Raytheon Electronics ST6000 Plus User guide

ST6000 Plus
Autopilot
Control Unit
Owner’s
Handbook
Document number: 81133_3
Date: 1st June 1999
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Preface i
RaytheonElectronics,aspartofitscommitmenttocontinuousimprovementandupdating,reservethe
rightto 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
asitwenttopress.
Agreatdealofcarehasbeentakentoensurethatthishandbookisasaccurateas possible. However,
liabilitycannot be accepted for inaccuracies oromissions.
Autohelmand SeaTalk are registered trademarks ofRaytheonElectronics
WindTrim,AutoTack,AutoTrim, AutoSeastate, AutoAdapt, AutoRelease and CodeLock are
trademarksof Raytheon Electronics
Copyright © Raytheon Electronics 1999
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ii ST6000 Plus Autopilot Control Unit Owner’s Handbook
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Preface iii
Contents
Preface....................................................................................ix
How this handbook is organised ......................................ix
Safety information............................................................ ix
EMC conformance ............................................................ x
Warranty............................................................................ x
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 (Standby) to return to hand
steering ........................................................................ 5
Changing course in Auto mode ................................... 5
Dodging obstacles in Auto mode ................................ 6
Returning to the previous locked heading ................... 6
Automatic tack (AutoTack) ......................................... 7
AutoTack to starboard ........................................... 8
AutoTack to port .................................................... 8
Off course alarm .......................................................... 8
Operating hints ............................................................ 9
Making major course changes ............................... 9
Course changes under autopilot control ................ 9
Gusty conditions .................................................. 10
2.4 Using Manual mode ..................................................10
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iv ST6000 Plus Autopilot Control Unit Owner’s Handbook
2.5 Display and keypad illumination .............................. 10
2.6 Data pages................................................................. 11
Chapter 3: Advanced Operation ......................................... 13
3.1 Operation in Track mode .......................................... 13
Initiating Track mode ................................................ 13
Automatic acquisition .......................................... 14
Manual acquisition .............................................. 15
Cross track error ........................................................ 16
Tidal stream compensation........................................ 16
Waypoint arrival and advance ................................... 17
Skipping a waypoint – SeaTalk navigators only .. 18
Advance ............................................................... 18
Dodges....................................................................... 18
Initiating a dodge manoeuvre .............................. 18
Cancelling a dodge manoeuvre............................ 18
Safety......................................................................... 18
Position confirmation at the start of a passage .... 19
Verifying computed positions .............................. 19
Plot frequency...................................................... 19
Setting waypoints................................................. 19
General ................................................................ 19
3.2 Operation in Vane mode (WindTrim) .......................19
Selecting Vane mode ................................................. 20
Adjusting the locked wind angle ............................... 20
Returning to the previous apparent wind angle ......... 21
Dodges....................................................................... 21
Wind shift alarm ........................................................22
Using AutoTack in Vane mode.................................. 22
Operating hints .......................................................... 23
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Preface v
3.3 Adjusting autopilot performance .............................. 23
Changing the response level (AutoSeastate) ............. 23
Changing the rudder gain ..........................................24
3.4 Alarms....................................................................... 24
SeaTalk failure ..................................................... 24
No link ................................................................. 24
Off course ............................................................ 25
Wind shift ............................................................ 25
Large cross track error......................................... 25
Drive stopped....................................................... 25
Data not received ................................................. 25
Waypoint advance................................................ 26
Low battery .......................................................... 26
Watch alarm ......................................................... 27
Man overboard (MOB)........................................ 27
Chapter 4: Customising the System .................................. 29
4.1 User setup ................................................................. 29
Compass deviation correction ................................... 31
Deviation display....................................................... 31
Heading alignment .................................................... 31
Heading mode ........................................................... 31
Bar selection .............................................................. 31
Data pages ................................................................. 32
4.2 Dealer setup: Type 100/300 Course Computer ......... 34
Recommended settings .............................................. 34
Pilot type ................................................................... 35
Calibration lock ......................................................... 35
Rudder gain ............................................................... 35
Rate level................................................................... 36
Rudder offset ............................................................. 36
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vi ST6000 Plus Autopilot Control Unit Owner’s Handbook
Rudder limit............................................................... 36
Turn limit ................................................................... 37
Cruise speed .............................................................. 37
Off course alarm........................................................ 37
AutoTrim ................................................................... 38
Power steer ................................................................ 39
Drive type .................................................................. 39
Rudder damping ........................................................ 40
Variation .................................................................... 40
AutoAdapt ................................................................. 41
Latitude ..................................................................... 41
Wind Trim ................................................................. 42
Tack angle ................................................................. 42
AutoRelease .............................................................. 42
Response ................................................................... 42
Recording calibration settings ................................... 43
Chapter 5: Installation ........................................................ 45
5.1 Planning the Installation............................................ 45
EMC installation guidelines ...................................... 45
Connections to other equipment................................ 46
Cabling ...................................................................... 46
5.2 Control head.............................................................. 46
Siting ......................................................................... 47
Mounting procedure .................................................. 47
Surface mounting ................................................. 47
Flush mounting .................................................... 48
Connections to the SeaTalk bus................................. 49
SeaTalk cables ..................................................... 49
Cable types .......................................................... 50
Typical SeaTalk cabling....................................... 50
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Preface vii
5.3 NMEA interface........................................................ 50
Cabling ...................................................................... 51
NMEA cable connectors ........................................... 51
Data formats .............................................................. 52
Transmission of NMEA data on SeaTalk .................. 52
NMEA data transmission .......................................... 52
5.4 Switch on and initial test ...........................................53
EMC conformance .................................................... 53
Switch on ................................................................... 53
Navigation interface (GPS, Decca, Loran)................ 54
SeaTalk interface ....................................................... 54
Chapter 6: Post Installation Procedures ........................... 55
6.1 Initial test and calibration requirements.................... 55
Operating sense ......................................................... 55
Wind transducer interface ......................................... 56
6.2 Initial sea trial ........................................................... 57
EMC conformance .................................................... 57
Overview ................................................................... 57
Automatic compass deviation correction .................. 58
Further heading alignment adjustment ...................... 60
Checking autopilot operation .................................... 61
Checking the rudder gain ..........................................61
Chapter 7: Maintenance ...................................................... 63
General............................................................................ 63
Servicing and safety ........................................................ 63
Advice ............................................................................. 63
Chapter 8: Fault Finding ...................................................... 65
Index ...................................................................................... 67
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viii ST6000 Plus Autopilot Control Unit Owner’s Handbook
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Preface ix
Preface
This handbook contains information on the operation and
installationof your new equipment. Inorder to obtain the best
performance from your autopilot, please read this handbook
thoroughly.
How this handbook is organised
Thishandbook is divided into the following chapters:
Chapter1:Introduces theautopilot, itsfeatures and itsuse.
Chapter2: Coversbasic autopilotoperation.
Chapter3: Explains how to use Track and Vane (WindTrim)
modesand adjust autopilot performance, andsummarises the
ST6000Plus alarms.
Chapter4:Provides details on how to make adjustments to
customisethe autopilot toyour particularvessel.
Chapter5:Explains how to installthe ST6000Plus.
Chapter6:Covers functionaltesting and initialcalibration
proceduresafterinstallation, and initialseatrials.
Chapter7: Provides generalmaintenance procedures.
Chapter8: Provides information to help you resolve any
problems you may encounter with your autopilot.
Anindex is includedat the endof this handbook,followed by a
templatefor the installationof thecontrol unit.
Safety information
Passagemaking under autopilot control is an enjoyable experience
thatcan, ifyou are not careful, lead to therelaxation ofthe
permanentwatch. Apermanent watch MUST be maintained no
matterhow clearthe seamay appearto be.
WARNING:
Remember,alargeshipcantraveltwomilesinfiveminutes–just
thetimeittakestomakeacupofcoffee.
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x ST6000 Plus Autopilot Control Unit Owner’s Handbook
Thefollowing rules should always be observed:
• Maintaina permanent watchand regularly checkall around for
othervessels andobstacles tonavigation –no matterhow clear the
seamay appear adangerous situation candevelop rapidly.
• Maintainan accuraterecord ofthe vessel’sposition eitherby use of
aradio navigation receiver or visualbearings.
• Maintaina continuous plot of positionon a current chart. Ensure
thelocked autopilotheading steersyou clearof allobstacles. Make
properallowance forTidal Set – the autopilot cannot!
• Evenwhen your autopilotis locked ontothe desired Trackusing a
radionavigation receiver, always maintain alog and make regular
positionalplots. Radionavigation signalscan producesignificant
errorsunder somecircumstances and the autopilot cannot detect
thissituation.
• Makesure that allmembers ofcrew are familiar with the
proceduresto disengage the autopilot.
YourRaytheon autopilot will add a new dimension to your boating
enjoyment.However, itis theresponsibility of the skipper to
ensurethe safety of the vessel at alltimes bycareful observanceof
thesebasicrules.
EMC conformance
AllRaytheon equipmentand accessoriesare designedto thebest
industrystandards foruse in the leisure marine environment.
Theirdesign and manufacture conforms to the appropriate
ElectromagneticCompatibility(EMC) standards,but correct
installationis required to ensure that performance isnot
compromised.
Warranty
Toverify the ownership of yournew autopilot, please take a few
minutesto completethe warrantycard. It is important that you
completethe owner information and return the card tothe factory
toreceive full warranty benefits.
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Chapter 1: Introduction 1
Chapter 1: Introduction
1.1 Overview
TheST6000Plusis a SeaTalk®compatibleautopilotcontrolunit. It is
designedforuseasarepeaterinanautopilotsystem,allowingautopilot
controlfromasecondarylocation,oras the control unitforaType
100/300CourseComputer.Itcanalsorepeatinstrumentdataina
programmableselection ofDataPages.
TheST6000PluscansharealldatatransmittedfromotherRaytheon
SeaTalkinstruments:
• Windinformationfromawindinstrumentcanbeusedforwindtrim
(Vane)steeringwithouttheneedtoinstallaseparatevane.
• Trackinformation,fromanavigationinstrument,provideswaypoint
controlfromtheautopilot.
• BoatspeedfromtheSpeedinstrumentprovidesoptimumtrack-
keepingperformance.
TheST6000Plusautopilotcanalsobe used with anynavigator(GPS,
Decca,Loran) transmittingNMEA0183data.
Therearefiveoperatingmodes:
Standby: Autopilotdisengaged
Auto: Autopilotengagedandlocked onto aheading
Track: Autopilotmaintainsatrackbetweentwowaypointscreated
usinganavigationsystem
Vane: Autopilotmaintainsacourserelativetoanapparentwind
angle
Manual: Autopilotpowersteersrudderusingjoystickcontrol
WhentheST6000Plusisbeingusedtorepeatinstrumentdata, “pop-up
pilot”pagesaredisplayedfor5secondswheneverachangeinautopilot
controlis made.
TheST6000Plusalsoprovidesthefollowing:
• Automatictackfacility,whichcanbeusedinAutoandVanemodes
• Automaticcompassdeviationcorrection
• Northerly/Southerlyheadingcompensation
• Automaticheadingdeadband–seastatecontrol
• Waypointadvancefeature
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2 ST6000 Plus Autopilot Control Unit Owner’s Handbook
• Setupandcalibrationoptionstosuiteachinstallation,giving
maximumperformancewithmanytypesofboat,withthree
calibrationmenus(user,intermediateanddealer)
1.2 Specification
• Power Supply: 10 to 15 V dc
• Currentconsumption:
Standby: 60 mA (less than 200 mA with full lighting)
• Operatingtemperature:0°Cto+70°C (32°F to158°F)
• Eightbuttonilluminateddigitalkeypad
• LCDdisplayofheading,lockedcourseandnavigationaldata,with
threelevelsofillumination
• Inputconnections for SeaTalkandNMEA
• OutputconnectionforSeaTalk
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Chapter 2: Basic Operation 3
Chapter 2: Basic Operation
Thischapterfirstprovidessummarydiagramsofthekeyfunctionsand
screenlayout.Itthengivesoperatinginstructionsforengagingthe
autopilotandusingAutomode,changingthelighting,anddisplaying
DataPages.
2.1 Key functions
Theautopilotiscontrolledusingsimplepush-buttonoperations,allof
whichareconfirmedwithabeep.Inadditiontothemainsinglekey
functions,thereareseveraldualkeyfunctions.
TRACK
Press for Track
mode from Auto
AUTO
Press for Auto mode
DISP
Press for
Data Page
STANDBY
Press for Standby
mode
Course Change Keys
Port 1˚ Starboard 1˚
Port 10˚ Starboard 10˚
STANDBY plus AUTO
Press for Vane mode
-1 plus +1
Press for Response level
+1 plus +10
Press together
for AutoTack
to starboard
-1 plus -10
Press together
for AutoTack
to port
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 for 1 second
for Rudder Gain
Press for 1 second for Last Wind
Press again to accept Last Wind
• TheautopilotalwayspowersupinStandbymode.
• Coursechanges can bemadeatanytimeusingthe–1,+1,–10 and
+10 keys.
• Youcanreturntomanualsteeringatanytimebypressing standby.
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4 ST6000 Plus Autopilot Control Unit Owner’s Handbook
2.2 Display layout
Thefollowingillustrationshowsalltheelements,togetherwithabrief
description,thatmakeuptheST6000PlusautopilotLCDdisplay.
Rudder or Steer Direction Indicator
• Thebar graph at the bottomofthedisplayisnormallyadirection-to-
steerindicator. the display depends on thecurrentmode,asfollows:
Mode Bar
Standby Rudder bar for systems with rudder reference transducer
Auto Heading error bar
Track Cross track error (XTE) bar, in 0.02 nm increments
Vane Wind angle error bar
• Ifneitherdistanceunits(nmorSM)is displayed,thedistanceis
inKm.
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Chapter 2: Basic Operation 5
2.3 Using Auto mode
Engaging the Autopilot (Auto)
1. Steadythevesselontherequiredheading.
2. Press auto.
• InAutomode,thedisplayshowsthelockedautopilotheading.
Disengaging the autopilot (Standby) to return to
hand steering
• Pressstandby.
• InStandbymode,thedisplayshowsthevessel’scurrentcompass
heading.
• Thepreviousautopilotheadingismemorisedandcanberecalled
(seeReturning to theprevious locked heading).
Changing course in Auto mode
• The+1 and +10 (starboard) and–1 and –10 (port)keys are usedto
changethelockedheading,inincrementsof1°and10°,whenthe
autopilothascontrol.
Example:a30°coursechangetoport = press –10 threetimes.
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6 ST6000 Plus Autopilot Control Unit Owner’s Handbook
Dodging obstacles in Auto mode
Inordertoavoidanobstaclewhenyourvesselisunderautopilot
control,selectacoursechangeinthe appropriate direction (for
example,port30°=press –10 three times).
• Whensafely clear oftheobstacle,youcanreversetheprevious
coursechange (for example, press +10 threetimes), or return to the
previouslocked heading(LASTHDG).
Returning to the previous locked heading
(LAST HDG)
Iffor any reasonthevesselissteeredawayfromtheselectedlocked
heading(forexample,executingadodgemanoeuvreorselecting
Standby)youcanreturntothepreviouslockedheading:
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Chapter 2: Basic Operation 7
1. Press auto for 1second. The previouslockedheading (LAST
HDG?)isdisplayed for10 seconds.
1
Note:Adirection-to-steer indicator is displayed toshow youthe
directionthevesselwillturn.
2. Toacceptthisheading,andresumetheoriginalcourse,pressauto
oncewithin this 10 second period.
Ifyoudonotpressauto whilethedisplayisflashing,thecurrent
headingwillbemaintained.
Automatic tack (AutoTack)
TheST6000 Plus hasabuiltinautomatictackfacilitythatturnsthe
vesselthroughapredeterminedangle(thefactorydefaultis100°)inthe
requireddirection.
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8 ST6000 Plus Autopilot Control Unit Owner’s Handbook
AutoTack to starboard
• Pressthe+1 and+10 keystogether to tacktostarboard.
AutoTack to port
• Pressthe-1 and-10 keystogethertotack to port.
Off course alarm
Theoff course alarmwillsoundifthelockedautopilotheadingandthe
vessel’scurrentheadingdifferformorethan20 seconds,bymorethan
thealarm anglesetincalibration(thefactorydefaultis20°).
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