Raytheon Electronics ST4000 Plus User guide

ST4000 Plus
Wheel&Tiller
Autopilots
Owner’s
Handbook
Documentnumber:81131_4
Date:18thApril1999

2 Titleofhandbook

Preface 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
RaytheonElectronics,aspartofitscommitmenttocontinuousimprovementandupdating,
reservetherighttomakechanges,withoutpriornotice,totheequipment,equipment
specifications,andtheinstructionscontainedwithinthishandbook.
Tothebestofourknowledge,theinformationcontainedwithinthishandbookwascorrect
asitwenttopress.
Agreat dealofcarehas beentakentoensure thatthishandbookisasaccurateas possible.
However,liabilitycannotbeacceptedforinaccuraciesoromissions.
AutohelmandSeaTalkareregisteredtrademarksofRaytheonElectronicsofRaytheon
Electronics
WindTrim,AutoTack,AutoTrim,AutoSeastate,AutoAdaptandAutoDocksideare
trademarks
Copyright©RaytheonElectronics1996

Preface iii
Preface
Thishandbookcontainsinformationontheoperationandinstallation
ofyournewequipment.Inordertoobtainthebestperformancefrom
yourautopilot,pleasereadthishandbookthoroughly.
How this handbook is organised
Thishandbookisdividedintothefollowingchapters:
Chapter1:Introducestheautopilot,itsfeatures anditsuse.
Chapter2:Covers basic autopilotoperation.
Chapter3:Explainshowto useTrackand Vane(WindTrim)modes
andadjustautopilotperformance,andsummarises theST4000Plus
alarms.
Chapter4:ExplainshowtousetheCodeLocksecurityfeature.
Chapter5:Providesdetailsonhowtomakeadjustmentstocustomise
theautopilottoyourparticularvessel.
Chapter6:Explainshowtoinstallyourautopilotanditscomponents.
Chapter7:Coversfunctionaltestinganddocksideproceduresafter
installation,andintialseatrials.
Chapter8:Providesgeneralmaintenanceprocedures.
Chapter9:Providesinformationtohelpyouresolveanyproblemsyou
mayencounterwithyourautopilot.
Anindexisincludedattheendofthishandbook,followedbytemplates
forthe installationofthe controlhead,SeaTalk deckconnectorand
rudderreferencetransducer.
Warranty
Toverifytheownershipofyournewautopilot,pleasetakeafew
minutestocompletethewarrantycard.Itisimportantthatyou
completetheownerinformationandreturnthecardtothefactoryto
receivefullwarrantybenefits.

iv ST4000PlusWheel&TillerAutopilotsOwner’sHandbook
Safety information
Passagemakingunderautopilotcontrolisanenjoyableexperiencethat
can,ifyouarenotcareful,leadtotherelaxationofthe permanent
watch.ApermanentwatchMUSTbemaintainednomatterhowclear
theseamay appeartobe.
Remember,alargeshipcantraveltwomilesinfiveminutes–justthe
timeittakestomakeacupofcoffee.
Thefollowingrulesshouldalwaysbeobserved:
• Maintainapermanentwatchandregularlycheckallaroundforother
vesselsandobstaclesto navigation–nomatterhowclearthesea
mayappearadangeroussituationcandeveloprapidly.
• Maintainanaccuraterecordofthevessel’spositioneitherbyuseof
aradionavigationreceiverorvisualbearings.
• Maintainacontinuousplot ofpositiononacurrentchart.Ensurethe
lockedautopilotheadingsteersyouclearofallobstacles.Make
properallowance for TidalSet–the autopilotcannot!
• EvenwhenyourautopilotislockedontothedesiredTrackusinga
radionavigationreceiver,alwaysmaintainalogandmakeregular
positionalplots.Radionavigationsignalscanproducesignificant
errorsundersomecircumstancesandtheautopilotcannotdetectthis
situation.
• Makesurethatallmembersofcrewarefamiliarwiththeprocedures
todisengagetheautopilot.
YourRaytheonautopilotwilladdanewdimensiontoyourboating
enjoyment.However,itistheresponsibilityoftheskippertoensurethe
safetyofthevesselatalltimesbycarefulobservanceofthesebasic
rules.
EMC Conformance
AllRaytheonequipmentandaccessoriesaredesignedtothebest
industrystandardsforuseintheleisuremarineenvironment.
Theirdesignandmanufactureconformstotheappropriate
ElectromagneticCompatibility(EMC)standards,butcorrect
installationisrequiredtoensurethatperformanceisnotcompromised.

Preface 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 ST4000PlusWheel&TillerAutopilotsOwner’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

Preface vii
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

viii ST4000PlusWheel&TillerAutopilotsOwner’sHandbook
Autotrim .................................................................... 44
Drive type .................................................................. 45
Variation .................................................................... 45
AutoAdapt ................................................................. 45
Latitude ..................................................................... 46
Rudder damping ........................................................ 46
Cruise speed .............................................................. 46
Chapter 6: Installation ........................................................47
6.1 Planning the installation............................................ 47
EMC installation guidelines ...................................... 47
Suppression ferrites ............................................. 48
Connections to other equipment .......................... 48
Cabling ...................................................................... 48
6.2 Control head.............................................................. 49
Siting ......................................................................... 49
Mounting procedure .................................................. 49
Cable connectors ....................................................... 50
Power supply connection........................................... 51
Connections to SeaTalk ............................................. 52
SeaTalk cables ..................................................... 52
Typical SeaTalk cabling...................................... 52
Cable types .......................................................... 53
6.3 Fluxgate compass...................................................... 53
Mounting location ..................................................... 53
Mounting location for steel-hulled vessels................ 54
Cabling ...................................................................... 55
6.4 Rudder reference transducer .....................................56
Mounting position ..................................................... 56
Control dimensions.................................................... 57