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' Autohelm St3000 Wheel Drive Autopilot'




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Distributed by
Any reference to Raytheon or
RTN in this manual should be
interpreted as names Raytheon and RTN
are owned by the
Raytheon number 811941
Date June 2001
ii ST3000 Wheel Drive Autopilot Owners Handbook
Autohelm HSB High Speed Bus SailPilot SeaTalk and SportPilot
are registered trademarks of Raymarine Ltd
Raymarine AST Advanced Steering Technology AutoAdapt
AutoLearn AutoRelease AutoSeastate AutoTack AutoTrim
FastTrim GyroPlus RayGyro RayPilot and WindTrim are
trademarks of Raymarine Ltd
Handbook contents Raymarine Ltd
Chapter 1 Introduction 11 Overview 1
12 3
13 About this handbook 4
Important Information 4
Chapter 2 Using the Wheel Pilot 21 Overview 9
22 Using Auto mode 10
Engaging the autopilot Auto mode 10
Disengaging the autopilot Standby mode 10
Changing course 11
Automatic deadband control Auto Seastate 14
Operating hints trim changes 14
23 Switching display illumination on and off 16
24 Using Track mode 17
Selecting Track mode 17
Returning to Auto from Track mode 20
Cross track error XTE 20
Tidal stream compensation 21
Waypoint arrival and advance 22
Dodges in Track mode 22
Safety in Track mode 23
Warning messages in Track mode 24
25 Using Wind Vane mode 25
Selecting Wind Vane mode 25
Exiting Wind Vane mode 26
Returning to the previous apparent wind angle 26
Wind shift alarm 26
Operating hints for Wind Vane mode 27
Chapter 3 Maintenance Fault Finding 31 General maintenance 29
32 Product support 30
33 Fault finding 30
Chapter 4 Installing the Wheel Pilot 41 Planning the installation 35
42 Control head installation 37
Mounting procedure 37
Cabling and socket installation 38
iv ST3000 Wheel Drive Autopilot Owners Handbook
Mounting the socket 42
43 Drive unit installation 43
Attaching the wheel drum 43
Mounting the drive unit and belt 44
Drive unit cabling 47
Chapter 5 Commissioning the Wheel Pilot 51 Functional tests 53
Switch on 53
Operating sense 53
Checking the navigation interface 54
Checking the wind instrument interface 55
Checking the SeaTalk interface 55
52 Initial sea trial 56
Calibrating the compass 56
Autopilot operation 58
53 Adjusting autopilot performance 59
Chapter 6 Adjusting Wheel Pilot Settings 61 Introduction 61
Adjusting calibration values 61
Calibration features 63
Default calibration values 63
62 Calibrating the wheel pilot 64
Calibration Level 1 Rudder gain 64
Calibration Level 5 Cruise speed 64
Calibration Level 6 Off course alarm angle 64
Calibration Level 9 Magnetic variation 65
Calibration Level 10 Heading error correction 65
Calibration Level 11 Boats current latitude 66
Controlling access to calibration 66
Index 69
Chapter 1 Introduction 1
Chapter 1 Overview
1 Introduction
D56521
The ST3000 wheel pilot is a cockpit autopilot for wheel steered boats
It is designed for owner installation and consists of two main units
bracket mounted ST3000 control unit with builtin compass
proven ST3000 wheel drive unit
ST3000 control unit
Operating modes
The wheel pilot has four basic operating modes
Standby mode autopilot off
Auto mode autopilot engaged and locked onto a heading
Track mode autopilot on and maintaining a track between two
waypoints created on a navigation system
Wind Vane mode autopilot on and maintaining a course relative
to an apparent wind angle
SeaTalk and NMEA The ST3000 control unit is SeaTalk compatible so it can share data
transmitted from other Raymarine SeaTalk instruments
wind information from a wind instrument can be used for
wind vane steering without the need to install a separate vane
2 ST3000 Wheel Drive Autopilot Owners Handbook
track information from a navigator can provides waypoint
control from the autopilot
boat speed from a speed instrument can provide optimum track
1 keeping performance
SeaTalk compatibility also allows additional fixed and handheld
autopilot control units to be easily connected at secondary
steering and control positions
With an optional SeaTalkNMEA interface part number E85001
the wheel pilot can also be used with any navigator or position sensor
transmitting NMEA 0183
The ST3000 can be calibrated to suit each installation This can
provide optimum performance with many types of boat and
steering systems
ST3000 wheel drive unit
The wheel drive unit is attached by a single pin to a clevis
permanently fixed to the cockpit structure Drive is transmitted to the
wheel by a tensioned toothed belt A lever operated eccentric bush in
the drive unit mounting arm enables belt tension to be released to
facilitate manual override by allowing the belt to slip The drive
disengagement system is both effective and reliable
CAUTION
The ST3000 is recommended for wheel steered boats up to
7000 kg 15000 lb displacement Above this limit and for heavy
duty applications such as single handed racing or long distance
ocean sailing we recommend one of the more powerful
Raymarine autopilots such as the ST5000 system or
Type 150400 course 1 Introduction 3
12 General 1 Introduction
Power supply 10 V to 15 V DC
Current consumption Standby 65 mA 120 mA with lighting
Auto between 07 A and 25 A depending on
boat trim helm load and sailing conditions
Operating temperature 0C to 70C 32F to 158F
Control unit 6 button digital keypad
Liquid Crystal Display LCD showing heading
locked course and navigational information
SeaTalk compatible
NMEA 0183 compatible via optional
SeaTalkNMEA interface
Drive unit thrust torque 70 Nm 52 lbft
helm speed 3 rpm
port or starboard mounting
6 belt options
maximum displacement 7000 kg 15000 lb
Main features User calibration for optimum performance
WindTrim control in Wind Vane mode
Automatic tack
Automatic compass deviation correction
heading compensation
Automatic heading deadband
Builtin navigator interface
Track mode with waypoint advance feature
EMC conformance
All Raymarine equipment and accessories are designed to the best
industry standards for use in the recreational marine environment
The design and manufacture of Raymarine equipment and
accessories conform to the appropriate Compatibility EMC standards but correct installation is required to
ensure that performance is not 4 ST3000 Wheel Drive Autopilot Owners Handbook
13 About this handbook
Part 1 Using the Wheel Pilot
1 This part of the handbook explains how to use your wheel pilot
Chapter 2 Using the Wheel Pilot
2 How to use the wheel pilot
page 9
Chapter 3 Maintenance Fault Finding
3 Provides maintenance and fault finding information
page 29
Part 2 Installing the Wheel Pilot
This part of the handbook explains how to install your wheel pilot
Chapter 4 Installing the Wheel Pilot
4 How to install your wheel pilot and its components
page 35
Chapter 5 Commissioning the Wheel Pilot
5 How to check the wheel pilot and perform an initial sea trial
page 53
Chapter 6 Adjusting Wheel Pilot Settings
6 How to change the wheel pilot calibration settings
page 61
Note This handbook contains important information about
installing using and maintaining your new Raymarine product To
get the best from the product please read this handbook thoroughly
Important Information
Warranty
To register your new Raymarine product please take a few minutes to
fill out the warranty card It is important that you complete the owner
information and return the card to us to receive full warranty benefits
Handbook information
To the best of our knowledge the information in this handbook was
correct when it went to press However Raymarine cannot accept
liability for any inaccuracies or omissions it may contain In addition
our policy of continuous product improvement may change
without notice As a result Raymarine cannot accept
liability for any differences between the product and the 1 Introduction 5
Safety notices
WARNING Product installation
This equipment must be installed and operated in 1
Introduction
with the instructions contained in this handbook Failure to do so
could result in poor product performance personal injury
andor damage to your boat
WARNING Electrical safety
Make sure the power supply is switched off before you make any
electrical connections
WARNING Navigation aid
Although we have designed this product to be accurate and
reliable many factors can affect its performance As a result it
should only be used as an aid to navigation and should never
replace common sense and navigational judgement Always
maintain a permanent watch so you can respond to situations as
they develop
Your Raymarine autopilot will add a new dimension to your boating
enjoyment However it is the skippers to ensure the
safety of the boat at all times by following these basic rules
Ensure that someone is present at the helm AT ALL TIMES to
take manual control in an emergency
Make sure that all crew members know how to disengage the
autopilot you cannot handsteer with the wheel pilot engaged
Regularly check for other boats and any obstacles to navigation
no matter how clear the sea may appear a dangerous situation can
develop rapidly
Maintain an accurate record of the boats position by using either
a navigation aid or visual bearings
Maintain a continuous plot of your boats position on a current
chart Ensure that the locked autopilot heading will steer the boat
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
navigation aid always maintain a log and make regular positional
plots Navigation signals can produce significant errors under
some circumstances and the autopilot will not be able to detect
these errors
6 ST3000 Wheel Drive Autopilot Owners Handbook
1 1 Using the Wheel Pilot
Wheel Pilot
Using the
Part 1
Part 1 Using the Wheel 2 Using the Wheel Pilot 9
Chapter 2 Using the Wheel Pilot
21 Overview
WARNING
Passage making under autopilot control is an enjoyable
experience that can if you are not careful lead to the relaxation
of the permanent watch Always maintain a permanent watch no
matter how clear the sea may appear to be
The wheel pilot always powers up in Standby mode indicated by
a flashing C alongside the boats current compass 2
Using the Wheel Pilot
The wheel pilot is controlled using simple pushbutton
operations The control unit confirms all button presses with a
short beep In addition to the main single key functions there are
several dual key operations
To select automatic steering
steady the boat on the required heading
engage the wheel drive clutch
press AUTO the display will then show an A alongside the
current heading
To return to manual steering at any time
press STANDBY
disengage the clutch lever
You can use the 1 1 10 and 10 keys to make course changes
when the boat is under autopilot control
D56081
10 ST3000 Wheel Drive Autopilot Owners Handbook
22 Using Auto mode
Engaging the autopilot Auto mode
2 Using the Wheel Pilot
D56101
1 Steady the boat on the required heading
2 Engage the wheel drive clutch by rotating the clutch lever
clockwise
3 Press auto the wheel pilot will enter Auto mode and the display
will show an A for auto alongside the locked autopilot heading
Disengaging the autopilot Standby mode
To return to hand steering
1 Press standby the wheel pilot will return to Standby mode
The display will show a flashing C and the boats current
compass heading
2 Disengage the wheel drive clutch by rotating the clutch lever
3 The last heading is memorized and can be recalled see page 13
2 Using the Wheel Pilot 11
Changing course
In Auto mode use the 1 and 10 port and 1 and 10 starboard
keys to change course in steps of 1 and 10
Port 2
Using the Wheel Pilot
or or
D56111
For example press 10 three times for a 30 course change to port
Original
30 to port
course
D56121
12 ST3000 Wheel Drive Autopilot Owners Handbook
Automatic tack feature AutoTack
The autopilot has a builtin automatic tack facility in Auto and Wind
Vane modes that turns the boat through 100
to AutoTack 100 to port press 1 and 10 together
to AutoTack 100 to starboard press 1 and 10 together
AutoTack Port AutoTack Starboard
Wind Wind
2 Using the Wheel Pilot
AutoTack AutoTack
and angle angle and
D56191
Dodging obstacles
1 To avoid an obstacle when you boat is under autopilot control
select a course change in the appropriate direction For example
press 10 three times for a 30dodge to port
Original
30 to port
course
D56121
2 When safely clear of the obstacle you can either
reverse the previous course change for example by pressing
10 three times or
return to the previous heading see 2 Using the Wheel Pilot 13
Returning to the previous heading
1 Press AUTO for 1 second the previous heading will flash for
10 seconds
2 To accept the previous heading press AUTO again while the
previous heading is Obstacle
Resumed
course
2 Using the Wheel Pilot
Original
course
1 SECOND
D56141
Dodge
Note If you do not press AUTO while the display is flashing the
autopilot will maintain the current heading
Off course alarm
The off course alarm sounds if the locked autopilot heading and the
boats current heading differ by more than the value set in
Calibration Level 6 see page 64 for 20 seconds
D1912
Cancelling the off course alarm
To cancel the off course alarm press STANDBY to return to manual
steering
Note The off course alarm is usually an indication that the boat is
carrying too much sail or that the sails are badly balanced In these
conditions you can usually significantly improve course keeping by
improving the sail balance
14 ST3000 Wheel Drive Autopilot Owners Handbook
Automatic deadband control Auto Seastate
The wheel pilot is set to AutoSeastate automatic deadband control
as a default This causes the pilot to gradually ignore repetitive
movements of the boat and respond only to true course variations
By preventing unnecessary rudder movement AutoSeastate
provides the best compromise between power consumption and
course keeping accuracy
If you want to switch off the AutoSeastate feature
1 With the pilot in Auto mode press 1 and 1 together to switch
from AutoSeastate to Fixed Minimum Deadband 1
2 The sign flashes when Fixed Minimum Deadband is selected
2 Using the Wheel Pilot
Minimum deadband provides the tightest course keeping
possible at the expense of increased power consumption and
drive unit activity
From Auto mode
D56181
To switch back to AutoSeastate press 1 and 1 again
Note The autopilot reverts to Automatic Deadband Control each
time you select Standby mode
Operating hints trim changes
CAUTION
Only make major course changes when steering MANUALLY
This ensures that the boat will safely clear any obstructions or
other boats and you can take into account the changed wind and
sea conditions on the new heading before engaging the autopilot
Large course changes which change the apparent wind direction can
produce large trim changes When a sudden trim change occurs for
example due to weather helm or sail imbalance there will be a delay
of up to one minute before the automatic trim applies rudder to restore
the locked 2 Using the Wheel Pilot 15
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 To minimize this problem
use the following procedure to make major course changes
1 Note the required new heading
2 Press STANDBY disengage the clutch and steer manually
3 Bring boat onto the new heading and engage the clutch
4 Press AUTO and let the boat settle on course
5 Bring your boat onto the final course in 1 steps using 1 or 1
Gusting conditions
In gusting conditions the course may tend to wander 2
Using the Wheel Pilot
particularly if the sails are badly balanced By improving sail balance
you can improve course keeping
If you take the following precautions the autopilot will be able to
maintain competent control even in gale force conditions
Do not allow the boat to heel over excessively
Ease the mainsheet traveller to leeward to reduce heeling and
weather helm
If necessary reef the mainsail a little early
It is also advisable whenever possible to avoid sailing with the
wind dead astern when there are very strong winds and large seas
Ideally the wind should be at least 30 away from a dead run
In severe conditions it may be advisable to remove the mainsail
altogether and sail under headsail only
16 ST3000 Wheel Drive Autopilot Owners Handbook
23 Switching display illumination on and off
You can switch the display illumination on and off when the wheel
pilot is in Standby mode
from Standby mode press 1 and 1 together to switch the
illumination between on L1 and off L0
to return to the previous mode either wait 10 seconds or press the
appropriate mode key
From Standby mode
2 Using the Wheel Pilot
D56201
Note The wheel pilot normally powersup with the illumination
switched on L1
If other SeaTalk instruments or autopilot control units are connected
via SeaTalk you can also control the wheel pilots illumination from
these 2 Using the Wheel Pilot 17
24 Using Track mode
In Track mode the wheel pilot maintains a track between waypoints
created on a navigation system The wheel pilot computes any course
changes to keep your boat on track automatically compensating for
tidal streams and leeway To operate in Track mode the wheel pilot
must receive cross track error information from either
a SeaTalk navigator or
a nonSeaTalk navigation system transmitting NMEA 0180 or
0183 data
Note using NMEA 0180 2 Using the Wheel Pilot
NMEA 0180 equipment only transmits cross track error up to 03
nm This means that even if you are 5 nm to starboard of track the
transmitted data will still be 03 nm
If you attempt to engage Track mode with the boat more than 03 nm
from track the boat will overshoot excessively and may even circle
For this reason the Larger Cross Track Error alarm seepage 24 is
displayed whenever cross track error is 03 nm or greater
The requirement to remain within 03 nm of track also limits the
maximum allowable angular error between the track course and the
boats heading If the angular error is too great the autopilot will be
unable to cancel it within the 03 nm limit leading to the problems
outlined above
NMEA 0183 transmit cross track error up to 9999 nm and so enables
Track mode to operate with larger cross track errors However the
autopilot will still display the alarm if cross track error exceeds
03 nm in case there are any hazards close to the intended track
Selecting Track mode
When you select Track mode the wheel pilot can acquire the track in
one of two ways
automatic acquisition when both cross track error and bearing to
waypoint data are available
manual acquisition when Cross Track Error is the only available
information
18 ST3000 Wheel Drive Autopilot Owners Handbook
Automatic track acquisition
If cross track error and bearing to waypoint data are both available
via SeaTalk or NMEA the pilot can acquire a track 1 Bring the boat to within 01 nm of track
2 Press AUTO
3 Press 10 and 10 together to enter Track mode
4 An alarm will sound and the display will alternate between
the bearing to waypoint and
the direction the boat will turn to take up the new track
Waypoint
at 058
2 Using the Wheel Pilot
Current
heading
D56211
5 Check that it is safe to turn the boat onto the new course
6 Press 10 and 10 together
the boat will now turn on to the new course
the alarm will cancel
Waypoint
at 058
D56541
7 The display will continuously cycle through the following
navigation information 2 Using the Wheel Pilot 19
Locked heading
Distance to waypoint
if available
Bearing to waypoint
if Cross track error
D56221
2 Using the Wheel Pilot
Manual track acquisition
If your navigator only provides cross track error information you
must acquire the track manually
1 Steer the boat to within 01 nm of track
2 Bring the heading to within 5 of the bearing to the next waypoint
3 Press AUTO
4 Press 10 and 10 together to enter Track mode
the autopilot will start tracking to the waypoint
the display will alternate between cross track error and the
locked pilot heading
Manual track acquisition at low speeds
Using manual acquisition at low speeds requires additional care as
tidal streams have a far more significant effect at lower speeds than at
higher speeds
In general terms if the tidal flow is less than 35 of the boats speed
you will not notice any difference in the wheel pilots performance in
Track mode However you should take extra care during manual
acquisition as follows
before you select Track mode make sure that the boat is as close
as possible to track and that the direction made good over the
ground is as close as possible to the direction of the next waypoint
positive checks of the boats position at regular intervals are vital
especially if you are close to potential navigational hazards
20 ST3000 Wheel Drive Autopilot Owners Handbook
Returning to Auto from Track mode
To return to Auto mode from Track mode
press AUTO or
press 10 and 10 together
Cross track error XTE
Cross track error XTE is the distance between your current position
and the planned route This is displayed in nautical miles nm and is
taken directly from your navigator
2 Using the Wheel Pilot
Cross track error
Waypoint 2
Waypoint 1
D32602
The wheel pilot displays the cross track error in the following ways
On track
Off track to port
steer to starboard
Off track to starboard
steer to port
2 Using the Wheel Pilot 21
Tidal stream compensation
Under most operating conditions Track mode will hold the selected
track to within 005 nm 300 ft or better
The autopilot takes account of the boats speed when computing
course changes to ensure optimum performance over a wide range of
boat speeds If speed data is available the autopilot will use the
measured boat speed Otherwise it will use the default cruise speed
entered in Calibration Level 5 see page 64
Waypoint 2
2 Using the Wheel Pilot
Boats speed over ground
Waypoint 1
D32612
22 ST3000 Wheel Drive Autopilot Owners Handbook
Waypoint arrival and advance
IMPORTANT NOTE
Waypoint advance will only operate if the wheel pilot receives
valid waypoint name and bearing to waypoint information
If your navigator transmits valid waypoint name and bearing to
waypoint data you can advance from one waypoint to the next
by pressing 10 and 10 together
Arrival
As the boat passes the target waypoint the navigator manually or
automatically selects the next target waypoint The pilot will then
2 Using the Wheel Pilot
detect the new target waypoint name
sound the waypoint advance alarm
display the new bearing to waypoint and the direction the boat
will turn to acquire it
Advance
When the waypoint advance alarm is sounding the wheel pilot will
suspend Track mode and maintain the current heading
check that it is safe to turn onto the new track
press the 10 and 10 keys together this will cancel the waypoint
arrival alarm and turn the boat towards the next waypoint
Unless you accept the waypoint advance in this way the alarm will
continue to sound and the autopilot will maintain the current course
Dodges in Track mode
In Track mode you still have full control from the keypad
to make a dodge maneuver use the 1 1 10 or 10 keys
after you have avoided the hazard reverse the course change
selected for the dodge maneuver by selecting an equal course
change in the opposite direction
if the boat remains within 01 nm of track there is no need to steer
back towards the 2 Using the Wheel Pilot 23
Safety in Track mode
WARNING
Track mode provides accurate track keeping even in complex
navigational situations However it is still the skippers
to ensure the safety of their boat at all times
through careful navigation and frequent position checks
Passage making in Track mode assists precise navigation and
removes the tasks of compensating for wind and tidal drift However
you MUST still maintain an accurate log with regular plots
Confirming position at the start of a journey
2 Using the Wheel Pilot
At the start of a journey you must always use an easily identifiable
fixed object to confirm the fix given by the navigation system
Check for fixed positional errors and compensate for them
Verifying computed positions
Always verify the computed position with a dead reckoned
position calculated from the average course steered and the
distance logged
Plot frequency
In open water you should make plots at least every hour
In confined waters or when near to potential hazards you should
make plots more frequently
Setting waypoints
Local variations in radio signal quality and changes in the tidal
stream can produce deviations from the desired track When
setting waypoints remember that deviations can occur
Thoroughly check along each track Check up to 05 nm each side
of the track to ensure that there are no hazards within this zone
For the waypoint advance function to work the last four
characters of adjacent waypoint names must be different
24 ST3000 Wheel Drive Autopilot Owners Handbook
Warning messages in Track mode
Track data not received
The wheel pilot displays this message if you
select Track mode when the autopilot is not
D56231
receiving SeaTalk navigation data
Track data error
The wheel pilot displays this message if you
select Track mode when the navigator has
D56241
lost its fixThis display will clear as soon as
the navigator regains its fix
2 Using the Wheel Pilot
Large cross track error
This alarm sounds if cross track error
exceeds 03 nm
D56251
Waypoint advance
D2082
The waypoint advance alarm sounds whenever the target waypoint
number changes
the pilot continues on its current heading and the display
alternates between the bearing to the next waypoint and the
direction the boat will turn to take up that bearing
make sure that the turn will be safe and when you are ready to
make the turn momentarily press 10 and 10 together
the pilot will turn onto the new bearing and track towards the next
waypoint
Note Waypoint advance will only operate if your pilot receives valid
bearing to waypoint and waypoint number 2 Using the Wheel Pilot 25
25 Using Wind Vane mode
Note You can only use Wind Vane mode if the wheel pilot is
connected to a suitable wind providing wind
direction data
To use Wind Vane mode the wheel pilot must receive wind
information from one of the following sources
SeaTalk wind instrument
NMEA wind instrument
Raymarine pushpit wind vane part number Z159 connected via
the supplied SeaTalk 2 Using the Wheel Pilot
In Wind Vane mode the wheel pilot maintains a course relative to an
apparent wind angle The pilot uses WindTrim to eliminate the effects
of turbulence and short term wind variations This provides smooth
precise performance with minimum power consumption
Wind Vane mode uses the fluxgate compass as the primary heading
reference When changes in the apparent wind angle occur the wheel
pilot adjusts the locked compass heading to maintain the original
apparent wind angle
In Wind Vane mode the wheel pilot ignores shortterm changes in
wind direction yet still tracks real wind shifts as subtle as 1
Selecting Wind Vane mode
From Standby mode or Auto mode press STANDBY and AUTO
together to select Wind Vane mode The wheel pilot will then
maintain the current apparent wind angle
D56161
Note The autopilot beeps once every 30 seconds in Wind Vane mode
26 ST3000 Wheel Drive Autopilot Owners Handbook
Exiting Wind Vane mode
To exit Wind Vane mode
press STANDBY to return to Standby mode
press AUTO to return to Auto mode
Returning to the previous apparent wind angle
If you have steered the boat away from the selected apparent wind
angle for example performing a dodge maneuver or selecting
Standby you can return to the previous apparent wind angle
1 Press and hold STANDBY and AUTO together for 1 second
2 Using the Wheel Pilot
2 The display flashes the previous locked heading for 10 seconds
1 second
D56171
3 While the display is flashing press STANDBY and AUTO
together to select the previous heading
when you select the previous heading the W flashes for
10 seconds to confirm the selection
Wind shift alarm
If changes in apparent wind angle alter the original locked compass
heading by more than 15 the wind shift alarm will sound
The display alternates between the current Wind Vane heading and
the direction of wind shift
2 Using the Wheel Pilot 27
To cancel the wind shift alarm
check that the new course does not take the boat into danger
press STANDBY and AUTO together momentarily to accept the
alarm and reset the wind shift alarm value to the current compass
heading
Operating hints for Wind Vane mode
WindTrim filters the wind vane output This provides optimum
response for offshore conditions where genuine shifts in wind
direction occur gradually
In gusting and unsteady inshore conditions it is best to sail a few
degrees further off the wind so that changes in apparent wind
2 Using the Wheel Pilot
direction can be tolerated
It is important to minimize the amount of standing helm through
careful sail trimming and positioning of the mainsheet traveller
It is recommended that the headsail and mainsail are reefed a little
early rather than too late
28 ST3000 Wheel Drive Autopilot Owners Handbook
2 Using the Wheel 3 Maintenance Fault Finding 29
Chapter 3 Maintenance Fault Finding
This chapter provides information about maintaining your wheel
pilot system obtaining product support and solving common
General maintenance
CAUTION
The control unit does not contain any user serviceable parts
It should be repaired only by authorized Raymarine service
Display condensation
In certain conditions condensation may appear on the LCD
window This will not harm the unit and can be cleared by
switching on the illumination for a while
Routine cabling checks
Make sure all connections are firmly 3 Maintenance Fault
Finding
Examine the cable for signs of wear or damage replace any
damaged cables
Cleaning the wheel pilot
If the wheel drive or control unit are dirty wipe them with a clean
damp cloth
Never use chemical or abrasive materials
EMC advice
When powered up all electrical equipment produces
fields These can cause adjacent pieces of
electrical equipment to interact with one another with a
consequent adverse effect on operation
To minimize these effects and enable you to get the best possible
performance from your Raymarine equipment guidelines are
given in the installation instructions to enable you to ensure
minimum interaction between different items of equipment
ie ensure optimum Compatibility EMC
30 ST3000 Wheel Drive Autopilot Owners Handbook
Always report any EMCrelated problems to your nearest
Raymarine dealer We use such information to improve our
quality standards
In some it may not be possible to prevent the
equipment from being affected by external influences In general
this will not damage the equipment but it can lead to spurious
resetting action or momentarily may result in faulty operation
32 Product support
Raymarine products are supported by a worldwide network of
distributors and Authorized Service Before you consider returning the autopilot make sure that the power
supply cable is sound and that all connections are tight and free from
corrosion If the connections are secure refer to the following Fault
Finding section
If you cannot trace or rectify the fault contact either your national
distributor service or the Raymarine Technical
Services Call Center Refer to the back cover or the Worldwide
Distributor List for contact details
3 Maintenance Fault Finding
Always quote the product serial number which is printed on the back
of the control unit
33 Fault finding
All Raymarine products are designed to provide many years of
troublefree operation We also put them through testing and quality assurance procedures before shipping
In the unlikely event that a fault does occur with your autopilot use
the following table to help identify the problem and provide a
solution If you cannot resolve the problem yourself contact either
your national distributor service or the Raymarine
Technical Services Call 3 Maintenance Fault Finding 31
SYMPTOM SOLUTION
The autopilot display is blank No power check the fusecircuit breaker
The displayed compass heading does The compass has not been corrected for
not agree with the boats compass deviation carry out the deviation and
alignment procedures see page 56
Drive unit steers hard over as soon as Drive operating sense set incorrectly
Auto is engaged Refer to page 53
Boat turns slowly and takes a long Rudder gain too low see page 59
time to come on to course
Boat overshoots when turning on to a Rudder gain too high see page 59
new course
The autopilot appears to be unstable heading correction
on Northerly headings in Northern not set up see page 65
hemisphere or Southerly headings in
Southern hemisphere
Display shows CAL OFF when Calibration access has been prevented
entering calibration see page 66
The autopilot will not talk to other Cabling problem make sure all the
SeaTalk instruments cables are connected properly
Position information not received Navigator not transmitting the correct
position data
3 Maintenance Fault Finding
The autopilot will not auto advance to No bearing to waypoint information
the next waypoint received from the navigator
The autopilot will not display Incorrect NMEA sentences transmitted
Distance to Waypoint Bearing to from position sensor Refer to product
Waypoint or Waypoint Number handbook for information about
information transmitted
Drive slips under normal operating Return the drive to your nearest service
conditions 32 ST3000 Wheel Drive Autopilot Owners Handbook
3 Maintenance Fault Finding
Part 2 Installing the Wheel the
Wheel Pilot
Part 2
Part 2 Installing the Wheel 4 Installing the Wheel Pilot 35
Chapter 4 Installing the Wheel Pilot
41 Planning the installation
Before you start installing your wheel pilot system read through the
following information and the relevant installation sections in this
chapter
Cabling guidelines
consider how you will run cables to and from each component
avoid running cables through bilges where possible
avoid running cables close to fluorescent lights engines radio
transmitting equipment etc
EMC installation guidelines
All Raymarine equipment and accessories are designed to the best
industry standards for use in the recreational marine environment
Their design and manufacture conforms to the appropriate
Compatibility EMC standards but correct
installation is required to ensure that performance is not compromised
Although every effort has been taken to ensure that they will perform
under all conditions it is important to understand what factors could
affect the operation of the product
The guidelines given here describe the conditions for optimum EMC
performance but it is recognized that it may not be possible to meet
all of these conditions in all situations
To ensure the best possible conditions for EMC performance within
the constraints imposed by any location always ensure the maximum
separation possible between different items of electrical equipment
For optimum EMC performance we recommend that
4 Installing the Wheel Pilot
Raymarine equipment and cables connected to it are
At least 3 ft 1 m from any equipment transmitting or cables
carrying radio signals eg VHF radios cables and antennas
In the case of SSB radios increase the distance to 7 ft 2 m
More than 7 ft 2 m from the path of a radar beam A radar
beam can normally be assumed to spread 20 degrees above
and below the radiating element
36 ST3000 Wheel Drive Autopilot Owners Handbook
The equipment is supplied from a separate battery from that used
for engine start Voltage drops below 10 V and starter motor
transients can cause the equipment to reset This will not damage
the equipment but may cause the loss of some information and
may change the operating mode
Raymarine specified cables are used Cutting and rejoining these
cables can compromise EMC performance and must be avoided
unless doing so is detailed in the installation manual
If a suppression ferrite is attached to a cable this ferrite should not
be removed If the ferrite needs to be removed during installation
it must be reassembled in the same position
EMC suppression ferrites
We supply the fluxgate compass and power cables with suppression
ferrites fitted Always use these ferrites supplied by
D35482
Connections to other equipment
If your Raymarine equipment is to be connected to other equipment
using a cable not supplied by Raymarine a suppression ferrite MUST
always be attached to the cable near to the Raymarine unit
4 Installing the Wheel 4 Installing the Wheel Pilot 37
42 Control head 110 mm 433 in
110 mm 433 in 68 mm 268 in
D56281
Mounting procedure
The control unit slots into a permanently mounted socket sited in the
cockpit It contains a gimballed fluxgate compass and therefore has
some restrictions on mounting 4 Installing the Wheel
Pilot
D56291
The control unit should be sited
where it can be operated easily from the steering position
at least 80 cm 25 ft away from the main steering compass to
avoid deviation of both compasses
as far away from other magnetic or iron devices as practical to
avoid compass deviation
38 ST3000 Wheel Drive Autopilot Owners Handbook
Having selected the best mounting site secure the mounting socket to
a convenient wooden or glass fibre surface using the self tapping
screws provided
The mounting surface should not be more than 10 from vertical This
will allow correct compass operation with the boat heeled at an angle
of up to 40
10 maximum
D56301
Cabling and socket installation
Both power and SeaTalk data are supplied to the control unit via a
custom waterproof plug and socket The plug comes ready assembled
and the socket can be mounted in the cockpit area adjacent to the
autopilot The control unit supplies power to the wheel drive unit via
a cable plugged into the underside of the control unit
Power supply
The wheel pilot requires its own dedicated power supply it
cannot source its power from SeaTalk
The power supply should be taken directly from the boats central
distribution panel and protected with a 12 A fuse or equivalent
4 Installing the Wheel Pilot
circuit breaker
The following table shows the minimum cable size acceptable for the
power supply
Cable length Copper area AWG
Up to 25 m 8 ft 15 mm2 16
Up to 4 m 13 ft 25 mm 14
Chapter 4 Installing the Wheel Pilot 39
IMPORTANT
Correct power cable size is critical for correct autopilot
operation If in doubt use a heavier gauge cable than specified
A lighter gauge cable may cause a voltage drop between the
supply and the autopilot This will reduce the power at the wheel
Front view
of ST3000
SeaTalk socket
viewed from rear
Screen Red
Sea Talk 0 V 12 V
Black
Supply 0 V
12 A
Pin Yellow
Sea Talk
Stripes Data
12 V 0V
D56311
SeaTalk cabling
The ST3000 control unit is SeaTalk compatible It can receive and
transmit information to other instruments and autopilot control units
via the SeaTalk bus
To connect the ST3000 control unit to the SeaTalk bus you will need
a suitable SeaTalk interface cable part numbers D229 flat moulded
plug D179 male round plug D181 female round plug or a plugged
SeaTalk cable with one end cut off
plug one end of the cable to the last instrument or control unit
4 Installing the Wheel Pilot
connect the cores at the other end to the SeaTalk socket as shown
CAUTION
The fuse on the control unit power supply is too large to offer safe
protection to the SeaTalk bus You MUST protect the power
supply for the SeaTalk 12 V red line with a 5 A fuse or
equivalent circuit breaker
40 ST3000 Wheel Drive Autopilot Owners Handbook
Raymarine produce a range of SeaTalk accessory cables you can use
to connect the wheel pilot to SeaTalk instruments and control units
flat plugs for recent SeaTalk equipment eg ST30 ST40 ST60
round plugs for older SeaTalk equipment eg ST50
Extension cables flat moulded plugs at each end
Part no Type Length
D284 Flat moulded plugs at each end 1 m 3 ft 3 in
D285 Flat moulded plugs at each end 3 m 9 ft 10 in
D286 Flat moulded plugs at each end 5 m 16 ft 5 in
D287 Flat moulded plugs at each end 9 m 29 ft 6 in
D288 Flat moulded plugs at each end 20 m 65 ft 6 in
Conversion cables flat moulded plug to round plug
Part no Type Length
D187 Flat moulded plug to male round plug 015 m 6 in
D188 Flat moulded plug to female round plug 03 m 12 in
Extension cables round plugs at each end
Part no Type Length
D124 Male round plug to female round plug 1 m 3 ft 3 in
D125 Male round plug to female round plug 3 m 9 ft 10 in
D126 Male round plug to female round plug 6 m 19 ft 8 in
D154 Male round plug to female round plug 9 m 29 ft 6 in
Interface cables flat mouldedround plug to bare ends
Part no Type Length
D229 Flat moulded plug to bare ends 1 m 3 ft 3 in
D179 Male round plug to bare ends 3 m 9 ft 10 in
4 Installing the Wheel Pilot
D181 Female round plug to bare ends 3 m 9 ft 10 in 4 Installing the Wheel Pilot
41
SeaTalk
instruments SeaTalk socket
Screen
ground
Yellow
data
5A fuse 12A fuse
breaker breaker
D56561
Connecting ST3000 control unit to ST60 SeaTalk socket
Screen
ground
Yellow
data
5 A fuse
breaker 12 A fuse
breaker
D56321
4 Installing the Wheel Pilot
Connecting ST3000 control unit to ST50 instruments
NMEA cabling
To connect NMEA equipment you will need to use a
SeaTalkNMEA interface part number E85001 to convert the
NMEA information into SeaTalk data You can then connect the
SeaTalkNMEA interface to the SeaTalk socket
42 ST3000 Wheel Drive Autopilot Owners Handbook
Mounting the socket
To mount the SeaTalk socket
1 Fix the template supplied at the end of the handbook onto the
bulkhead at the selected socket location
2 Carefully drill the 18 mm 2332 in clearance hole and 24 mm
332 in pilot holes then remove the template
3 Fit the plug cap to the socket body
4 Locate the Oring seal into the groove between the plug cap and
socket body
5 Cut and strip back the power cables and SeaTalk cables if fitted
6 Thread both cables through the bulkhead hole and connect to the
relevant pins on the socket
7 Attach the socket to the bulkhead using the two self tapping
screws supplied
8 Secure the cables to the bulkhead
To SeaTalk
Screen Red
Sea Talk 0 V 12 V
Black
Supply 0 V
Pin Yellow
To power supply Sea Talk
Stripes Data
D56341
4 Installing the Wheel 4 Installing the Wheel Pilot 43
43 Drive unit installation
The Raymarine 3000 wheel drive is designed to operate with steering
systems having between 1 and 3 turns lock to lock Steering systems
with more than 3 turns lock to lock may cause impaired steering
performance due to reduced rate of rudder application
Lost motion in the steering system must not exceed 2 of total
movement This is equivalent to 15 of free wheel movement for a
system with 2 turns lock to lock If lost motion exceeds this level it
must be corrected otherwise steering performance will be impaired
Attaching the wheel drum
The drum is clamped to the wheel spokes using the three Ubolts
provided You can use the standard wheel drum on wheels with 3 5
or 6 spokes
A holes 3 and 6 spoke wheels
B holes 5 spoke wheels
C holes 3 5 or 6 spoke wheels with spoke diameter of 26 mm
1 in these holes require special Ubolts part number D103
A B C
D56351
4 Installing the Wheel Pilot
Note For 4 spoke wheels contact Raymarine Technical Services to
obtain a specially drilled drum
Position
Ideally you should fit the wheel drum behind the wheel ie between
the wheel and the pedestal as shown in the following diagram To do
this you will need to remove the wheel
If there is insufficient clearance behind the wheel you can fit the
wheel drum in front of the wheel
44 ST3000 Wheel Drive Autopilot Owners Handbook
The drum comes with three complete sets of spacers to fit differing
spoke diametersThe spoke diameter is marked alongside each
spacers break off the appropriate spacers for your wheel spokes
Spoke
Spacers
Drum
2 mm maximum
run out
D56361
Use the Uclamps to secure the wheel drum to the wheel spokes
roughly position the drum on the wheel and then lightly tighten
the clamp nuts
check if the drum is central by spinning the wheel
reposition the drum until it is central with a total runout less
than 2 mm 116 in
when the drum is central on the wheel tighten the clamp nuts
Mounting the drive unit and belt
Standard installation
The drive unit is normally mounted on the cockpit side wall If the
standard belt does not allow a convenient location for the mounting
clevis you will need to purchase one of the alternative belt sizes to
4 Installing the Wheel Pilot
increase or decrease the radial offset of the mounting pin
Belt name Part number Radial offset
B D037 512 mm 201 in
A D038 546 mm 215 in
Standard belt D039 supplied 598 mm 235 in
A D040 717 mm 282 in
B D041 850 mm 335 in
Chapter 4 Installing the Wheel Pilot 45
Radial offset
D56371
Attaching the mounting clevis
1 Fit the mounting clevis to the drive unit using the pin provided
Then loop the belt drive over the drum and the drive sprocket
2 Rotate the clutch lever fully clockwise against its stop ie to the
tight belt position and then offer the clevis against the vertical
sidewall
3 Move the clevis down against the side wall until the belt is just
taut Then adjust the foreandaft position of the clevis until the
belt lies parallel to the wheel To help check if the belt is running
parallel use a long straight edge such as a sail batten
4 Installing the Wheel Pilot
D56381
46 ST3000 Wheel Drive Autopilot Owners Handbook
4 When you have determined the correct position for the clevis
carefully draw around its base
D56391
5 Remove the drive unit and draw around the inside of the
elongated fixing holes on the clevis
D56401
6 Drill two 8 mm 16 in clearance holes for the clevis fixing bolts
at the lower end of each elongated hole position This allows the
belt to be subsequently tightened if necessary
Note Before drilling the holes check that you have access to the
other side of the mounting wall to attach the nuts
4 Installing the Wheel Pilot
4 Installing the Wheel Pilot 47
7 Bolt the mounting clevis into position with the fixing bolts
positioned midway in the elongated holes This will ensure that
the belt is taut when you rotate the clutch lever fully clockwise to
tension the belt
D56411
8 Reassemble the complete drive system and then check the clutch
operation If necessary reposition the clutch lever on the splined
eccentric bush to ensure that the lever can rotate 180 without
obstruction
9 Check the belt tension
when the belt is tensioned by rotating the clutch lever fully
clockwise you should be able to backwind the drive unit by
slowly rotating the wheel If belt slip occurs increase belt
tension by reclamping the clevis in a slightly lower position
when the clutch lever is rotated fully the wheel
drum should slip easily against the belt
do NOT over tighten the belt
Drive unit cabling
Plug the drive unit cable into the socket on the underside of the
ST3000 control unit
4 Installing the Wheel Pilot
48 ST3000 Wheel Drive Autopilot Owners Handbook
Alternative Pedestal bracket
A special bracket is available to mount the drive unit directly onto the
wheel pedestal part number D044
Attach the pedestal bracket as follows
1 Loosely attach the mounting clevis to the pedestal bracket using
the backing plate and the two bolts provided
2 Attach the mounting clevis to the drive unit using the pin provided
and loop the belt drive over the drum and the drive unit
D56421
4 Installing the Wheel Pilot
3 Rotate the clutch lever fully clockwise against its stop to the
tight belt position then offer the bracket against the 4 Installing the Wheel Pilot 49
4 Move the bracket down against the pedestal until the belt is just
taut The slide the pedestal bracket around the pedestal and
rotating the clevis bracket to ensure that the belt runs parallel to
the wheel
D56431
4 Installing the Wheel Pilot
50 ST3000 Wheel Drive Autopilot Owners Handbook
5 When you have determined the correct position for the pedestal
bracket carefully draw around its base and inside its the
elongated fixing holes
D56441
6 Tighten the clevis mounting bolts
7 Drill four 43 mm 1164in pilot holes for the pedestal bracket
fixing screws at the lower end of each elongated hole position
This allows the belt to be subsequently tightened if necessary
4 Installing the Wheel 4 Installing the Wheel Pilot 51
8 Screw the pedestal bracket into position with the self tapping
screws midway in the elongated holes This will ensure that the
belt is taut when you rotate the clutch lever fully clockwise to
tension the belt
D56461
9 Reassemble the complete drive system and then check the clutch
operation If necessary reposition the clutch lever on the splined
eccentric bush to ensure that the lever can rotate 180 without
obstruction
10 Check the belt tension
when the belt is tensioned by rotating the clutch lever fully
clockwise you should be able to backwind the drive unit by
4 Installing the Wheel Pilot
slowly rotating the wheel If belt slip occurs increase belt
tension by reclamping the clevis in a slightly lower position
when the clutch lever is rotated fully the wheel
drum should slip easily against the belt
do NOT over tighten the belt
52 ST3000 Wheel Drive Autopilot Owners Handbook
Mounting on transverse bulkheads
If the steering wheel is mounted on a transverse bulkhead you will
need to make special provision to mount the drive unit You can
obtain as Lbracket part number D047 from your Raymarine dealer
to mount the clevis on the bulkhead as shown
Note You may also need to make a hardwood spacer to ensure
correct belt alignment with the wheel drum
Lbracket
Hardwood spacer
D56471
Alternative drive unit mounting positions
The wheel drive unit may be positioned on either the port or starboard
side of the wheel The fluxgate compass is calibrated to give correct
steering sense when the drive unit sprocket is facing aft Access to the
clutch lever is also easier when the drive unit is mounted this way
round
However if an obstruction prevents you from mounting the drive unit
with the drive sprocket facing aft you can mount it with the sprocket
facing forward In this case you will need to readjust the motor drive
sense to regain correct steering see page 53
4 Installing the Wheel 5 Commissioning the Wheel Pilot 53
Chapter 5 Commissioning the Wheel Pilot
5 Commissioning the Wheel Pilot
This chapter explains how to commission your wheel pilot after
installation This consists of a number of simple functional tests
followed by a short sea trial
51 Functional tests
Switch on
1 Switch on the main power breaker
2 The control unit should beep and display the pilot type ST3000
3 Within 2 seconds the display should show a flashing C followed
by the compass heading for example C 234 This shows the
autopilot is active
Note If the wheel pilot does not beep or display the compass
heading please refer to the Fault Finding section see page 30
Operating sense
The operating sense defines the direction the wheel pilot will apply
helm when a course change key is pressed or the boat goes off course
To check the operating sense
1 Turn the clutch lever fully clockwise to engage the clutch
2 Press 10
3 The wheel should move to produce a turn to
D56481
4 If the wheel movement produces a turn to port refer to the
following instructions on reversing the operating sense
Note You should only need to reverse the operating sense if you have
installed the drive with the sprocket facing forward see page 52
54 ST3000 Wheel Drive Autopilot Owners Handbook
Reversing the operating sense
5 Commissioning the Wheel Pilot
If necessary reverse the operating sense as follows
1 Press 1 and 1 together for 5 seconds
2 The display shows the new operating sense port or starboard for
5 seconds and then the autopilot reverts to normal operation
Checking the navigation interface
If you have connected the wheel pilot to a navigator check the
interface as follows
1 Set up a track on the navigator to give a Cross Track Error
between 0 nm and 03 nm
2 Enter Auto mode by pressing AUTO
3 Enter Track mode by pressing 10 and 10 together
4 After 3 seconds the pilot should automatically scroll through the
navigation displays
Locked heading
Distance to waypoint
if available
Bearing to waypoint
if Cross track error
D56221
Navigation error screens
If the display shows one of the following errors the cause is either
a wiring error either open circuit short circuit or wires reversed
the navigator is not configured to transmit the required data
format refer to the navigator 5 Commissioning the Wheel Pilot 55
5 Commissioning the Wheel Pilot
Track data not received
The wheel pilot displays this message if you
select Track mode when the autopilot is not
D56231
receiving SeaTalk navigation data
Track data error
The wheel pilot displays this message if you
select Track mode when the navigator has
D56241
lost its fixThis display will clear as soon as
the navigator regains its fix
Checking the wind instrument interface
If you have connected the wheel pilot to a wind instrument check the
data link as follows
1 Press STANDBY and AUTO together
2 The wheel pilot should display a W and the locked heading
D56161
If the display continues to show a flashing C and the current heading
the wheel pilot is not receiving any wind data The most likely reason
is a cabling error either open circuit short circuit or wires reversed
Checking the SeaTalk interface
If you have connected the wheel pilot to other instruments or control
units via SeaTalk check the link as follows
1 Press STANDBY on the ST3000 control unit
2 Select display illumination level 0 LAMP 0 on any other SeaTalk
instrument or autopilot control unit
3 The ST3000 control unit should immediately respond by
switching off its display illumination If the illumination does not
switch off there is a cabling fault between the ST3000 and the
SeaTalk 56 ST3000 Wheel Drive Autopilot Owners Handbook
52 Initial sea trial
5 Commissioning the Wheel Pilot
CAUTION
Failure to carry out the sea trial may result in impaired autopilot
performance on some compass headings
When you have checked that the system is operating correctly you
must complete a short sea trial to calibrate the compass
The wheel pilot has a builtin calibration capability so you can
finetune it to suit your boat its steering system and its dynamic
steering As supplied from the factory the autopilot is calibrated to provide
safe stable control for most boats
Do not attempt to make any permanent changes to the
recommended calibration values until you have completed the
sea trial
You must carry out the initial sea trial in conditions of light wind
and calm water so you can assess the autopilots performance
without the influence of strong winds or large waves
Note At any time during the sea trial you can disengage the
clutch lever to return to Before starting the sea trial
Before carrying out the sea trial you should
check the calibration settings and if necessary reset them to the
default values see page 63
check the installation to make sure that it is not affected by radio
engine starting etc
Calibrating the compass
Automatic compass deviation correction
By completing the following compass correction procedure the
wheel pilot can correct its own internal fluxgate compass for most
deviating magnetic fields You MUST complete the Compass
Deviation Correction at the beginning of your sea 5 Commissioning the Wheel Pilot 57
To complete the compass 5 Commissioning
the Wheel Pilot
1 Press and hold STANDBY for 1 second a series of dashes will
cycle around the display
SECOND
D56491
Note If you see a CAL OFF message instead of the dashes
calibration access has been prevented Refer to page 66 for details
2 Keeping boat speed below 2 knots turn the boat in slow circles
You should take at least 3 minutes to complete each 360
boats speed below 2 knots
each complete circle should take 3 minutes
D56501
3 Keep turning your boat until the display changes to show the
amount of deviation the autopilot has detected The deviation
alternates with the autopilots current heading every second
Current heading
Deviation
D32742
Note If the deviation exceeds 15 you should resite the control unit
to a location less affected by magnetic 58 ST3000 Wheel Drive Autopilot Owners Handbook
Heading alignment
5 Commissioning the Wheel Pilot
1 Steer your boat on a straight course then use 1 and 1 to adjust
the displayed autopilot heading until it agrees with the boats
steering compass or a known transit bearing
2 Exit compass linearization and heading alignment and store the
compass values as follows
press and hold STANDBY for 1 second until the pilot beeps
or to exit without saving any new settings press STANDBY
momentarily
Note For installations where an ST50 or ST30 Steering Compass
instrument is connected to the SeaTalk bus and the Steering
Compass has a fluxgate transducer connected it is only necessary to
carry out the auto deviation correction on the Steering Compass
Instrument refer to Steering Compass handbook Further adjustments to heading alignment
If the heading alignment requires further adjustment after the initial
sea trial
1 Enter Compass Deviation Correction by pressing STANDBY for
1 second
2 Press AUTO to skip Deviation Correction and proceed to Heading
Alignment
3 Adjust the heading as described above
4 Press and hold STANDBY for 1 second to save changes and exit
Autopilot operation
Having calibrated the compass the following procedure is
recommended to familiarize yourself with autopilot operation
1 Steer onto a compass heading and hold the course steady
2 Engage the wheel drive clutch by rotating the clutch lever
clockwise
3 Press AUTO to lock onto the current heading The wheel pilot
should achieve a constant heading in calm sea conditions
4 Use the course change keys to alter course to port or starboard in
multiples of 1 and 10
5 Press STANDBY and disengage the clutch lever to return to hand
5 Commissioning the Wheel Pilot 59
53 Adjusting autopilot 5 Commissioning the Wheel
Pilot
The factory setting for rudder gain provides stable control for initial
sea trials However different boats can vary widely in their response
to the helm and further adjustment to the rudder gain may improve the
autopilots steering The following test will determine whether the rudder gain is set too
high or too low
1 In clear water and with the autopilot in Auto mode alter course to
starboard by 40 by pressing 10 four times
At cruising speeds a course change of 40 should result in a
crisp turn followed by an overshoot of no more than 5
If this occurs the rudder gain is set correctly
If rudder gain is too high the 40 course change will result in a
distinct overshoot of more than 5 A
Correct this oversteer by reducing the rudder gain setting
If rudder gain is too low the boats steering performance will
be sluggish it will take a long time to make the 40 turn and
there will be no overshoot B
Correct this understeer by increasing the rudder gain setting
heading
heading
Rudder gain
too low
heading
Rudder gain
too high
Correct
rudder gain
D32622
Note It is easier to recognize these actions in calm sea conditions
where wave action does not mask basic steering 60 ST3000 Wheel Drive Autopilot Owners Handbook
2 Refer to the calibration menu diagram in Chapter 6 Adjusting
5 Commissioning the Wheel Pilot
Wheel Pilot Settings for instructions on how to adjust the rudder
gain setting
3 Repeat the test until you achieve crisp course changes with no
more than 5 of overshoot
You should set the rudder gain to the lowest setting consistent with
accurate course keeping This will minimize drive movements and
reduce power consumption and wear and 6 Adjusting Wheel Pilot Settings 61
Chapter 6 Adjusting Wheel Pilot Settings
61 Introduction
The wheel pilot is calibrated at the factory to provide stable
performance for most boats However you can fine tune many of the
calibration features to match your personal preferences and the type
of boat and steering system
Note You should carry out an initial sea trial before adjusting any of
the calibration 6 Adjusting Wheel Pilot Settings
You might need to adjust the wheel pilot calibration settings if
the pilot does not maintain a selected heading
the rudder activity is too high or the course keeping is not tight
enough
the boat appears to be unstable on Northerly headings or
Southerly headings in the southern hemisphere
you operate in Track Control mode without a speed instrument
you wish to change the Off Course alarm angle
The calibration menu allows you to adjust the following parameters
from their factory default settings
rudder gain
average cruise speed
off course alarm limit
variation
turning error compensation
boats current latitude
Adjusting calibration values
The flowchart on the next page shows how to
enter the calibration menu
scroll through the calibration menu
adjust the calibration values
quit calibration
62 ST3000 Wheel Drive Autopilot Owners Handbook
Calibration menu
SECONDS
PRESS STANDBY AGAIN FOR 5 SECONDS
WITHIN 10 SECONDS TO ENTER CALIBRATION
6 Adjusting Wheel Pilot Settings
SECONDS Rudder gain
ADJUSTING CALIBRATION
FEATURES
Cruise speed
QUITTING CALIBRATION AND
SAVING ANY CHANGES
Off course alarm angle
SECOND
Magnetic variation
QUITTING CALIBRATION
WITHOUT SAVING CHANGES
Heading error Boats latitude
Does not appear if Level 10 is set to 0
6 Adjusting Wheel Pilot Settings 63
Calibration features
Calibration feature Value
D56261
The number on the left identifies the calibration feature and the
number on the right the currently selected value
6 Adjusting Wheel Pilot Settings
You can enter the calibration menu to view the existing values
without altering them After viewing the value a momentary
press of STANDBY returns the pilot to its normal operating mode
without affecting the previous settings
If the display shows CAL OFF when you try to enter calibration
refer to page 66
D2141
Default calibration values
The following table shows the default calibration values These will
provide safe performance for initial sea trial
No Feature Default setting Adjusted values
1 Rudder gain 5
5 Average cruise speed 8
6 Off course alarm angle 20
9 Local magnetic variation Off
10 NorthSouth turning error Off 0
correction
11 Boats current latitude 0
Note Calibration Levels 2347 and 8 are not available If
Calibration Level 10 is set to 0 level 11 will also be omitted
64 ST3000 Wheel Drive Autopilot Owners Handbook
62 Calibrating the wheel pilot
Calibration Level 1 Rudder gain
Use Calibration Level 1 to adjust the rudder gain This must be set
when your boat is under way as described on page 59
Calibration Level 5 Cruise speed
Use Calibration Level 5 to set the boats normal cruising speed for
operation in Track mode
When interfacing with a navigation system the wheel pilot uses the
6 Adjusting Wheel Pilot Settings
boats average cruising speed to perform track Note If a SeaTalk speed instrument is connected boat
speed data
will be transmitted directly to the autopilot
Calibration Level 6 Off course alarm angle
Use Calibration Level 6 to set the off course alarm angle This alarm
warns you if the autopilot is unable to maintain its set course
The off course alarm operates if the autopilot strays off course by
more than the set value for more than 20 seconds
You can set the limit in 1 increments between 15 and 40
Locked heading
Boat heading
15 minimum
6 Adjusting Wheel Pilot Settings 65
Calibration Level 9 Magnetic variation
Use Calibration Level 9 to input the level of magnetic variation
present at the boats current position
ve variation west
ve variation east
The wheel pilot transmits this value onto the SeaTalk bus so it can be
picked up by other SeaTalk Calibration Level 10 Heading error
6 Adjusting Wheel Pilot Settings
Use Calibration Level 10 to switch on Northerly or Southerly heading
error correction
0 Off
1 Northern Hemisphere 2 Southern Hemisphere
You might notice that the autopilot tends to be a little less stable on
Northerly headings in the higher latitudes of the Northern hemisphere
or Southerly headings in the Southern hemisphere
This is caused by the increasing angle of dip of the earths magnetic
field at higher latitudes which has the effect of amplifying rudder
response on Northerly Southerly headings This error affects all
magnetic compasses and gets worse further away from the equator
With heading error correction switched on the wheel pilot can
compensate for this error by automatically adjusting the autopilot
gain depending on heading This will provide precise course
keeping on all headings
without
rth compensation
with
D32632
66 ST3000 Wheel Drive Autopilot Owners Handbook
Calibration Level 11 Boats current latitude
When you have switched on heading error correction Level 10 you
need to use Calibration Level 11 to input the boats current latitude
to the nearest degree
Set the latitude using the 1 1 10 and 10 keys
Note If the correction is switched off in Calibration Level 10 ie set
to 0Level 11 will be omitted When you press the AUTO key in
Calibration Level 10 you will advance to Level 13
Controlling access to calibration
6 Adjusting Wheel Pilot Settings
You can prevent unauthorized access to calibration as follows
1 Press and hold 1 and STANDBY together for 10 seconds until the
display shows CAL OFF
D2141
2 Toggle the calibration access between OFF and On using the 1 and
1 keys
3 Store the setting by pressing 1 and standby for 10 seconds until
the wheel drive returns to normal socket template
Drill 25 mm 332 inch Drill 18 mm 2332 inch
diameter hole 2 positions diameter hole
Index
A Compass calibration autopilot performance 59 Deviation correction 56
Adjusting wheel pilot settings 6166 Heading alignment 58
Alarms and warnings Cross track error 20
Large XTE 20 24 Cruise speed 64
Off course alarm 13 Current latitude 66
Track data error 24 55
Track data not received 24 55 D
Waypoint advance 22 24 Display illumination 16
Wind shift 26 Dodging obstacles 12 22
Auto mode 1015
Automatic deadband 14 E
AutoTack 12 EMC
Changing course 11 Installation guidelines 35
Dodging obstacles 12 Servicing and safety guidelines 29
Entering Auto mode 10
Exiting Auto mode 10 F
Off course alarm 13 Fault finding 30
Return to previous heading 13 Functional test
Auto Seastate 14 Navigation interface 54
Automatic deviation correction 56 Operating sense 53
SeaTalk interface 55
B Switch on 53
Boats current latitude 66 Wind instrument interface 55
C H
Cabling Heading alignment 58
Power 38 Heading error correction 6166
Access 66 I
Default values 63 Illumination 16
Level 01 Rudder gain 59 64 Initial sea trial
Level 05 Cruise speed 64 Checking autopilot operation 58
Level 06 Off course alarm angle 64 Compass deviation correction 56
Level 09 Magnetic variation 65 Heading alignment 58
Level 10 Heading error 65 Installation 3552
Level 11 Boats current latitude 66 course 11 14 Power the wheel pilot 5360 EMC guidelines
Adjusting rudder gain 59
Functional tests 5355 L
Initial sea trial 5658 Lighting 16
70 ST3000 Wheel Drive Autopilot Owners Handbook
M W
Magnetic variation 65 Wind Vane mode 29 Entering Wind Vane mode 25
Exiting Wind Vane mode 26
N Return to previous wind 26
Northerly heading error correction 65 Wind shift alarm 26
O X
Off course alarm 13 XTE Cross track error 20
Off course alarm angle 64
Operating modes 927
Auto mode 1015
Track mode 1724
Wind Vane mode sense reversing 54
Power
Cabling 38
Product support 30
Return to previous heading 13
Rudder gain 59 Accessory cables 40
Servicing 29
Southerly heading error correction 3
Track mode 1724
Cross track error 20
Dodging obstacles 22
Entering Track mode 17
Automatic acquisition 18
Manual acquisition 19
Exiting Track mode 20
Safety 23
Tidal stream compensation 21
Warning messages 24 55
Waypoint 22
Limited Warranty warrants each new Light MarineDealer Distributor Product to be of good materials and will repair or exchange any parts proven to be
defective in material under normal use for a period of 2 years24 months from date of sale to end user except
as provided will be corrected by Raymarine or an authorized Raymarine dealer Raymarine will except
as provided below accept labor cost for a period of 2 years24 months from the date of sale to end user
During this period except for certain products travel costs auto mileage and tolls up to 100 round
trip highway miles 160 kilometres and travel time of 2 hours will be assumed by Raymarine only
on products where proof of installation or commission by authorized service agents can be Warranty policy does not apply to equipment which has been
subjected to accident abuse
or misuse shipping damage alterations corrosion incorrect andor service or
equipment on which the serial number has been altered mutilated or where Raymarine or its authorized dealer has performed the installation it assumes
for damage incurred during Warranty does not cover routine system checkouts or unless required of parts in the area being aligned
A suitable proof of purchase showing date place and serial number must be made available to
Raymarine or authorized service agent at the time of request for Warranty items such as Chart paper lamps fuses batteries styli stylusdrive belts
radar snapin impeller carriers impellers impeller bearings and impeller shaft excluded from this Cathode Ray Tubes CRT TFT Liquid Crystal Displays
LCD and cold lamps CCFL hailer horns and transducers are warranted for 1 year12 months from date
of sale These items must be returned to a Raymarine facility
All costs associated with transducer replacement other than the cost of the transducer itself excluded from this premium labor portion of services
outside of normal working hours is not covered by cost allowance on certain products with a suggested retail price below 250000 is Whenor if repairs
are necessary these products must be forwarded to a or an authorized dealer at owners expense will be returned via surface carrier at no cost to
costs other than auto mileage tolls and two 2 hours travel time are specifically excluded on
all products Travel costs which are excluded from the coverage of this Warranty include but are not
limited to taxi launch fees aircraft rental subsistence customs shipping and etc Travel costs mileage and time in excess to that allowed must have
prior approval THE EXTENT CONSISTENT WITH STATE AND FEDERAL LAW
1 THIS WARRANTY IS STRICTLY LIMITED TO THE TERMS INDICATED HEREIN AND
NO OTHER WARRANTIES OR REMEDIES SHALL BE BINDING ON WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABLE OR
FITNESS FOR A PARTICULAR PURPOSE
2 Raymarine shall not be liable for any incidental consequential or special including punitive or
multiple damages
All Raymarine products sold or provided hereunder are merely aids to navigation It is of the user to exercise discretion and proper navigational
skill independent of any
Raymarine equipment
Document number 840648
April 2001
Factory Service States of America UK Europe Middle East Far Inc
Raymarine Ltd
22 Cotton Road Unit D Anchorage Park NH 030634219 USA PO3 5TD 1 603 881
5200 Telephone 44 023 9269 3611
Fax 1 603 864 4756 Fax 44 023 9269 Order Services
Customer 1 800 539 5539 Ext 2333 or Telephone 44 023 9271 4713
1 603 881 5200 Ext 2333 Fax 44 023 9266 Support Email 1 800 539 5539 Ext 2444
1 603 881 5200 Ext 2444
Email Repair 1 800 539 5539 Ext 2118
Stick barcode label from Purchase date
Dealer by Installation by
Commissioning portion should be completed and retained by the owner

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Disclaimer:
The information on this web site has not been checked for accuracy. It is for entertainment purposes only and should be independently verified before using for any other reason. There are five sources. 1) Documents and manuals from a variety of sources. These have not been checked for accuracy and in many cases have not even been read by anyone associated with L-36.com. I have no idea of they are useful or accurate, I leave that to the reader. 2) Articles others have written and submitted. If you have questions on these, please contact the author. 3) Articles that represent my personal opinions. These are intended to promote thought and for entertainment. These are not intended to be fact, they are my opinions. 4) Small programs that generate result presented on a web page. Like any computer program, these may and in some cases do have errors. Almost all of these also make simplifying assumptions so they are not totally accurate even if there are no errors. Please verify all results. 5) Weather information is from numerious of sources and is presented automatically. It is not checked for accuracy either by anyone at L-36.com or by the source which is typically the US Government. See the NOAA web site for their disclaimer. Finally, tide and current data on this site is from 2007 and 2008 data bases, which may contain even older data. Changes in harbors due to building or dredging change tides and currents and for that reason many of the locations presented are no longer supported by newer data bases. For example, there is very little tidal current data in newer data bases so current data is likely wrong to some extent. This data is NOT FOR NAVIGATION. See the XTide disclaimer for details. In addition, tide and current are influenced by storms, river flow, and other factors beyond the ability of any predictive program.