Raymarine ST600R 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.

ST600R
Autopilot
Control Unit
Owner’s
Handbook
Document number: 81134-3
Date: May2001
134_3_cov.fm Page i Wednesday, March 7, 2001 8:54 AM

134_3_cov.fm Page ii Wednesday, March 7, 2001 8:54 AM

Preface i
Raymarine, as part of its commitment to continuous improvement and updating, reserves
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 Raymarine Ltd.
WindTrim, AutoTack, AutoTrim, AutoSeastate, AutoAdapt, AutoRelease and CodeLock are
trademarks of Raymarine Ltd.
Copyright © Raymarine Ltd 2001.
-- 1
-- 10
stdby
+1
+10
auto
track

ST600RAutopilotControlUnitii

Preface iii
Preface
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 this 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
ST600R 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 the ST600R.
Chapter 7: Covers functional testing and initial calibration
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 the
necessary template(s).
Warranty
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.

ST600RAutopilotControlUnitiv
Safety Information
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:
•Maintain a permanent watch and regularly check all around for
other vessels and obstacles to navigation – no matter how clear the
sea may appear a dangerous situation can develop rapidly.
•Maintain an accurate record of the vessel’s position either by use of
a radio navigation receiver or visual bearings.
•Maintain a continuous plot of position on a current chart. Ensure the
locked autopilot heading steers you clear of all obstacles. Make
proper allowance for Tidal Set – the autopilot cannot!
•Even when your autopilot is locked onto the desired Track using a
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.
•Make sure that all members of crew are familiar with the procedures
to disengage the autopilot.
Your Raymarine 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.
EMC Conformance
All Raymarine 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 good
installation is required to ensure that performance is not
compromised.

Preface v
Contents
Chapter 1: Introduction .............................................................. 1
1.1 Overview.................................................................................1
1.2 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 to Return to Hand Steering .............5
Changing Course in Auto Mode..............................................6
Dodging Obstacles in Auto Mode ...........................................6
Returning to the Previous Locked Heading
(LAST HDG) ........................................................................7
AutomaticTack(AutoTack) ...................................................8
OffCourseAlarm ..................................................................9
Operating Hints......................................................................9
2.4 Manual Mode ........................................................................10
2.5 Display and Keypad Illumination ............................................11
2.6SeaTalk Data Pages ................................................................12
Changing Chapters...............................................................12
Cycling Pages ......................................................................12
SeaTalkDataChart ..............................................................13
Chapter 3: Advanced Operation .............................................. 14
3.1 Operation in Track Mode ........................................................14
Initiating Track Mode ...........................................................14
Automatic Acquisition ..................................................15
Manual Acquisition ......................................................16
Cross TrackError .................................................................17
TidalStreamCompensation..................................................18
Waypoint Arrival and Advance.............................................18
Arrival .........................................................................18
Skipping a Waypoint – SeaTalk Navigators Only ...........19
Advance ......................................................................19
Dodges ................................................................................19
Initiating a Dodge Manoeuvre .......................................19
Cancelling a Dodge Manoeuvre ....................................19
Safety ..................................................................................19
PositionConfirmation at the Start of a Passage ...............19
Verifying Computed Positions ......................................20
Plot Frequency .............................................................20
Setting Waypoints ........................................................20
General ........................................................................20

ST600RAutopilotControlUnitvi
3.2 Operation in Vane Mode (WindTrim) .....................................20
SelectingVane Mode ...........................................................21
Adjusting the Locked Wind Angle ........................................21
Returning to Previous Apparent Wind Angle (LAST WND) ..22
Dodges ................................................................................22
Wind Shift Alarm.................................................................23
Using AutoTack in Vane Mode ............................................23
Operating Hints....................................................................24
3.3 Adjusting Autopilot Performance ...........................................25
Changingthe Response Level (Auto Seastate) .......................25
Changing the Rudder Gain ...................................................26
3.4 Alarms ..................................................................................26
SeaTalkFailure ....................................................................27
No Link ...............................................................................27
AutoRelease........................................................................27
Off Course ...........................................................................27
Wind Shift ...........................................................................27
LargeCross Track Error .......................................................27
Drive Stopped ......................................................................28
DataNotReceived ...............................................................28
Waypoint Advance ..............................................................28
LowBattery .........................................................................29
WatchAlarm .......................................................................29
Man Overboard (MOB)........................................................29
Chapter 4: CodeLock ............................................................... 31
4.1 CodeLock Modes...................................................................31
4.2 Setting Up CodeLock .............................................................31
Initial Setup .........................................................................32
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 System ........................................ 35
5.1 User Setup .............................................................................35
Compass Deviation Correction (SWING COMPASS)...........37
DeviationDisplay (DEVIATION) ........................................37
HeadingAlignment (ALIGN HDG)......................................37
Pilot Type* ..........................................................................37
Heading Mode (HDG) .........................................................37
BarSelection(RUDD BAR) .................................................38
RudderCalibration (DOCKSIDE RUDD CAL)* ..................38
Quitting User Setup ..............................................................38
5.2 Dealer Setup: Type 100/300 Course Computer ........................39
RecommendedSettings ........................................................41
Pilot Type (ST6000 Plus & Type 100/300) ............................42
Pilot Type (ST4000 Plus and ST5000 Plus) ...........................42

Preface vii
Calibration Lock ..................................................................42
Rudder Gain ........................................................................43
RateLevel ...........................................................................43
RudderOffset ......................................................................43
RudderLimit .......................................................................44
Turn Limit ...........................................................................44
Cruise Speed ........................................................................44
OffCourseAlarm ................................................................45
AutoTrim ............................................................................45
PowerSteer .........................................................................46
Drive Type ..........................................................................46
Rudder Damping .................................................................47
Variation .............................................................................47
AutoAdapt...........................................................................48
Latitude ...............................................................................48
Auto Tack* ..........................................................................49
Wind Trim* .........................................................................49
AutoRelease........................................................................49
Response .............................................................................49
Recording Calibration Settings .............................................50
Chapter 6: Installation .............................................................. 51
6.1 Planning the Installation .........................................................52
Choosing the Correct Connection Cable ................................52
Cabling Guidelines ..............................................................52
EMCInstallation Guidelines.................................................53
6.2 Connections...........................................................................54
ST1000 and ST2000 Plus Autopilot Connections ..................54
ST4000/5000/6000 Plus Connections ...................................55
ST6000 & ST7000 Autopilot Connections ............................56
6.3 Mounting the Bulkhead Socket ...............................................56
6.4 Bulkhead Bracket Installation .................................................58
6.5Functional Test(Repeater Unit) ..............................................58
Switch On............................................................................59
SeaTalkInterface .................................................................59
Chapter 7: Post Installation Procedures .................................. 61
7.1 Functional Test and Initial Calibration .....................................61
Switch On............................................................................61
OperatingSense ...................................................................62
NavigationInterface (GPS,Decca, Loran) .............................62
WindTransducerInterface ...................................................63
EMCConformance ..............................................................63
7.2Initial Sea Trial.......................................................................64
AutomaticCompass Deviation Correction ............................64
Further Heading Alignment Adjustment................................67
Checking Autopilot Operation ..............................................67
Checking the Rudder Gain ....................................................68

ST600RAutopilotControlUnitviii
Chapter 8: Maintenance ........................................................... 71
General................................................................................71
Servicing and Safety.............................................................71
Advice.................................................................................71
Chapter 9: Fault Finding........................................................... 72
Index ........................................................................................ 74

1
Chapter1:Introduction
Chapter 1: Introduction
1.1 Overview
The ST600R is a SeaTalk®compatible autopilot control unit. It is
designed for use as a repeater in an autopilot system, allowing
autopilot control from a secondary location, or as the control unit for
a Type 100/300 Course Computer. It can also repeat instrument
data in an extensive set of Data Pages.
There are five operating modes:
Standby:Autopilot off
Auto:Autopilot engaged and locked onto a heading
Track:Autopilot maintains a track between two waypoints
created using a navigation system
Vane:Autopilot maintains a courserelative to an apparent
wind angle
Manual:Autopilot off during joystick control of steering
When the ST600R is being used to repeat instrument data, “pop-up
pilot” pages are displayed for 5 seconds whenever a change in
autopilot control is made.
The ST600R also provides the following:
•Setup and calibration options to suit each installation, giving
maximum performance with many types of boat and three
calibration menus (user, intermediate and dealer)
•Dockside rudder calibration feature that automatically determines
the characteristics of your installation, and adjusts for them, before
you set sail
•CodeLock security support
• Automatic tack facility that can be in used in Auto and Vane modes
• Automatic compass deviation correction
• Northerly/Southerly heading compensation
• Automatic heading deadband - seastate control
• Waypoint advance feature

2ST600RAutopilotControlUnit
1.2 Specification
• Power Supply: 8.5 to 16.5V DC
• Current consumption:
Standby: 60mA (less than 200mA with full lighting)
• Operating temperature: 0°C to +70°C (32°F to 158°F)
• Nine button illuminated digital keypad
• LCD display of heading, locked course and navigational data, with
three levels of illumination

3
Chapter2:BasicOperation
Chapter 2: Basic Operation
This chapter provides summary diagrams of the screen layout and
key functions. It also provides instructions for engaging the
autopilot and using Auto mode, changing the lighting and
displaying Data Pages.
2.1 Key Functions
The autopilot is controlled using simple push-button operations, all
of which are confirmed with a beep. In addition to the main single
key functions, there are several dual key functions.
TRACK
Press for Track mode
from Auto
AUTO
Press for Auto mode
CHAPTER
Press for
Data Chapter
STANDBY
Press for Standby
mode
Port and Starboard
Course Change
Keys -1 & -10 (port)
+1 & +10 (starb'd)
STANDBY + AUTO
Press for Vane mode
-1 plus +1
Press together for
Response level
+1 plus +10
Press together for
AutoTack to starboard
-1 plus -10
Press together for
AutoTack to port
--1
- -10
stdby
+1
+10
auto
track
Press to accept waypoint
advance
Press for 1 second to skip
waypoint
Press for 1 second
for Last Heading
Press again to
accept Last Heading
Press for 1 second
for lamp control
Press and hold for
Setup modes
D3447-1
Press together for 1
second for Rudder Gain
Press for 1 second
for Last Wind
Press again to accept
Last Wind
PAGE
Press to cycle
through the
SeaTalk pages.
Press for 1 second
to return to the
previous page.
• The autopilot always powers up in Standby mode. (If the words
CODE LOCK are displayed, enter your code as described in
Chapter 4.)
• Course changes are made using the-1,+1,-10 and+10 keys.
• Return to manual steering at any time by pressingSTANDBY.

4ST600RAutopilotControlUnit
2.2 Display Layout
The following illustration shows all the elements, together with a
brief description, that make up the ST600R autopilot LCD display.
Rudder or Steer Direction Indicator
D3682-1
Variable Text Region
(5+4 Characters/Digits Maximum)
Calibration Indicator
Port and Starboard
Direction to Steer
Indicators
• The bar graph at the bottom of the display is normally the rudder bar.
If it has been set as a direction-to-steer indicator (refer to User
Setup), the display depends on the current mode (see below).
Mode Bar
Standby Not used (rudder angle if feedback transducer is
connected to autopilot)
Auto Heading error bar
Track Cross track error (XTE) bar, in 0.02nm increments
Vane Wind angle error bar
• If neither distance units (nm or SM) is displayed, the distance is in
Km.

5
Chapter2:BasicOperation
2.3 Using Auto Mode
EngagingtheAutopilot(Auto)
1. Steady the vessel on the required heading.
2. Press AUTO.
DXXXX-1
AUTO
auto
• In Auto mode, the display shows the locked autopilot heading.
Caution: 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.
DisengagingtheAutopilot(Standby)toReturn to
Hand Steering
• PressSTANDBY.
DXXXX-1
STDBY
stdby
• In Standby mode, the display shows the vessel’s current compass
heading.
• The previous autopilot heading is memorised and can be recalled
(see opposite).

6ST600RAutopilotControlUnit
ChangingCourseinAutoMode
• The+1 and+10 (starboard) and–1 and –10(port) keys are used to
change the locked heading, in increments of 1° and 10°, when the
autopilot has control.
Example: a 30° course change to port = press –10 three times.
Dodging Obstacles in Auto Mode
Select a course change in the appropriate direction, for example,
port 30° =-10three times.
• When safely clear of the obstacle, you can reverse the previous
course change (for example, press +10 three times), or return to the
previous locked heading (LAST HDG).

7
Chapter2:BasicOperation
Returningtothe Previous LockedHeading
(LAST HDG)
If you steer your vessel away from the selected locked heading (for
example, executing a dodge manoeuvre or selecting Standby) you
can return to the previous locked heading as follows:
1. Press AUTO for 1 second. The previous locked heading (LAST
HDG) is displayed for 7 seconds and the display flashes.
Note: A direction-to-steer indicator is displayed to show you the direction
the vessel will turn.
2. To accept this heading, and resume the original course, pressAUTO
once within this 7 second period.
If you do not pressAUTO while the display is flashing, the current
heading will be maintained.

8ST600RAutopilotControlUnit
Automatic Tack (AutoTack)
The autopilot has a built in automatic tack facility that turns the
vessel through a predetermined angle (the factory default, set in
Dealer calibration, is 100°) in the required direction.
AutoTack to Starboard
• Press the+1 and +10 keys together to tack to starboard.
AutoTack to Port
• Press the-1 and-10keys together to tack to port .

9
Chapter2:BasicOperation
Off Course Alarm
The off course alarm sounds if the locked autopilot heading and the
vessel’s current heading differ for more than 20 seconds, and by
more than the alarm angle set in calibration (the factory default
is 20°).
1. To cancel the off course alarm, press STANDBY to return to hand
steering.
2. Make sureyour vessel is not carrying too much sail or the sails are
badly balanced. Significant improvements in course keeping can
usually be obtained by improving sail balance.
OperatingHints
Making Major Course Changes
• It is sound seamanship to make major course changes only when
steering manually.
• Manual course changes ensure that obstructions or other vessels are
cleared properly, and due account taken of the changed wind and sea
conditions on the new heading prior to engaging the autopilot.
Course Changes Under Autopilot Control
It is important to understand the effect of sudden trim changes on
steering performance. When a sudden trim change occurs, due, for
example, to weather helm or sail imbalance, there will be a delay
before the automatic trim applies rudder to restore the locked
heading. This correction can take up to one minute.
Large course changes, which change the apparent wind direction,
can produce large trim changes. In these situations, the autopilot will
not immediately assume the new automatic heading, and will only
settle onto course when the automatic trim has been fully
established.