Plus ST2000 Plus Owner222s number 811306Date March 2006811306book Page 1 Wednesday March 8 2006 312 PM2ST1000 Plus ST2000 Plus Tiller PilotsAutohelm HSB High Speed BusilPilot SeaTalk and SportPilot are registered trademarks of RaymarineUK Ltd Raymarine AST Advanced Steering Technology AutoAdapt AutoLearn AutoRelease AutoSeastate AutoTack AutoTrim FastTrim GyroPlus RayGyro RayPilot and WindTrim are trademarks of RaymarineUK Ltd Handbook contents RaymarineUK Ltd811306book Page 2 Wednesday March 8 2006 312 PMContents 1Chapter 1Introduction 311Overview 413About this handbook 5Important Information 5Product disposal 6Chapter 2Using the Tiller Pilot 721Overview 722Using Auto mode 8Engaging the autopilot Auto mode 8Disengaging the autopilot Standby mode 8Changing course 9Displaying navigation information pages 11Automatic deadband control Auto Seastate 12Operating hints trim changes 1323Switching display illumination on and off 1424Using Track mode 14Selecting Track mode 14Returning to Auto from Track mode 17Cross track error XTE17Tidal stream compensation 18Waypoint arrival and advance 18Dodges in Track mode 19Safety in Track mode 19Warning messages in Track mode 2025Using WindTrim mode 22Selecting WindTrim mode 22Exiting WindTrim mode 23Returning to the previous apparent wind angle 23Chapter 3Maintenance Fault Finding 2531General maintenance 2532Product support 2633Fault finding 26Chapter 4Installing the Tiller Pilot 2941Planning the installation 2942Installing the tiller pin and mounting socket 31Measuring the critical dimensions 31Basic installation 33811306book Page 1 Wednesday March 8 2006 312 PM2ST1000 Plus ST2000 Plus Tiller accessories 3443Cabling and socket installation 40Mounting the socket 41Power supply 43SeaTalk cabling 44NMEA cabling 47Chapter 5Commissioning the Tiller Pilot 4951Functional tests 49Switch on 49Operating sense 49Checking the navigation interface 50Checking the wind instrument interface 51Checking the SeaTalk interface 5252Initial sea trial 53Calibrating the compass 5353Adjusting autopilot performance 56Chapter 6Adjusting Tiller Pilot Settings 59Adjusting calibration values 59Calibration features 61Default calibration values the tiller pilot 62Calibration Level 1 Rudder gain 62Calibration Level 5 cruise speed 62Calibration Level 6 off course alarm angle 62Calibration Level 9 magnetic variation 63Calibration Level 10 heading error correction 63Calibration Level 11 boats current latitude 64Calibration Level 13 rudder damping 64Controlling access to calibration 64811306book Page 2 Wednesday March 8 2006 312 PMChapter 1 Your Raymarine tiller pilot is a totally selfcontained autopilot designed for tiller steered sailboats The autopilot is mounted between the tiller and a single attachment point on the boats structure It is designed for owner installation and is ready for use after connection to the boats 12V electrical modesThe tiller pilot has four basic operating modes Standby mode autopilot offAuto mode autopilot engaged and locked onto a headingTrack mode autopilot on and maintaining a track between two waypoints created on a navigation system WindTrim mode autopilot on and maintaining a course relative to an apparent wind angleSeaTalk and NMEA tiller pilot is SeaTalk compatible so it can share data transmitted from other Raymarine SeaTalk information from a wind instrument can be used for windvane steering without the need to install a separate vanetrack information from a navigator enables the autopilot to provide waypoint controlboat speed from a speed instrument can provide optimum track keeping Page 3 Wednesday March 8 2006 312 PM4ST1000 Plus ST2000 Plus Tiller PilotsSeaTalk compatibility also allows additional fixed and handheld autopilot control units to be easily connected at secondary steering and control positionsThe ST1000 Plus and ST2000 Plus tiller pilots can also be used with any navigator transmitting NMEA 0183 or NMEA 0180 dataThe tiller pilot can be calibrated to suit each installation to provide maximum performance with many types of boat supply10 V to 15 V DCDrive unit thrust torque ST1000 Plus 57 kg 125 lbST2000 Plus 77 kg 170 lbMaximum boat displacement ST1000 Plus 3 000 kg 6 600 lbST2000 Plus 4 500 kg 10 000 lbDrive Plus leadscrew and nut driveST2000 Plus recirculating ball driveHelm speed lock to lockST1000 Plus 8 secondsST2000 Plus 45 secondsCurrent consumption Standby 40 mA 90 mA with full lighting Auto 05 A to 15 A depending on boat trim helm load and sailing temperature0C to 70C 32F to 158FMain features 6 button digital keypad Backlit LCD display of heading locked course and navigational information User calibration for optimum performance WindTrim control in WindTrim mode SeaTalk compatible Automatic compass deviation correction heading compensation Automatic heading deadband seastate control Automatic tack Builtin navigator interface NMEA and SeaTalk Waypoint advance Page 4 Wednesday March 8 2006 312 PMChapter 1 conformanceAll 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 compromised 13About this handbookThis 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 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 benefitsWaste from Electrical and Electronic Equipment WEEE DirectiveThe Waste from Electrical and Electronic Equipment WEEE Directive requires the recycling of waste electrical and electronic equipment Whilst the WEEE Directive does not apply to some of Raymarines products we support its policy and ask you to be aware of how to dispose of this productThe crossed out wheelie bin symbol illustrated above and found on our products signifies that this product should not be disposed of in general waste or landfillPlease contact your local dealer national distributor or Raymarine Technical Services for information on product informationTo 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 specifications without notice As a result Raymarine cannot accept liability for any differences between the product and the handbook 811306book Page 5 Wednesday March 8 2006 312 PM6ST1000 Plus ST2000 Plus Tiller PilotsSafety noticesWARNING Product equipment must be installed and operated in accordance 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 safetyMake sure the power supply is switched off before you make any electrical connections WARNING Navigation aidAlthough 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 responsibility to ensure the safety of the boat at all times by following these basic rulesEnsure that someone is present at the helm AT ALL TIMES to take manual control in an emergencyMake sure that all crew members know how to disengage the check for other boats and any obstacles to navigation no matter how clear the sea may appear a dangerous situation can develop an accurate record of the boats position by using either a navigation aid or visual 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 cannotEven 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 Page 6 Wednesday March 8 2006 312 PMChapter 2 Using the Tiller Pilot7Chapter 2Using the Tiller 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 beThe tiller pilot always powers up in Standby mode indicated by a flashing C alongside the boats current compass heading The tiller pilot is controlled using simple pushbutton operations all of which are confirmed with a short beep In addition to the main single key functions there are several dual key operationsTo select automatic steeringsteady the boat on the required headingplace the pushrod over the tiller pin if necessary extend or retract the pushrod using the 1 10 and 10 keys press autothe display will then show an alongside the current headingTo return to manual steering at any timepress standbyremove the pushrod from the tiller pinYou can use the 110 and 10 keys to make course changes when the boat is under autopilot control 811306book Page 7 Wednesday March 8 2006 312 PM8ST1000 Plus ST2000 Plus Tiller Pilots22Using Auto modeEngaging the autopilot Auto mode 1Steady the boat on the required heading2Place the pushrod over the tiller pin If necessary extend or retract the pushrod using the 1 10 and 10 keys 3Press auto the tiller 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 steering1Press standby2Remove the pushrod from the tiller pin to return to hand steering the display will show a flashing C and the boats current compass heading3The last heading is memorized and can be recalled see page 10811306book Page 8 Wednesday March 8 2006 312 PMChapter 2 Using the Tiller Pilot9Changing courseIn Auto mode use the and 10 port and and 10 starboard keys to change course in steps of 1 and 10 For example press 10 three times for a 30 course change to port Automatic tack feature AutoTackThe autopilot has a builtin automatic tack facility in Auto Track and WindTrim modes that turns the boat through 100 to AutoTack 100 to port press and 10 together to AutoTack 100 to starboard press and 10 together Page 9 Wednesday March 8 2006 312 PM10ST1000 Plus ST2000 Plus Tiller Pilots Dodging obstacles1To 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 port2When 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 belowReturning to the previous heading 1Press auto for 1second the previous heading will flash for 10seconds 2To accept the previous heading press auto again while the previous heading is flashing AutoTack Page 10 Wednesday March 8 2006 312 PMChapter 2 Using the Tiller Pilot11 Note If you do not press auto while the display is flashing the autopilot will maintain the current headingOff course alarmThe off course alarm sounds if the locked autopilot heading and the boats current heading differ by more than the value set in 6 see page 62r 20 seconds Cancelling the off course alarmTo cancel the off course alarm press standby to return to manual steeringNote If the off course alarm sounds this 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 obtain significant improvements in course keeping by improving the sail navigation information pagesIf navigation information eg distance to waypoint cross track error and bearing to waypoints available you can display it in Auto mode or Standby mode by pressing either and 10 or and together momentarily The display will then cycle through the navigation information Page 11 Wednesday March 8 2006 312 PM12ST1000 Plus ST2000 Plus Tiller Pilots You can revert to normal operation by pressing either and 10 or and 10together againAutomatic deadband control Auto SeastateIn Auto WindTrim or Track modes the tiller 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 accuracyIf you want to switch off the AutoSeastate feature1From Auto WindTrim or Track mode press 1 and 1 together to switch from AutoSeastate to Fixed Minimum Deadband 2The sign flashes when Fixed Minimum Deadband is selected Minimum deadband provides the tightest course keeping possible at the expense of increased power consumption and drive unit activity Locked to waypointif to waypointif Page 12 Wednesday March 8 2006 312 PMChapter 2 Using the Tiller Pilot13To switch back to AutoSeastate press 1 and 1 againNote The autopilot reverts to Automatic Deadband Control each time you select Standby modeOperating hints trim changesCAUTION 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 autopilotLarge 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 heading 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 changes1Note the required new heading2Press standby remove the pushrod from the tiller pin and steer manually3Bring boat onto the new heading and fit the pushrod back onto the tiller pin4Press auto and let the boat settle on course5Bring your boat onto the final course in 1 steps using or Gusting conditionsIn gusting conditions the course may tend to wander slightly 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 the mainsheet traveller to leeward to reduce heeling and weather helmIf necessary reef the mainsail a little earlyIt is also advisable whenever possibleto avoid sailing with the wind dead astern when there are very strong winds and large seasIdeally the wind should be at least 30 away from a dead run811306book Page 13 Wednesday March 8 2006 312 PM14ST1000 Plus ST2000 Plus Tiller PilotsIn severe conditions it may be advisable to remove the mainsail altogether and sail under headsail only 23Switching display illumination on and offYou can switch the display illumination on and off when the tiller pilot is in Standby modefrom Standby mode press and 1 together to switch the illumination between on L1nd off L0to return to the previous mode either wait 10 seconds or press the appropriate mode key Note The tiller pilot normally powersup with the illumination switched on If other SeaTalk instruments or autopilot control units are connected via SeaTalk you can also control the tiller pilots illumination from these units24Using Track modeIn Track mode the tiller pilot maintains a track between waypoints created on a navigation system The tiller pilot computes any course changes to keep your boat on track automatically compensating for tidal streams and leeway To operate in Track mode the tiller pilot must receive cross track error information from eithera SeaTalk navigator ora nonSeaTalk navigation system transmitting NMEA 0180 or 0183 dataSelecting Track modeWhen you select Track mode the tiller pilot can acquire the track in one of two waysautomatic acquisition when both cross track error and bearing to waypoint data are Page 14 Wednesday March 8 2006 312 PMChapter 2 Using the Tiller Pilot15manual acquisition when Cross Track Error is the only available track acquisitionIf cross track error and bearing to waypoint data are both available via SeaTalk or NMEA the pilot can acquire a track automatically 1Bring the boat to within 01 nm of track 2Press auto3Press 10 and 10 together to enter Track mode4An alarm will sound and the display will alternate betweenthe bearing to waypoint and the direction the boat will turn to take up the new track 5Check that it is safe to turn the boat onto the new course6Press 10 and 10 togetherthe boat will now turn on to the new coursethe alarm will cancel 7The display will continuously cycle through the following navigation information pagesWaypoint Waypoint 811306book Page 15 Wednesday March 8 2006 312 PM16ST1000 Plus ST2000 Plus Tiller Pilots Manual track acquisitionIf your navigator only provides cross track error information you must acquire the track manually1Steer the boat to within 01 nm of track2Bring the heading to within 5 of the bearing to the next waypoint 3Press auto4Press 10 and 10 together to enter Track mode the autopilot will start tracking to the waypointthe display will alternate between cross track error and the locked pilot headingManual track acquisition at low speedsUsing 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 tiller 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 hazardsLocked to waypointif to waypointif Page 16 Wednesday March 8 2006 312 PMChapter 2 Using the Tiller to Auto from Track modeTo return to Auto mode from Track modepress autopress 10 and 10 togetherCross track error XTECross track error XTEs the distance between your current position and the planned route This is displayed in nautical miles nm and is taken directly from your navigator The tiller pilot displays the cross track error in the following ways Waypoint 1Waypoint 2811306book Page 17 Wednesday March 8 2006 312 PM18ST1000 Plus ST2000 Plus Tiller PilotsTidal stream most operating conditions Track mode will hold the selected track to within 005 nm 300 ft or betterThe 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 62 Waypoint arrival and advanceCAUTION Waypoint advance will only operate if the tiller pilot receives valid bearing to waypoint and waypoint name information The tiller pilot can only decode the first FOUR characters of a waypoint name It will not be able to decode names longer than four characters which will stop the waypoint advance feature from working If your navigator transmits valid waypoint name and bearing to waypoint data you can advance from one waypoint to the next bypressing 10 and 2Waypoint 1Tidal comBoats speed through Page 18 Wednesday March 8 2006 312 PMChapter 2 Using the Tiller the boat passes the target waypoint the navigator manually or automatically selects the next target waypoint The pilot will then detect the new target waypoint namesound the waypoint advance alarm display the new bearing to waypoint and the direction the boat will turn to acquire itAdvanceWhen the waypoint advance alarm is sounding the tiller pilot will suspend Track mode and maintain the current headingcheck that it is safe to turn onto the new trackpress the 10 and 10 keys together this will cancel the waypoint arrival alarm and turn the boat towards the next waypointUnless you accept the waypoint advance in this way the alarm will continue to sound and the tiller pilot will maintain the current courseDodges in Track modeIn Track mode you still have full control from the keypad to make a dodge maneuver use the 10 or 10 keysafter you have avoided the hazard reverse the course change selected for the dodge maneuver by selecting an equal course change in the opposite directionif the boat remains within 01 nm of track there is no need to steer back towards the trackSafety in Track modeWARNING Track mode provides accurate track keeping even in complex navigational situations However it is still the skippers responsibility 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 Page 19 Wednesday March 8 2006 312 PM20ST1000 Plus ST2000 Plus Tiller position at the start of a journeyAt 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 themVerifying computed verify the computed position with a dead reckoned position calculated from the average course steered and the distance loggedPlot frequencyIn open water you should make plots at least every hour In confined waters or when near to potential hazards you should make plots more waypointsLocal 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 check along each track Check up to 05nm each side of the track to ensure that there are no hazards within this zoneFor the waypoint advance function to work the last four characters of adjacent waypoint names must be different Warning messages in Track modeTrack data not received The tiller pilot displays this message if you select Track mode when the autopilot is not receiving any navigation data811306book Page 20 Wednesday March 8 2006 312 PMChapter 2 Using the Tiller Pilot21Track data error The tiller pilot displays this message if you select Track mode when the navigator has lost its fixThis display will clear as soon as the navigator regains its fixLarge cross track error This alarm sounds if cross track error exceeds 03 nmWaypoint advance 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 bearingmake sure that the turn will be safe and when you are ready to make the turn momentarily press 10 and 10 together 811306book Page 21 Wednesday March 8 2006 312 PM22ST1000 Plus ST2000 Plus Tiller Pilotsthe pilot will turn onto the new bearing and track towards the next waypointNote Waypoint advance will only operate if your pilot receives valid bearing to waypoint and waypoint number WindTrim modeNote You can only use WindTrim mode if the tiller pilot is connected to a suitable wind providing wind direction data To use WindTrim mode the tiller pilot must receive wind information from one of the following sourcesSeaTalk wind instrumentNMEA wind pushpit wind vane part number Z159onnected via supplied SeaTalk interfaceIn WindTrim mode the tiller 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 WindTrim mode uses the fluxgate compass as the primary heading reference When changes in the apparent wind angle occur the tiller pilot adjusts the locked compass heading to maintain the original apparent wind angle In WindTrim mode the tiller pilot ignores shortterm changes in wind direction yet still tracks real wind shifts as subtle as 1Selecting WindTrim modeFrom Standby mode or Auto mode press standby and auto together to select WindTrim The tiller pilot will then maintain the current apparent wind angle Note The tiller pilot beeps once every 30 seconds in WindTrim mode 811306book Page 22 Wednesday March 8 2006 312 PMChapter 2 Using the Tiller Pilot23Exiting WindTrim modeTo exit WindTrim modepress standby to return to Standby modepress auto to return to Auto modeReturning to the previous apparent wind angleIf 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 1Press and hold standby and auto together for 1 second2The display flashes the previous locked heading for 10 seconds3While the display is flashing press standby and auto together to select the previous headingwhen you select the previous heading the W flashes for 10 seconds to confirm the selectionWind shift alarmIf changes in apparent wind angle alter the original locked compass heading by more than 15 the wind shift alarm will soundThe display alternates between the current WindTrim heading and the direction of wind shift 811306book Page 23 Wednesday March 8 2006 312 PM24ST1000 Plus ST2000 Plus Tiller PilotsTo cancel the wind shift alarmcheck that the new course does not take the boat into dangerpress standby and auto together momentarily to accept the alarm and reset the wind shift alarm value to the current compass hints for WindTrim modeWindTrim 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 direction can be toleratedIt is important to minimize the amount of standing helm through careful sail trimming and positioning of the mainsheet travellerIt is recommended that the headsail and mainsail are reefed a little early rather than too late811306book Page 24 Wednesday March 8 2006 312 PMChapter 3 Maintenance Fault 3Maintenance Fault FindingThis chapter provides information about maintaining your tiller pilot system obtaining product support and solving common The working parts of the tiller drive are sealed and lubricated for life during manufactureThe tiller pilot does not contain any user serviceable parts Itshould be repaired only by authorized Raymarine service Display condensationIn 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 whileRoutine cabling checksMake sure all connections are firmly the cable for signs of wear or damage replace any damaged cablesCleaning the tiller pilotIf the tiller pilot is dirty wipe it with a clean damp cloth Never use chemical or abrasive materials to clean the tiller pilotEMC adviceWhen 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 EMCAlways report any EMCrelated problems to your nearest Raymarine dealer We use such information to improve our quality standardsIn some installations it may not be possible to prevent the equipment from being affected by external influences In general this will not damage the 811306book Page 25 Wednesday March 8 2006 312 PM26ST1000 Plus ST2000 Plus Tiller but it can lead to spurious resetting action or momentarily may result in faulty products are supported by a worldwide network of distributors and Authorized Service 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 representative or the Raymarine Technical Services Call CenterRefer to the back cover or the Worldwide Distributor List for contact details Always quote the product serial number this number is printed on the underside of the tiller pilot33Fault findingAll Raymarine products are designed to provide many years of troublefree operation We also put them through comprehensive testing and quality assurance procedures before shippingIn 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 representative or the Raymarine Technical Services Call Center autopilot display is blankNo power check the fusecircuit breakerThe displayed compass heading does not agree with the boats compassThe compass has not been corrected for deviation carry out the deviation and alignment procedures see page 53Boat turns slowly and takes a long time to come on to courseRudder gain too low see page 56Boat overshoots when turning on to a new courseRudder gain too high see page 56 811306book Page 26 Wednesday March 8 2006 312 PMChapter 3 Maintenance Fault Finding27The autopilot appears to be unstable on Northerly headings in the Northern hemisphere or Southerly headings in the Southern hemisphere heading correction not set up see page 63Display shows CAL OFF when entering access has been prevented see page 64The autopilot will not talk to other SeaTalk problem make sure all the cables are connected information not not transmitting the correct position dataThe autopilot will not auto advance to the next waypointNo bearing to waypoint information received from the navigatorThe screen shows a series of rotating dashesCompass deviation correction is runningThe display shows a series of stationary dashes Data is not being received check the cablingThe display shows ErrThe navigator has lost its fix refer to the navigator handbook for further Page 27 Wednesday March 8 2006 312 PM28ST1000 Plus ST2000 Plus Tiller Page 28 Wednesday March 8 2006 312 PMChapter 4 Installing the Tiller Pilot29Chapter 4Installing the Tiller the you start installing your tiller pilot system use the illustration to check the parts supplied Then read through the following information and the relevant installation sections in this chapter handbookQuick reference guideWorldwide distributor pilot Page 29 Wednesday March 8 2006 312 PM30ST1000 Plus ST2000 Plus Tiller PilotsCabling how you will run cables to and from each componentavoid running cables through bilges where possibleavoid running cables close to fluorescent lights engines radio transmitting equipment etcEMC installation guidelinesAll Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine 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 productThe 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 equipmentFor optimum EMC performance we recommend thatRaymarine equipment and cables connected to it areAt 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 7ft 2mMore 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 elementThe equipment is supplied from a separate battery from that used for engine start Voltage drops below 10V 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 modeRaymarine 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 Page 30 Wednesday March 8 2006 312 PMChapter 4 Installing the Tiller Pilot31If 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 positionEMC suppression ferritesWe supply the fluxgate compass and power cables with suppression ferrites fitted Always use these ferrites supplied by Raymarine Connections to other equipmentIf 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 the tiller pin and mounting socketCAUTION As the tiller pilot has a builtin compass make sure that the boats steering compass is at least 750 mm 2 ft 6 in away to avoid the critical dimensionsThe tiller pilot is mounted between the tiller and a fixed point on the structure of your boatTwo dimensions are critical to ensure correct A 589 mm 232 in the distance from the mounting socket to the tiller pinNote This dimension increases if your installation requires a pushrod extension see page 34antilever mount see page 37Dimension B 460 mm 18 in the distance from the rudder stocks center line to the tiller pin811306book Page 31 Wednesday March 8 2006 312 PM32ST1000 Plus ST2000 Plus Tiller Pilots To measure the critical dimensions 1Clamp the tiller on the boats center line2Mark dimensions and and use masking tape to locate the fixing points Note For standard installations dimension A is measured on the starboard side of the cockpit If you need to mount the tiller pilot on the port side of the cockpit you can measure dimension A to port However you will need to reverse the tiller pilots operating sense when you have completed installation see page 493Make sure thatdimensions and are at right angles to each otheras shown on the diagram oppositethe tiller pilot is mounted Page 32 Wednesday March 8 2006 312 PMChapter 4 Installing the Tiller Pilot33Basic establishing control dimensions A and B you can usually mount the tiller pilot directly onto the cockpit seat Installing the tiller pin1Drill a 6 mm indiameter hole to a depth of 25 mm 1 int the fixing point you have marked on the tiller2Use a two part epoxy eg Araldite to fix the tiller pin in place3Position the shoulder of the pin so it is 125 mm in above the tiller the mounting socket1Drill a 125 mm inole to a depth of 25 mm 1 in at the fixing point you have marked on the cockpit seat2If the structure at the mounting position is less than 25 mm 1 in thick reinforce the underside with plywood bonded into position3Fix the mounting socket in place using a two part Page 33 Wednesday March 8 2006 312 PM34ST1000 Plus ST2000 Plus Tiller PilotsCAUTION As the tiller pilot is capable of generating high pushrod loads you MUST drill all holes to the specified size and reinforce where necessary allow the epoxy to harden thoroughly before applying a accessoriesIf you are not able to install the tiller pilot directly onto the cockpit seat or tiller as described one or a combination of the following installation tiller pinsPushrod ExtensionsIf you need to increase the pushrod length because of the distance from the mounting socket location to the center line Raymarine pushrod extension Identifying the correct pushrod the tiller on the boats center line2Measure the appropriate pushrod extension length and part numbersing the following table Dimension CPushrod extension length LPart no589 mm 232 inStandard dimension615 mm 242 in25mm 1inD003640 mm 252 in51mm 2inD004665 mm 262 in76mm 3inD005691 mm 272 in102mm 4inD006716 mm 282 in107mm 5inD007742 mm 292 in152mm Page 34 Wednesday March 8 2006 312 PMChapter 4 Installing the Tiller Pilot35 Mounting the pushrod extensionTo mount the pushrod the end of the tiller pilots pushrod2Screw the extension into the pushrod3Screw the pushrod end into the pushrod bracketsIf the tiller is higher or lower than the mounting socket you can use a Raymarine tiller bracket to vary the tiller pin offset so the pilot is horizontal Identifying the correct tiller bracket1Clamp the tiller on the boats center line2Measure dimension if the pushrod is above the tiller or dimension if the pushrod is below the tiller3Select the appropriate bracket from the following table Dimension D pushrod below E pushrod above tillerBracket part no25mm 1in51mm 2inD00951mm 2in76mm 3inD01076mm 3in102mm Page 35 Wednesday March 8 2006 312 PM36ST1000 Plus ST2000 Plus Tiller Pilots 102mm 4in127mm 5inD159127mm 5in152mm D pushrod below E pushrod above tillerBracket part no811306book Page 36 Wednesday March 8 2006 312 PMChapter 4 Installing the Tiller the tiller the tiller bracket on the center line of the tiller above or belownd establish the critical dimensions and Note To measure dimension B on a boat with a sloping rudderstock refer to the diagram on page 312Mark the centers of the two bracket mounting holes3Drill two 6mm inameter holes through the center line of the tiller at the positions you have marked4Attach the tiller bracket using two 6mm in diameter bolts nuts and washers5Bond the fixing bolts in place with two part epoxy adhesive6When the epoxy is completely hardened fully tighten the nuts7Attach the tiller pin to the bracket Cantilever mountingIf you need to attach the tiller pilot to a vertical face such as the cockpit sidewall use a Raymarine cantilever socket assembly partnumber D031the maximum possible extension offset is 254mm 10inyou cut the cantilever to the exact length during the cantilever rod to length1Clamp the tiller on the boats center line2Measure dimension actual3Refer to the table to establish a cutting length for the cantilever rod double check measurements before cuttingMeasure the rod from threaded end then cut the cantilever rod to length using a hacksawRemove any sharp edges with a file Dimension FCut length L654mm 2575in51mm 2in705mm 2775in102mm 4in743mm 2975in152mm 6in806mm 3175in203mm 8in832mm 3275in229mm 9in811306book Page 37 Wednesday March 8 2006 312 PM38ST1000 Plus ST2000 Plus Tiller Pilots Mounting the cantilever assemblyTo mount the cantilever assemble the cantilever by screwing the rod into the mounting ring2Ensure the tiller pilot is horizontal and then mark the location of the mounting ring and its mounting holes3Drill three 6mm inameter holes at the positions you have marked4Bed the mounting ring on a thin coat of silicon sealant 5Use three 6mm in diameter bolts nuts and washers to attach the mounting ring to the backing plate with the backing plate on the other side of the mounting surface as shown above 6Screw the rod firmly into place 7Roughen the end of the cantilever rod and the inside of the cap to provide a key Then apply two part epoxy adhesive to the rod end and the cap8Place the cap over the rod end making sure the hole for the tiller pilot mounting pin faces upwards Allow the epoxy adhesive to harden fully before applying a load Note When the tiller pilot is not in use you can unscrew the complete rod assembly to leave the cockpit Page 38 Wednesday March 8 2006 312 PMChapter 4 Installing the Tiller socket mountingIf you need to raise the height of the mounting socket to keep the tiller pilot horizontal use a Raymarine pedestal socket assembly Identifying the correct pedestal socket 1Clamp the tiller on the boats center line2Establish the standard control dimensions and 3With the tiller pilot horizontal measure dimension 4Select the appropriate pedestal socket assembly from the table Mounting the pedestal socket1Mark the mounting rings position on the cockpit seat or counter2Ensure that control dimensions and are GPedestal socket length LPart no64mm 25inStandard dimension102mm 40in38mm 15inD026114mm 45in50mm 20inD027127mm 50in64mm 25inD028140 mm 55 in76mm 30inD029153 mm 60 in89mm Page 39 Wednesday March 8 2006 312 PM40ST1000 Plus ST2000 Plus Tiller Pilots3Mark the bolt holes on the mounting ring and then drill three 6mm in diameter holes4Bed the mounting ring on a thin coat of silicon sealant 5Use three 6mm in diameter bolts nuts and washers to attach the mounting ring to the backing plate with the backing plate on the other side of the mounting surface as shown above 6Screw the mounting socket firmly into placeNote When the tiller pilot is not in use you can unscrew the complete rod assembly to leave the cockpit tiller pinsYour Raymarine dealer can also supply the following alternative lengths of tiller pin for other nonstandard installations 43Cabling and socket power and data are supplied to the tiller pilot via a waterproof plug and socket The plug comes ready assembled and the socket can be mounted in the cockpit area adjacent to the tiller pilot noSmall threaded tiller pin25mm 10inD014Extra length tiller pin72mm 28inD020Extra length threaded tiller pin72mm Page 40 Wednesday March 8 2006 312 PMChapter 4 Installing the Tiller the socketInstall the tiller pilot socket as follows 1Attach the template provided at the back of this handbook to the selected drill a 21 mm in clearance hole for the cable boss3Drill 4 pilot holes 25 mm or in for the selftapping screws 4Remove the template5Pass the power cable and any other cables SeaTalk and NMEArough the bulkhead and the gasket6Use a small flatbladed screwdriver to connect the cables to the socket refer to the illustrations on the following pages to identify the individual connections on the SeaTalk socket Ensure that the socket is oriented correctly and note the connection numbers in relation to the Page 41 Wednesday March 8 2006 312 PM42ST1000 Plus ST2000 Plus Tiller Pilots 7Assemble the rubber cap to one of the 4 selftapping screws8Secure the socket to the bulkhead using the 4 selftapping screws9Secure the cables at regular intervals using suitable the plug to the socket by screwing the floating nut onto the threaded part of the socket by hand Yellow SeaTalkNMEA White Page 42 Wednesday March 8 2006 312 4 Installing the Tiller Pilot4311The retaining ring is designed as a stop for the plug nut to prevent accidental disassembly After you have tightened the floating nut slide the retaining ring back up the plug to retain the nut Power supply The tiller pilot requires its own dedicated power supply it cannot source its power from SeaTalk Power should be taken directly from the boats central distribution panel and protected with a 12 A fuse or equivalent circuit breakerThe following table shows the minimum cable size acceptable for the power supply CAUTION Correct power cable size is critical for correct autopilot operation If in doubt use a heavier gauge cable than specified A lighter gauge cable might cause a voltage drop between the supply and the autopilot This will reduce the power at the tillerCable lengthCopper areaAWGUp to 25 m 8 ft15 mmUp to 4 m 13 ft25 mm811306book Page 43 Wednesday March 8 2006 312 PM44ST1000 Plus ST2000 Plus Tiller PilotsSeaTalk cabling CAUTION Protect the power supply for the SeaTalk 12 V red line with a 5A fuse or equivalent circuit breakeritted as close to the tiller pilot as possible If required the tiller pilot can be wired to the SeaTalk bus using a suitable SeaTalk interface cable part numbers D229 flat moulded plug D179 male round plug D181 female round plugConnect the SeaTalk cable to the tiller pilot socket as shown below As well as sharing SeaTalk data the tiller pilot can also be used to supply power to the SeaTalk produce a range of SeaTalk accessory cables you can use to connect the tiller pilot to SeaTalk instruments and control units flat plugs for recent SeaTalk equipment eg ST30 ST40 ST60round plugs for older SeaTalk equipment eg ST50811306book Page 44 Wednesday March 8 2006 312 PMChapter 4 Installing the Tiller Pilot45 Part moulded plug to male round plug015 m 6 inD188Flat moulded plug to female round plug015 m 6 inPart moulded plug to bare ends1 m 3 ft 3 inD179Male round plug to bare ends3 m 9 ft 10 inD181Female round plug to bare ends3 m 9 ft 10 inPart moulded plugs at each end1 m 3 ft 3 inD285Flat moulded plugs at each end3 m 9 ft 10 inD286Flat moulded plugs at each end5 m 16 ft 5 inD287Flat moulded plugs at each end9 m 29 ft 6 inD288Flat moulded plugs at each end20 m 65 ft 6 inPart round plug to female round plug1 m 3 ft 3 inD125Male round plug to female round plug3 m 9 ft 10 inD126Male round plug to female round plug6 m 19 ft 8 inD154Male round plug to female round plug9 m 29 ft 6 in811306book Page 45 Wednesday March 8 2006 312 PM46ST1000 Plus ST2000 Plus Tiller PilotsRemote control cablingIf required you can operate the tiller pilot usinga fullfunction ST600R remote control unit part no A12016or a SeaTalk handheld remote control part no Z101The following illustration shows how to connect a remote control 811306book Page 46 Wednesday March 8 2006 312 PMChapter 4 Installing the Tiller Pilot47NMEA cablingIf required you can connect a NMEA navigator or wind instrument to the tiller pilot It can then use this information for Track and WindTrim NMEA dataThe following table lists the recognized NMEA sentences 0183 dataCross Track Error APB APARMB XTE XTRBearing to WaypointAPB BPI BWR BWC BER BEC RMBDistance to WaypointWDR WDC BPI BWR BWC BER BEC RMBWaypoint Number APA APBBPI BWR WDR BWC WDC RMB BOD WCV BER BECSpeed Through Wind Angle and Page 47 Wednesday March 8 2006 312 PM48ST1000 Plus ST2000 Plus Tiller NMEA and SeaTalk 811306book Page 48 Wednesday March 8 2006 312 PMChapter 5 Commissioning the Tiller Pilot49Chapter 5Commissioning the Tiller PilotThis chapter explains how to commission your tiller pilot after installation This consists of a number of simple functional tests followed by a short sea trial 51Functional testsSwitch on1Switch on the main power breaker2The autopilot should beep and display the pilot number ST1000 or ST20003Within 2 seconds the display should show a flashing C followed by the compass heading for example C 234 This shows the autopilot is activeNote If the tiller pilot does not beep or display the compass heading please refer to the Fault Finding section seepage 26Operating senseThe operating sense defines the direction the tiller pilot will apply helm when a course change key is pressed or the boat goes off course To check the operating sense1Place the pushrod end over the tiller pin2Press 103The helm should move to produce a turn to starboard 4If the helm produces a turn to port refer to the following instructions on reversing the operating senseReversing the operating senseIf necessary reverse the operating sense can be reversed as Page 49 Wednesday March 8 2006 312 PM50ST1000 Plus ST2000 Plus Tiller Pilots1Press and together for 5 seconds2The display shows the new operating sense port or starboardr 5seconds and then the autopilot reverts to normal the navigation interfaceIf you have connected the tiller pilot to a navigator check the interface as follows1Set up a track on the navigator to give a Cross Track Error between 0 nm and 2Enter Auto mode by pressing auto3Enter Track mode by pressing 10 and 10 together4An alarm will sound and the display will alternate between the bearing to waypoint and the direction the boat will turn to acquireit 5Make sure that it is safe to turn onto the new course then press 10and 10 again6If the navigator is connected correctly the display will begin to cycle through the available navigation data Navigation error screensIf the display shows either of the following error displays the cause is either a wiring error orthe navigator is not configured to transmit the required data formatLocked to waypointif to waypointif Page 50 Wednesday March 8 2006 312 PMChapter 5 Commissioning the Tiller Pilot51Track data not received This error message indicates that data has not been received The most likely reason is a cabling error either open circuit short circuit or wires reversedTrack data error This error message indicates that the navigator has lost its fix Refer to the navigator handbook for further actionChecking the wind instrument interfaceIf you have connected the tiller pilot to a wind instrument check the data link as follows1Press standby and auto together2The tiller pilot should display a W followed by the locked Page 51 Wednesday March 8 2006 312 PM52ST1000 Plus ST2000 Plus Tiller Pilots If the display continues to show a flashing C and the current heading the tiller pilot is not receiving any wind data The most likely reason is a cabling error either open circuit short circuit or wires the SeaTalk interfaceIf you have linked the tiller pilot to other instruments or control units via SeaTalk check the link as follows1Press standby 2Select display illumination level 0 LAMP 0 on any other SeaTalk instrument or autopilot control unit 811306book Page 52 Wednesday March 8 2006 312 PMChapter 5 Commissioning the Tiller Pilot533The tiller pilot should immediately respond by switching off its display illumination If the illumination does not switch off there is a cabling fault between the tiller pilot and the instruments or control unit52Initial sea trialCAUTION 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 tiller pilot has a builtin calibration capability so you can finetune it to suit your boat its steering system and its dynamic steering supplied from the factory the autopilot is calibrated to provide safe stable control for most boatsDo not attempt to make any permanent changes to the recommended calibration values until you have completed the sea trialYou must carry out the initial sea trialin conditions of light wind and calm water so you can assess the autopilots performance without the influence of strong winds or large wavesBefore starting the sea trial Before carrying out the sea trial you shouldcheck the calibration settings and if necessary reset them to the default values see page 61check the installation to make sure that it is not affected by radio transmissions engine starting etc Calibrating the compass deviation correctionBy completing the following compass correction procedure the tiller pilot can correct its own internal fluxgate compass for most deviating magnetic fields You should complete the Compass Deviation Correction at the beginning of your sea trialTo complete the compass Page 53 Wednesday March 8 2006 312 PM54ST1000 Plus ST2000 Plus Tiller Pilots1Extend or retract the pushrod so you can place the pushrod end onto the tiller pin2Press and hold standby for 1 second a series of dashes will cycle around the display 3Keeping boat speed below 2 knots use the 10 and 10 keys to turn the boat in slow circles You should take at least 3 minutes to complete each 360 4Keep turning your boat until the display changes to show the amount of deviation the autopilot has detected this should take between 1 t o2 complete circles The deviation alternates with the autopilots current heading every second 811306book Page 54 Wednesday March 8 2006 312 PMChapter 5 Commissioning the Tiller Pilot55Heading alignment1Use the and keys to increase or decrease the displayed heading until it agrees with the heading on the boats steering compass or a known transit bearing2Exit compass linearization and heading alignment and store the compass values as followspress and hold standby for 1 second until the pilot beepsor to exit without saving any new settings press standby 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 adjustments to heading alignmentIf the heading alignment requires further adjustment enter Compass Deviation Correction again by pressing standby for 1 second1Press auto to skip Deviation Correction and proceed to Heading the heading as described aboveAutopilot calibrated the compass the following procedure is recommended to familiarize yourself with autopilot onto a compass heading and hold the course steady2Place the pushrod end over the tiller pin3Press auto to lock onto the current heading The tiller pilot should achieve a constant heading in calm sea course to port or starboard in multiples of 1 and 10811306book Page 55 Wednesday March 8 2006 312 PM56ST1000 Plus ST2000 Plus Tiller Pilots 5Press standby and remove the pilot to return to hand autopilot performanceThe 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 following test will determine whether the rudder gain is set too high or too low1In clear water and with the autopilot in Auto mode alter course to starboard by 40 by pressing 10 four timesAt cruising speeds a course change of 40 should result in a crisp turn followed by an overshoot of no more than 5If this occurs the rudder gain is set correctlyIf rudder gain is too high the 40 course change will result in a distinct overshoot of more than 5 ACorrect this oversteer by reducing the rudder gain settingIf 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 BCorrect this understeer by increasing the rudder gain Page 56 Wednesday March 8 2006 312 PMChapter 5 Commissioning the Tiller Pilot57 Note It is easier to recognize these actions in calm sea conditions where wave action does not mask basic steering to the calibration menu diagram in Chapter 6Adjusting Tiller Pilot Settings for instructions on how to adjust the rudder gain setting3Repeat the test until you achieve crisp course changes with no more than 5 of overshootYou 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 tearCorrect 811306book Page 57 Wednesday March 8 2006 312 PM58ST1000 Plus ST2000 Plus Tiller Page 58 Wednesday March 8 2006 312 PMChapter 6 Adjusting Tiller Pilot 6Adjusting Tiller Pilot tiller 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 systemNote You should carry out an initial sea trial before adjusting any of the calibration featuresYou might need to adjust the tiller pilot calibration settings ifthe pilot does not maintain a selected headingthe rudder activity is too high or the course keeping is not tight enoughthe boat appears to be unstable on Northerly headings or Southerly headings in the southern hemisphereyou operate in Track Control mode without a speed instrumentyou wish to change the Off Course alarm angleThe calibration menu allows you to adjust the following parameters from their factory default settingsrudder gainaverage cruise speedoff course alarm turning error current latituderudder calibration valuesThe flow chart on the next page shows how toenter the calibration menuscroll through the calibration menuadjust the calibration valuesquit Page 59 Wednesday March 8 2006 312 PM60ST1000 Plus ST2000 Plus Tiller Pilots 1Rudder gain5Average cruise speed6Off course alarm angle9Local magnetic 11Current boat Page 60 Wednesday March 8 2006 312 PMChapter 6 Adjusting Tiller Pilot featuresThe number on the left identifies the calibration feature and the number on the right the currently selected valueYou 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 settingsIf the display shows CAL OFF when you try to enter calibration refer to page Default calibration valuesThe following table shows the default calibration values These will provide safe performance for initial sea values1Rudder gain55Average cruise speed86Off course alarm angle209Local magnetic variationOff 10NorthSouth turning error current Page 61 Wednesday March 8 2006 312 PM62ST1000 Plus ST2000 Plus Tiller PilotsNote Calibration Levels 23478 and 12 are not available If Calibration Level 10 is set to 0 level 11 will also be the tiller Level 1 Rudder gainUse Calibration Level 1 to adjust the rudder gain This must be set when your boat is under way as described on page 53Calibration Level 5 cruise speedUse Calibration Level 5 to set the boats normal cruising speed for operation in Track modeWhen interfacing with a navigation system the tiller pilot uses the boats average cruising speed to perform track If a SeaTalk speed instrument is connected boat speed data will be transmitted directly to the Level 6 off course alarm angleUse Calibration Level 6 to set the off course alarm angle This alarm warns you if the autopilot is unable to maintain its set courseThe 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 heading15 Page 62 Wednesday March 8 2006 312 PMChapter 6 Adjusting Tiller Pilot Level 9 magnetic variationUse Calibration Level 9 to input the level of magnetic variation present at the boats current positionve variation westve variation eastThe tiller pilot transmits this value onto the SeaTalk bus so it can be picked up by other SeaTalk Level 10 heading error correctionUse Calibration Level 10 to switch on Northerly or Southerly heading error correction0 Off1 Northern Hemisphere 2 Southern HemisphereYou 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 hemisphereThis 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 equatorWith heading error correction switched on the tiller pilot can compensate for this error by automatically adjusting the autopilot gain depending on heading This will provide precise course keeping on all headings 811306book Page 63 Wednesday March 8 2006 312 PM64ST1000 Plus ST2000 Plus Tiller Level 11 boats current latitudeWhen you have switched on heading error correction Level 10 you need to use Calibration Level 11 to input the boats current latitude tothe nearest degreeSet the latitude using the 10 and 10 keys Note If the correction is switched off in Calibration Level 10 ie set tol 11 will be omitted When you press the auto key in Calibration Level 10 you will advance to Level Calibration Level 13 rudder dampingAdjust the value in Calibration Level 13 if the tiller drive hunts when trying to position the rudderyou can select 9 stages of rudder damping initially this option should be set to 3if the autopilot is overactive in calm conditions increase the damping if the course keeping is not tight enough decrease the damping adjust the damping one stage at a access to calibrationYou can prevent unauthorized access to calibration as follows1Press and hold and standby together for 10 seconds until the display shows CAL OFF 2Toggle the calibration access between On and OFF using the and keys3Store the setting by pressing and standby for 10 seconds until the tiller drive returns to normal Page 64 Wednesday March 8 2006 312 PM tiller drives socket Page 65 Wednesday March 8 2006 312 PM66ST1000 Plus ST2000 Plus Tiller Page 66 Wednesday March 8 2006 312 PMAdjusting autopilot performance 56Adjusting tiller pilot settings 5964Alarms and warningsLarge XTE 17 21Off course alarm 11Track data error 21Track data not received 20Waypoint advance 19 21Wind shift 23Auto mode 813Automatic deadband 12AutoTack 9Changing course 9Dodging obstacles 10Entering Auto mode 8Exiting Auto mode 8Navigation information pages 11Off course alarm 11Return to previous heading 10Auto Seastate 12Automatic deviation correction 53Boats current latitude 64CablingNMEA 47Power 43Remote control optional 46SeaTalk 44Calibration 5964Access 64Default values 61Level 01 Rudder gain 56 62Level 05 Cruise speed 62Level 06 Off course alarm angle 62Level 09 Magnetic variation 63Level 10 Heading error 63Level 11 Boats current latitude 64Level 13 Rudder damping 64Cantilever mounting 37Changing course 9 the tiller pilot 4957Adjusting rudder gain 56Functional tests 4952Initial sea trial 5356Compass calibration 5355Deviation correction 53Heading alignment 55Cross track error 17Cruise speed 62Current latitude 64Display illumination 14Dodging obstacles 10 guidelines 30Servicing and safety guidelines 25Fault finding 26Functional testNavigation interface 50Operating sense 49SeaTalk interface 52Switch on 49Wind instrument interface 51Heading alignment 55Heading error correction 63Illumination 14Initial sea trialChecking autopilot operation 55Compass deviation correction 53Heading alignment 55Installation 47Power 43SeaTalk 44EMC guidelines 30Parts supplied 29Socket 41Tiller drive 3140811306book Page 67 Wednesday March 8 2006 312 PM68ST1000 Plus ST2000 Plus Tiller PilotsLighting 14Magnetic variation 63Maintenance 25Mounting socket 33Navigation information pages 11NMEACabling 47Recognized data 47Northerly heading error correction 63Off course alarm 11Off course alarm angle 62Operating modes 724Auto mode 813Track mode 1421WindTrim mode 2224Operating sense reversing 49Parts supplied 29Pedestal socket mounting 39PowerCabling 43Socket installation 41Product support 26Pushrod extensions 34Recognized NMEA data 47Remote control cabling 46Return to previous heading 10Rudder damping 64Rudder gain 56 cables 44Cabling 44Servicing 25Socket installation 41Southerly heading error correction 5Tiller drive installation 3140Cantilever mounting 37Mounting socket 33Pedestal socket mounting 39Pushrod extensions 34Tiller brackets 35Tiller pin 33Tiller pin Nonstandard 40Track mode 1421Cross track error 17Dodging obstacles 19Entering Track mode 14Automatic acquisition 15Manual acquisition 16Exiting Track mode 17Safety 19Tidal stream compensation 18Warning messages 20Waypoint arrivaladvance 18WindTrim mode 2224Entering WindTrim mode 22Exiting WindTrim mode 23Return to previous wind 23Wind shift alarm 23XTE Cross track error 17811306book Page 68 Wednesday March 8 2006 312 PM Raymarine World Wide World Wide IncAPPLICABLE TO PRODUCTS SOLD THROUGH OFFICIAL RAYMARINE INC DEALERS DISTRIBUTORS AND BOAT BUILDERS WITHIN THE AMERICAS AND to the terms conditions and limitations set forth in this US Limited Warranty hereinafter the Warranty Raymarine warrants that its products when properly installed and used will be free from defects in material and workmanship for a period of twentyfour 24 months with respect to VHF radios a period of thirtysix 36onthsfrom the date of first purchase the Warranty PeriodFor the purposes of this warranty date of first purchase means the date that the product was purchased by the first retail customer or in the case of a product installed on a new vessel by a certified Raymarine original equipment manufacturer a Raymarine OEMe date that such vessel was purchased by the first retail will at its sole option repair or replace any defective products or components returned during the Warranty Period in accordance with the terms conditions and limitations set forth below Such repairs or replacement will be the sole remedy of the customer under this Warranty Warranty ServiceTo qualify for standard warranty service the product must be returned to a service agent or directly to Raymarine in person or by mail iithin the Warranty Period and iiin thirty 30 days of the alleged product failureAny products returned by mail must be securely packaged and sent prepaid and insured to Raymarine or to a service agent All products whether returned in person or by mail must be accompanied by a copy of the original sales receipt to be eligible for standard warranty service A list of service agents is available from Raymarine Technical Support or at Board Warranty ServiceFor any Raymarine product or system that ias been installed on your vessel by a service agent or by a Raymarine OEM and iis a MSRP equal to or greater than USD 2500 you are eligible to receive warranty service by a Raymarine certified service agent onboard your vessel On Board Warranty Service for a period of 12 months from the date of first purchase of such product or system or the date of first purchase of the vessel on which such product or system has been installed the On Board Warranty Periodn order to obtain On Board Warranty Service eligible customers MUSTiwithin the On Board Warranty Period and iiin thirty 30ays from the date of the alleged failure giving rise to the warranty claim for which you are requesting On Board Warranty Service contact a local service agent and request On Board Warranty ServicePresent to the service agent a copy of the original sales receipt for the product together with proof of the date of installation of the product by a service agent The service agent may at its sole option accept or deny such proof of purchase and proof of installation as sufficient to qualify you for On Board Warranty ServiceCosts associated with travel mileage taxi fares launch or docking fees aircraft or vehicle rental meals customs shipping communication charges and service agent travel costs are specifically excluded from coverage under this Warranty and are your responsibility In addition this Warranty does not cover fees associated with hauling shipping or towing your vessel to a Page 13 Wednesday March 8 2006 312 PMUpon the expiration of the On Board Warranty Period you are still eligible to receive standard warranty service for the remaining term of the Warranty Period but will not be eligible for continued On Board Warranty and ExclusionsIn addition to any other limitations and exclusions set forth herein Raymarine is not responsible for and this Warranty does not coverfailures due to abuse misuse accident unauthorized alteration or repair improper installation whether or not by a service agent shipping damage or corrosionCosts associated with routine system checkouts seatrials or or replacement of consumable items including without limitation fuses batteries drive belts radar mixer diodes snapin impeller carriers impellers impeller bearings and impeller shaftscosts associated with overtime or premium labor in material coloring or size that may exist between actual products and the pictures or descriptions of such products in our advertising advertising literature or on the purchased by a customer from a United States dealer via the Internet if such products were not delivered and installed within the United States orthe replacement of missing components from the package of any product purchased through an online auction siteOther conditionsThis Warranty is fully transferable provided that you furnish the original proof of purchase to Raymarine or in the case of On Board Warranty Service to a service agent This Warranty is void if the label bearing the serial number has been removed or defacedTO THE EXTENT CONSISTENT WITH STATE AND FEDERAL LAW THE FOREGOING WARRANTY IS RAYMARINES SOLE WARRANTY AND IS APPLICABLE ONLY TO NEW PRODUCTS PURCHASED IN THE UNITED STATES OF AMERICA THE PROVISIONS OF THIS WARRANTY ARE IN LIEU OF ANY OTHER WRITTEN WARRANTY WHETHER EXPRESSED OR IMPLIED WRITTEN OR ORAL INCLUDING ANY WARRANTY OF OR FITNESS FOR A PARTICULAR PURPOSETHE LIABILITY OF RAYMARINE TO A CUSTOMER UNDER THIS WARRANTY WHETHER FOR BREACH OF CONTRACT TORT BREACH OF STATUTORY DUTY OR OTHERWISE SHALL IN NO EVENT EXCEED AN AMOUNT EQUAL TO TEN 10 TIMES THE MANUFACTURERS SUGGESTED RETAIL PRICE OF THE PRODUCT GIVING RISE TO SUCH LIABILITY AND IN NO EVENT SHALL RAYMARINE BE LIABLE FOR SPECIAL INCIDENTAL CONSEQUENTIAL OR INDIRECT DAMAGESSOME JURISDICTIONS DO NOT ALLOW EXCLUSION OR LIMITATION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES SO THE ABOVE LIMITATIONS OR EXCLUSIONS MAY NOT APPLY TO YOU THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS AND YOU MAY ALSO HAVE OTHER RIGHTS WHICH VARY FROM JURISDICTION TO Warranty supersedes and replaces all previous 2005811306book Page 14 Wednesday March 8 2006 312 PM Raymarine World Wide UK LtdAPPLICABLE TO PRODUCT SOLD THROUGH OFFICIAL RAYMARINE UK LTD DEALERS DISTRIBUTORS AND BOAT BUILDERS WITHIN EUROPE THE MIDDLE AND FAR EAST AFRICA AND WarrantyThe Raymarine warranty terms and conditions as described below do not affect the customers legal rights and complies with EU Directive 199944ECIn order to ensure that the product continues to operate efficiently and reliably we recommend that before using the product the customer carefully reads the Owners Handbook and follows the advice on the safe and correct operation and use of the product We recommend that the Raymarine product is installed by a Raymarine certified installer Installation by persons other than a Raymarine certified installer may invalidate the warranty1 Product warranty11 Raymarine warrants each new product to be of good materials and workmanship Raymarine or its approved agents will repair or exchange under warranty any parts or product proven to be defective in material or workmanship under normal use for a period of 2 years 24 monthsm date of sale to end user subject to the limits contained in this warranty document12 The Raymarine warranty covers the parts and labour associated with any warranty repair as described above provided that the product is returned to Raymarine or one of its approved agents13 Raymarine reserve the right to replace under warranty not repair certain Raymarine products subject to the limitations below provided that they are returned to the nearest Raymarine National Distributor For details of such products refer to the internet at or contact your nearest Raymarine National Distributor2 Onboard warranty21 In addition to the Product warranty cover as described above Raymarine will authorize onboard warranty service by the nearest Raymarine approved service agent subject to the maximum mileage and other limits referred to in paragraph 412 below on products where proof of installation or commission by Raymarine certified installers can be shown22 The warranty provides for onboard repair or exchange of the product by Raymarine or its approved service agents for a period of 2 years 24 monthsbject to the limits contained in this warranty document In the case of a product installed by a Raymarine certified OEM installer on a new boat prior to the sale of the boat to a customer the 2year period will begin on the date of the sale of the boat to the customer In the case of a product installed by a Raymarine certified installer on a boat already in the possession of the customer the 2year period will begin on the date of the commissioning of the installed product23 Certain Raymarine products are not covered by onboard warranty unless the products are preregistered and on board warranty is purchased from the Raymarine certified installer For details of such products refer to the internet at or contact your nearest Raymarine National Distributor24 The Purchaseable onboard warranty is subject to the limitations warranty service31 In the event of warranty service being required the customer should contact Raymarine Technical Support or the nearest Raymarine approved service agent the contact details of Raymarine Technical Support and a full list of the names and details of worldwide service agents are available on the internet at and in the Owners Page 15 Wednesday March 8 2006 312 PM32 In cases where the customer is requesting a warranty service and a Raymarine certified installer has not installed the product ie Product warranty the affected product must be returned to the customers local Raymarine approved service agent or direct to Raymarine with321 proof of purchase showing the date of purchase and the name of the supplier of the product and322 the serial number of the affected product or323 a warranty card completed by the product supplier which will contain the information required by paragraphs 321 and 322Subject to the limitations below the product will be repaired or replaced at the discretion of Raymarine or a Raymarine Service Agentat no further cost and promptly returned to the customer33 In cases where the customer is making a warranty claim and the product has been installed by a Raymarine certified installer boat builder installer dealer etc Onboard warranty the nearest Raymarine approved service agent should be contacted and onboard service requested which will be subject to the limits referred to in paragraph 412 belowBefore the onboard warranty service is performed the customer must have available331 proof of purchase showing the date of purchase and the name of the supplier of the product and332 the serial number of the affected product or333 proof of installation of the product by a Raymarine certified installer or334 a warranty card completed by the product supplier which will contain the information required by paragraphs 331 and 33334 In cases where onboard warranty has been purchased as described in 23 the nearest Raymarine approved service agent should be contacted and onboard service requested information detailed in 331 and 332 is required Onboard warranty service will only be performed if the product serial number confirms that the onboard warranty service has been purchased and is valid4 Warranty limitations41 Raymarine warranty policy does not apply to any product that has been subjected to accident abuse or misuse shipping damage alterations corrosion incorrect andor nonauthorized service or products on which the serial number has been altered mutilated or removed42 Certain products do not carry the onboard warranty as described in section 2 above unless the onboard warranty cover is purchased at the time of installation The purchaseable onboard warranty is only available on products purchased in specific territories for further details refer to the internet at or contact your nearest Raymarine National Distributor43 Products purchased outside the country of installation will not be covered by onboard warranty44 Raymarine assumes no responsibility for damage incurred during installation or as a result of improper installation45 This warranty does not cover routine system checkouts seatrials or commissioning unless required by replacement of parts the area being aligned46 Raymarine assumes no responsibility for damage caused by or to other equipment systems or components occasioned by improper or unauthorized connection or use of the product47 Consumable items including but not limited to fuses batteries drive belts radar mixer diodes snapin impeller carriers impellers impeller bearings and impeller shafts are specifically excluded from this warranty A complete list of the consumable items relating to each product can be found in the Owners Handbook andor on the internet at All costs associated with transducer replacement other than the cost of the transducer itself are specifically excluded from this warranty49 labour portion of services outside of normal working hours is not covered by this Page 16 Wednesday March 8 2006 312 PM Raymarine World Wide Warranty17410 If repairs are necessary under the warranty the affected product must be forwarded to a Raymarine facility or a Raymarine approved service agent at the owners expense411 The Raymarine warranty does not cover any differences in material coloring or size between those alluded to in corporate advertising literature or published on the internet which are not specifically objected to at the time of delivery412 Travel costs other than auto mileage tolls and two 2 hours travel time are specifically excluded from the warranty on all products Costs which are excluded from the coverage of this warranty include but are not limited to taxi fares launch fees aircraft rental subsistence customs shipping and communications charges etc413 Neither Raymarine nor a Raymarine service agent shall be liable for any incidental indirect consequential or special including punitive or multipleamages nor shall Raymarine or a Raymarine service agent be liable for any loss of profit business contracts opportunity goodwill or other similar loss The liability of Raymarine or a Raymarine service agent to a customer under this warranty whether for breach of contract tort breach of statutory duty or otherwise shall not exceed US1000000 Nothing in this paragraph 413 shall limit the liability of Raymarine or a Raymarine service agent in respect of death or personal injury caused by its negligence fraud or any other liability which by law cannot be excluded or limited414 All Raymarine products sold or provided hereunder are merely aids to navigation It is the responsibility of the user to exercise discretion and proper navigational skill independent of any Raymarine Number 800091January 2005811306book Page 17 Wednesday March 8 2006 312 PMPurchased fromPurchase dateDealer byInstallation dateOwners nameMailing addressNorth and South Technical Supportor 1 Repair and Europe Middle East Africaand Technical SupportProduct Repair and allow us to respond to your needs faster please quote the Equipment type Complete product information and interactive help is available barcode label here811306book Page 18 Wednesday March 8 2006 312 vZuQ