Raytheon ST6000 Plus User guide

ST6000 Plus
Autopilot
ControlUnit
Owner’s
Handbook
Documentnumber:81133_3
Date:1stApril1999

2 Titleofhandbook

Preface 1
RaytheonElectronics,as partofits commitmenttocontinuous imrovementandupdating, reserve the
righttomake changes, withoutpriornotice, to theequipment, equipment specifications,andthe
instructions contained within this handbook.
To the best of our knowledge, the information contained within this handbook was correct
asitwent topress.
Agreatdeal ofcare hasbeentaken toensure that thishandbook isasaccurate aspossible. However,
liabilitycannot beacceptedfor inaccuraciesor omissions.
Autohelmand SeaTalkareregistered trademarksof RaytheonElectronics
WindTrim,AutoTack,AutoTrim, AutoSeastate, AutoAdapt,AutoRelease and CodeLockare
trademarksof RaytheonElectronics
Copyright © Raytheon Electronics 1996

2 ST6000PlusAutopilotControlUnitOwner,sHandbook

Preface 3
Preface
This handbook contains information on the operation and
installationof your new equipment.In order to obtainthe best
performance from your autopilot, please read this handbook
thoroughly.
How this handbook is organised
Thishandbook is dividedinto the following chapters:
Chapter1:Introducestheautopilot,itsfeaturesanditsuse.
Chapter2:Covers basic autopilot operation.
Chapter3:Explains how touseTrackand Vane (WindTrim)
modesand adjust autopilot performance,and summarises the
ST6000Plusalarms.
Chapter4:Explains how tousetheCodeLock security feature.
Chapter5:Providesdetails on how tomakeadjustmentsto
customisetheautopilottoyourparticularvessel.
Chapter6:Explainshowtoinstall the ST6000 Plus.
Chapter7:Coversfunctionaltestingandinitialcalibration
proceduresafterinstallation,andintial sea trials.
Chapter8:Provides generalmaintenance procedures.
Chapter9:Provides informationto help youresolveany
problems you may encounter with your autopilot.
Anindex is includedat the endof this handbook,followed by a
templatefortheinstallationofthecontrolunit.
Safety information
Passagemaking under autopilotcontrol is an enjoyableexperience
thatcan, if you arenotcareful, lead to therelaxationof the
permanentwatch. A permanent watchMUSTbe maintained no
matterhowclear the sea mayappeartobe.
WARNING:
Remember, a large ship can travel two miles in five minutes  just
the time it takes to make a cup of coffee.

4 ST6000PlusAutopilotControlUnitOwner,sHandbook
Thefollowing rules shouldalways be observed:
• Maintaina permanent watchand regularly checkall around for
othervesselsand obstacles to navigation–nomatter how clear the
seamay appear adangerous situation candevelop rapidly.
• Maintainanaccurate record of thevessel’spositioneither by use of
aradio navigation receiver orvisual bearings.
• Maintaina continuous plot ofposition on a currentchart. Ensure
thelockedautopilot heading steers youclearofall obstacles. Make
properallowance for Tidal Set–the autopilot cannot!
• Evenwhen your autopilotis locked ontothe desired Trackusing a
radionavigation receiver, always maintaina log and makeregular
positionalplots.Radio navigation signals canproducesignificant
errorsunder some circumstances andtheautopilot cannot detect
thissituation.
• Makesurethatallmembersofcreware familiar with the
proceduresto disengage the autopilot.
YourRaytheon autopilot will add anew dimension toyour boating
enjoyment.However,it is the responsibility oftheskipperto
ensurethesafetyofthe vessel at all times bycarefulobservanceof
thesebasicrules.
EMC conformance
AllRaytheonequipment and accessories aredesignedtothe best
industrystandards for use intheleisure marine environment.
Theirdesign and manufacture conforms tothe appropriate
ElectromagneticCompatibility(EMC)standards,butcorrect
installationisrequiredtoensure that performance is not
compromised.
Warranty
Toverify the ownership ofyour new autopilot, pleasetake a few
minutestocomplete the warranty card. Itisimportantthatyou
completethe owner informationand return the cardto the factory
toreceivefullwarrantybenefits.

Preface 5
Contents
Preface.....................................................................................3
How this handbook is organised ....................................... 3
Warranty ............................................................................ 3
Safety information ............................................................. 3
EMC conformance ............................................................ 4
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 ........................................... 7
AutoTack to port .................................................... 8
Off course alarm .......................................................... 8
Operating hints ............................................................ 9
Making major course changes ............................... 9
Course changes under autopilot control ................ 9
Sailboats in gusty conditions ............................... 10
2.4 Using Manual mode .................................................. 10
2.5 Display and keypad illumination .............................. 10

6 ST6000PlusAutopilotControlUnitOwner,sHandbook
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
Arrival .................................................................. 17
Skipping a waypoint ............................................ 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

Preface 7
3.3 Adjusting autopilot performance .............................. 23
Changing the response level (AutoSeastate) ............. 23
Changing the rudder gain .......................................... 24
3.4 Alarms ....................................................................... 24
SeaTalk failure ..................................................... 25
No link ................................................................. 25
Off course ............................................................ 25
Wind shift ............................................................ 25
Large cross track error ......................................... 25
Drive stopped....................................................... 25
Data not received ................................................. 26
Waypoint advance ................................................ 26
Low battery .......................................................... 26
Watch alarm ......................................................... 27
Man overboard (MOB) ........................................ 27
Chapter 4: CodeLock ............................................................29
4.1 CodeLock Modes ...................................................... 29
4.2 Setting Up CodeLock ................................................ 29
Initial Setup ............................................................... 29
Changing the code or master unit .............................. 31
4.3 Entering your code (Manual mode only) .................. 31
4.4 Code number problems ............................................. 32
Chapter 5: Customising the System ..................................33
5.1 User setup ................................................................. 33
Compass deviation correction ................................... 35
Deviation display ....................................................... 35
Heading alignment .................................................... 35
Heading mode ........................................................... 35
Bar selection .............................................................. 35

8 ST6000PlusAutopilotControlUnitOwner,sHandbook
Rudder calibration ..................................................... 36
Data pages ................................................................. 36
5.2 Dealer setup: Type 100/300 Course Computer ......... 38
Recommended settings .............................................. 39
Pilot type ................................................................... 39
Calibration lock ......................................................... 40
Rudder gain ............................................................... 40
Rate level ................................................................... 40
Rudder offset ............................................................. 41
Rudder limit ............................................................... 41
Turn limit ................................................................... 41
Cruise speed .............................................................. 42
Off course alarm ........................................................ 42
AutoTrim ................................................................... 43
Power steer ................................................................ 43
Drive type .................................................................. 44
Rudder damping ........................................................ 44
Variation .................................................................... 45
AutoAdapt ................................................................. 45
Latitude ..................................................................... 46
Wind Trim ................................................................. 46
Tack angle ................................................................. 46
AutoRelease .............................................................. 47
Response ................................................................... 47
Recording calibration settings ................................... 47
Chapter 6: Installation ........................................................49
6.1 Planning the Installation............................................ 49
EMC installation guidelines ...................................... 49
Connections to other equipment ................................ 50
Cabling ...................................................................... 50

Preface 9
6.2 Control head .............................................................. 50
Siting ......................................................................... 51
Mounting procedure .................................................. 51
Connections to the SeaTalk bus ................................. 52
SeaTalk cables ..................................................... 52
Cable types .......................................................... 52
Typical SeaTalk cabling ....................................... 53
6.3 NMEA interface ........................................................ 53
Cabling ...................................................................... 53
NMEA cable connectors ........................................... 54
NMEA data transmission .......................................... 54
Transmission of NMEA data on SeaTalk .................. 55
6.4 Functional test (repeater unit) ................................... 55
Switch on ................................................................... 56
Navigation interface (GPS, Decca, Loran) ................ 56
SeaTalk interface ....................................................... 57
Chapter 7: Post Installation Procedures ...........................59
7.1 Functional test and initial calibration ........................ 59
Switch on ................................................................... 59
Initial calibration ....................................................... 59
Operating sense ......................................................... 59
Navigation interface (GPS, Decca, Loran) ................ 60
Wind transducer interface ......................................... 61
SeaTalk interface ....................................................... 61
7.2 Initial sea trial ........................................................... 62
EMC conformance .................................................... 62
Overview ................................................................... 62
Automatic compass deviation correction .................. 63
Further heading alignment adjustment ...................... 65

10 ST6000PlusAutopilotControlUnitOwner,sHandbook
Checking autopilot operation .................................... 66
Checking the rudder gain .......................................... 66
Chapter 8: Maintenance ......................................................69
General ............................................................................ 69
Servicing and safety ........................................................ 69
Advice ............................................................................. 69
Chapter 9: Fault Finding......................................................71
Index ......................................................................................73

Chapter1:Introduction 1
Chapter1:Introduction
1.1 Overview
The ST6000 Plus 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 a
programmable selection of Data Pages.
The ST6000 Plus can share all data transmitted from other Raytheon
SeaTalk instruments:
 Wind information from a wind instrument can be used for wind trim
(Vane) steering without the need to install a separate vane.
 Track information, from a navigation instrument, provides waypoint
control from the autopilot.
 Boat speed from the Speed instrument provides optimum track-
keeping performance.
The ST6000 Plus autopilot can also be used with any navigator (GPS,
Decca, Loran) transmitting NMEA 0183 data.
There are five operating modes:
Standby: Autopilot disengaged
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 course relative to an apparent wind
angle
Manual: Autopilot power steers rudder using joystick control
When the ST6000 Plus 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 ST6000 Plus also provides the following:
 Automatic tack facility, which can be used in Auto and Vane modes
 Automatic compass deviation correction
 Northerly/Southerly heading compensation
 Automatic heading deadband  seastate control
 Waypoint advance feature

2 ST6000PlusAutopilotControlUnitOwner,sHandbook
 Setup and calibration options to suit each installation, giving
maximum performance with many types of boat, with three
calibration menus (user, intermediate and dealer)
 Raytheon CodeLock security support
1.2 Specification
 Power Supply: 10 to 15V dc
 Current consumption:
Standby: 60mA (less than 200mA with full lighting)
 Operating temperature: 0°C to +70°C (32°F to 158°F)
 Eight button illuminated digital keypad
 LCD display of heading, locked course and navigational data, with
three levels of illumination
 Input connections for SeaTalk and NMEA
 Output connection for SeaTalk

Chapter2:BasicOperation 3
Chapter2:BasicOperation
This chapter first provides summary diagrams of the key functions and
screen layout. It then gives operating 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
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
 The autopilot always powers up in Standby mode. (If the text CODE
LOCKis displayed, enter your code as described in Chapter 4.)
 Course changes can be made at any time using the –1,+1,–10and
+10keys.
 You can return to manual steering at any time by pressing standby.

4 ST6000PlusAutopilotControlUnitOwner,sHandbook
2.2 Display layout
The following illustration shows all the elements, together with a brief
description, that make up the ST6000 Plus autopilot LCD display.
Rudder or Steer Direction Indicator
D3507-1
MANUAL
3
 The bar graph at the bottom of the display is normally a rudder bar.
If it has been set as a direction-to-steer indicator, the display depends
on the current mode, as follows:
Mode Bar
Standby Notused
Auto Headingerrorbar
Track Cross track error (XTE) bar, in 0.02 nm increments
Vane Windangleerrorbar
 If neither distance units (nm or SM) is displayed, the distance is
in Km.

Chapter2:BasicOperation 5
2.3 UsingAuto mode
EngagingtheAutopilot(Auto)
1. Steady the vessel on the required heading.
2. Press auto.
 In Auto mode, the display shows the locked autopilot heading.
Disengagingthe autopilot(Standby) toreturnto
handsteering
 Press standby.
 In Standby mode, the display shows the vessels current compass
heading.
 The previous autopilot heading is memorised and can be recalled
(see Returing to the previous locked heading).
ChangingcourseinAutomode
 The +1and +10(starboard) and –1and –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 –10three times.

6 ST6000PlusAutopilotControlUnitOwner,sHandbook
Dodgingobstacles inAutomode
In order to avoid an obstacle when your vessel is under autopilot
control, select a course change in the appropriate direction (for
example, port 30° = press –10three times).
 When safely clear of the obstacle, you can reverse the previous
course change (for example, press +10three times), or return to the
previous locked heading (LAST HDG).
Returningtothe previouslocked heading
(LASTHDG)
If for any reason the vessel is steered away from the selected locked
heading (for example, executing a dodge manoeuvre or selecting
Standby) you can return to the previous locked heading:

Chapter2:BasicOperation 7
1. Press autofor 1 second. The previous locked heading (LAST
HDG?) is displayed for 10 seconds.
1
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, press auto
once within this 10 second period.
If you do not press autowhile the display is flashing, the current
heading will be maintained.
Automatictack (AutoTack)
The ST6000 Plus has a built in automatic tack facility that turns the
vessel through a predetermined angle (the factory default is 100°) in the
required direction.
AutoTacktostarboard
 Press the +1and +10keys together to tack to starboard.

8 ST6000PlusAutopilotControlUnitOwner,sHandbook
AutoTacktoport
 Press the -1and -10keys together to tack to port .
Offcoursealarm
The off course alarm will sound if the locked autopilot heading and the
vessels current heading differ for more than 20 seconds, by more than
the alarm angle set in calibration (the factory default is 20°).