20
Safety ......................................................................... 21
Position confirmation at the start of a passage .... 21
Verifying computed positions .............................. 21
Plot frequency ...................................................... 21
Setting waypoints ................................................. 21
General ................................................................ 21
3.2 Operation in Vane mode (WindTrim) ....................... 21
Selecting Vane mode ................................................. 22
Adjusting the locked wind angle ............................... 22
Returning to the previous apparent wind angle ......... 23
Dodges....................................................................... 23
Wind shift alarm ........................................................ 24
Using AutoTack in Vane mode .................................. 24
Operating hints .......................................................... 25

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3.3 Adjusting autopilot performance .............................. 26
Changing the response level (AutoSeastate) ............. 26
Changing the rudder gain .......................................... 27
3.4 Alarms ....................................................................... 27
Chapter 4: CodeLock ............................................................ 31
4.1 CodeLock modes ...................................................... 31
4.2 Setting up CodeLock ................................................. 31
Initial setup ................................................................ 31
Changing the code or master unit .............................. 33
4.3 Entering your code (Manual mode only) .................. 33
4.4 Code number problems ............................................. 34
Chapter 5: Customising the ST4000 Plus........................... 35
5.1 User Setup ................................................................. 35
Compass deviation correction ................................... 37
Deviation display ....................................................... 37
Heading alignment .................................................... 37
Heading mode ........................................................... 37
Bar selection .............................................................. 37
Dockside rudder cal................................................... 38
Data pages ................................................................. 38
5.2 Dealer Setup .............................................................. 40
Calibration lock ......................................................... 42
Pilot type ................................................................... 42
Rudder gain ............................................................... 43
Response ................................................................... 43
Turn limit ................................................................... 43
Align rudder (Rudder Offset) .................................... 43
Off course alarm ........................................................ 43
AutoTack angle ......................................................... 44