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' Autohelm Raymarine: St6000plus St6000 Autopilot Control Unit, Owner's Manual'



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       Distributed by Any reference to Raytheon orRTN in this manual should be  interpreted as RaymarineThe names Raytheon and RTN       are owned by the     Raytheon CompanyST6000   number 811333Date 1st April 19992   Title of                                                                                              1Raytheon Electronics as part of its commitment to continuous imrovement and updating reserve the  right to make changes without prior notice to the equipment equipment specifications and the                            instructions contained within this handbook      To the best of our knowledge the information contained within this handbook was correct                                          as it went to press A great deal of care has been taken to ensure that this handbook is as accurate as possible However                       liability cannot be accepted for inaccuracies or omissions             Autohelm and SeaTalk are registered trademarks of Raytheon Electronics    WindTrim AutoTack AutoTrim AutoSeastate AutoAdapt AutoRelease and CodeLock are                            trademarks of Raytheon Electronics                              Copyright  Raytheon Electronics 19962   ST6000 Plus Autopilot Control Unit Owners                                                                         3Preface             This handbook contains information on the operation and             installation of your new equipment In order to obtain the best             performance from your autopilot please read this handbook             thoroughlyHow this handbook is organised             This handbook is divided into the following chapters             Chapter 1 Introduces the autopilot its features and its use             Chapter 2 Covers basic autopilot operation             Chapter 3 Explains how to use Track and Vane WindTrim             modes and adjust autopilot performance and summarises the             ST6000 Plus alarms             Chapter 4 Explains how to use the CodeLock security feature             Chapter 5 Provides details on how to make adjustments to             customise the autopilot to your particular vessel             Chapter 6 Explains how to install the ST6000 Plus             Chapter 7 Covers functional testing and initial calibration             procedures after installation and intial sea trials             Chapter 8 Provides general maintenance procedures             Chapter 9 Provides information to help you resolve any             problems you may encounter with your autopilot             An index is included at the end of this handbook followed by a             template for the installation of the control unitSafety information             Passage making under autopilot control is an enjoyable experience             that can if you are not careful lead to the relaxation of the             permanent watch A permanent watch MUST be maintained no             matter how clear the sea may appear to be          WARNING          Remember a large ship can travel two miles in five minutes  just          the time it takes to make a cup of coffee4                                  ST6000 Plus Autopilot Control Unit Owners Handbook              The following rules should always be observed            Maintain a permanent watch and regularly check all around for             other vessels and obstacles to navigation  no matter how clear the             sea may appear a dangerous situation can develop rapidly            Maintain an accurate record of the vessels position either by use of             a radio navigation receiver or visual bearings            Maintain a continuous plot of position on a current chart Ensure             the locked autopilot heading steers you 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             radio navigation receiver always maintain a log and make regular             positional plots Radio navigation signals can produce significant             errors under some circumstances and the autopilot cannot detect             this situation            Make sure that all members of crew are familiar with the             procedures to disengage the autopilot              Your Raytheon autopilot will add a new dimension to your boating              enjoyment However it is the responsibility of the skipper to              ensure the safety of the vessel at all times by careful observance of              these basic rulesEMC conformance              All Raytheon equipment and accessories are designed to the best              industry standards for use in the leisure marine environment              Their design and manufacture conforms to the appropriate               Compatibility EMC standards but correct              installation is required to ensure that performance is not                            To verify the ownership of your new autopilot please take a few              minutes to complete the warranty card It is important that you              complete the owner information and return the card to the factory              to receive full warranty                                                                                                    5Contents          Preface  3                    How this handbook is organised  3                    Warranty  3                    Safety information  3                    EMC conformance  4          Chapter 1 Introduction  1                    11 Overview  1                    12 Specification  2          Chapter 2 Basic Operation  3                    21 Key functions  3                    22 Display layout  4                    23 Using Auto mode  5                         Engaging the Autopilot Auto  5                         Disengaging the autopilot Standby to return to hand                         steering  5                         Changing course in Auto mode  5                         Dodging obstacles in Auto mode  6                         Returning to the previous locked heading  6                         Automatic tack AutoTack  7                              AutoTack to starboard  7                              AutoTack to port  8                         Off course alarm  8                         Operating hints  9                              Making major course changes  9                              Course changes under autopilot control  9                              Sailboats in gusty conditions  10                    24 Using Manual mode  10                    25 Display and keypad illumination  106                                ST6000 Plus Autopilot Control Unit Owners Handbook           26 Data pages  11    Chapter 3 Advanced Operation  13           31 Operation in Track mode  13               Initiating Track mode  13                    Automatic acquisition  14                    Manual acquisition  15               Cross track error  16               Tidal stream compensation  16               Waypoint arrival and advance  17                    Arrival  17                    Skipping a waypoint  18                    Advance  18               Dodges  18                    Initiating a dodge manoeuvre  18                    Cancelling a dodge manoeuvre  18               Safety  18                    Position confirmation at the start of a passage  19                    Verifying computed positions  19                    Plot frequency  19                    Setting waypoints  19                    General  19           32 Operation in Vane mode WindTrim  19               Selecting Vane mode  20               Adjusting the locked wind angle  20               Returning to the previous apparent wind angle  21               Dodges  21               Wind shift alarm  22               Using AutoTack in Vane mode  22               Operating hints  23Preface                                                                                               7                  33 Adjusting autopilot performance  23                       Changing the response level AutoSeastate  23                       Changing the rudder gain  24                  34 Alarms  24                            SeaTalk failure  25                            No link  25                            Off course  25                            Wind shift  25                            Large cross track error  25                            Drive stopped  25                            Data not received  26                            Waypoint advance  26                            Low battery  26                            Watch alarm  27                            Man overboard MOB  27          Chapter 4 CodeLock  29                  41 CodeLock Modes  29                  42 Setting Up CodeLock  29                       Initial Setup  29                       Changing the code or master unit  31                  43 Entering your code Manual mode only  31                  44 Code number problems  32          Chapter 5 Customising the System  33                  51 User setup  33                       Compass deviation correction  35                       Deviation display  35                       Heading alignment  35                       Heading mode  35                       Bar selection  358                                 ST6000 Plus Autopilot Control Unit Owners Handbook                 Rudder calibration  36                 Data pages  36            52 Dealer setup Type 100300 Course Computer  38                 Recommended settings  39                 Pilot type  39                 Calibration lock  40                 Rudder gain  40                 Rate level  40                 Rudder offset  41                 Rudder limit  41                 Turn limit  41                 Cruise speed  42                 Off course alarm  42                 AutoTrim  43                 Power steer  43                 Drive type  44                 Rudder damping  44                 Variation  45                 AutoAdapt  45                 Latitude  46                 Wind Trim  46                 Tack angle  46                 AutoRelease  47                 Response  47                 Recording calibration settings  47    Chapter 6 Installation  49            61 Planning the Installation  49                 EMC installation guidelines  49                 Connections to other equipment  50                 Cabling  50Preface                                                                                                9                 62 Control head  50                      Siting  51                      Mounting procedure  51                      Connections to the SeaTalk bus  52                           SeaTalk cables  52                           Cable types  52                           Typical SeaTalk cabling  53                 63 NMEA interface  53                      Cabling  53                      NMEA cable connectors  54                      NMEA data transmission  54                      Transmission of NMEA data on SeaTalk  55                 64 Functional test repeater unit  55                      Switch on  56                      Navigation interface GPS Decca Loran  56                      SeaTalk interface  57          Chapter 7 Post Installation Procedures  59                 71 Functional test and initial calibration  59                      Switch on  59                      Initial calibration  59                      Operating sense  59                      Navigation interface GPS Decca Loran  60                      Wind transducer interface  61                      SeaTalk interface  61                 72 Initial sea trial  62                      EMC conformance  62                      Overview  62                      Automatic compass deviation correction  63                      Further heading alignment adjustment  6510                                    ST6000 Plus Autopilot Control Unit Owners Handbook                    Checking autopilot operation  66                    Checking the rudder gain  66     Chapter 8 Maintenance  69               General  69               Servicing and safety  69               Advice  69     Chapter 9 Fault Finding  71     Index  73Chapter 1 Introduction                                                                       1Chapter 1 Introduction11 Overview                      The ST6000 Plus is a SeaTalk compatible autopilot control unit It is                      designed for use as a repeater in an autopilot system allowing autopilot                      control from a secondary location or as the control unit for a                      Type 100300 Course Computer It can also repeat instrument data in a                      programmable selection of Data Pages                      The ST6000 Plus can share all data transmitted from other Raytheon                      SeaTalk instruments                       Wind information from a wind instrument can be used for wind trim                        Vane steering without the need to install a separate vane                       Track information from a navigation instrument provides waypoint                        control from the autopilot                       Boat speed from the Speed instrument provides optimum track                        keeping performance                      The ST6000 Plus autopilot can also be used with any navigator GPS                      Decca Loran transmitting NMEA 0183 data                      There are five operating modes                      Standby Autopilot disengaged                      Auto       Autopilot engaged and locked onto a heading                      Track      Autopilot maintains a track between two waypoints created                                  using a navigation system                      Vane       Autopilot maintains a course relative to an apparent wind                                  angle                      Manual Autopilot power steers rudder using joystick control                      When the ST6000 Plus is being used to repeat instrument data popup                      pilot pages are displayed for 5 seconds whenever a change in autopilot                      control is made                      The ST6000 Plus also provides the following                       Automatic tack facility which can be used in Auto and Vane modes                       Automatic compass deviation correction                        heading compensation                       Automatic heading deadband  seastate control                       Waypoint advance feature2                                   ST6000 Plus Autopilot Control Unit Owners Handbook             Setup and calibration options to suit each installation giving             maximum performance with many types of boat with three             calibration menus user intermediate and dealer             Raytheon CodeLock security support12 Specification             Power Supply 10 to 15 V dc             Current consumption             Standby 60 mA less than 200 mA with full lighting             Operating temperature 0C to 70C 32F to 158F             Eight button illuminated digital keypad             LCD display of heading locked course and navigational data with             three levels of illumination             Input connections for SeaTalk and NMEA             Output connection for SeaTalkChapter 2 Basic Operation                                                                                   3Chapter 2 Basic Operation                     This chapter first provides summary diagrams of the key functions and                     screen layout It then gives operating instructions for engaging the                     autopilot and using Auto mode changing the lighting and displaying                     Data Pages21 Key functions                     The autopilot is controlled using simple pushbutton operations all of                     which are confirmed with a beep In addition to the main single key                     functions there are several dual key functions                                                       1 plus 1                                                Press for Response level                        1 plus 10                Press for 1 second             1 plus 10                        Press together              for Rudder Gain               Press together                        for AutoTack                                              for AutoTack                        to port                                                   to starboard                        DISP                                                     TRACK                        Press for                                                Press for Track                        Data Page                                                mode from Auto                        Press for 1 second                                       Press to accept                        for lamp control                                         waypoint advance                                                                                 Press for 1 second                                                                                 to skip waypoint                        STANDBY                  Course Change Keys             AUTO                        Press for Standby         Port 1 Starboard 1          Press for Auto mode                        mode                     Port 10 Starboard 10         Press for 1 second                        Press and hold for                                      for Last Heading                        Setup modes                                                                                Press again to                                                 STANDBY plus AUTO              accept Last Heading                                                  Press for Vane mode                                             Press for 1 second for Last Wind                                             Press again to accept Last Wind                                                                                                   D34471                      The autopilot always powers up in Standby mode If the text CODE                      LOCK is displayed enter your code as described in Chapter 4                      Course changes can be made at any time using the 1 1 10 and                      10 keys                      You can return to manual steering at any time by pressing standby4                                     ST6000 Plus Autopilot Control Unit Owners Handbook22 Display layout           The following illustration shows all the elements together with a brief           description that make up the ST6000 Plus autopilot LCD display                     MANUAL                                     3                        Rudder or Steer Direction Indicator                                                                                        D35071            The bar graph at the bottom of the display is normally a rudder bar            If it has been set as a  indicator the display depends            on the current mode as follows           Mode                          Bar           Standby                       Not used           Auto                          Heading error bar           Track                         Cross track error XTE bar in 002 nm increments           Vane                          Wind angle error bar            If neither distance units nm or SM is displayed the distance is            in KmChapter 2 Basic Operation                                                                523 Using Auto mode             Engaging the Autopilot Auto                     1 Steady the vessel on the required heading                     2 Press auto                      In Auto mode the display shows the locked autopilot heading             Disengaging the autopilot Standby to return to             hand steering                      Press standby                      In Standby mode the display shows the vessels current compass                      heading                      The previous autopilot heading is memorised and can be recalled                      see Returing to the previous locked heading             Changing course in Auto mode                      The 1 and 10 starboard and 1 and 10 port keys are used to                      change the locked heading in increments of 1 and 10 when the                      autopilot has control                      Example a 30 course change to port  press 10 three times6                                ST6000 Plus Autopilot Control Unit Owners Handbook    Dodging obstacles in Auto mode        In order to avoid an obstacle when your vessel is under autopilot        control select a course change in the appropriate direction for        example port 30  press 10 three times         When safely clear of the obstacle you can reverse the previous         course change for example press 10 three times or return to the         previous locked heading LAST HDG    Returning to the previous locked heading    LAST HDG        If for any reason the vessel is steered away from the selected locked        heading for example executing a dodge manoeuvre or selecting        Standby you can return to the previous locked headingChapter 2 Basic Operation                                                                         7                     1 Press auto for 1 second The previous locked heading LAST                        HDG is displayed for 10 seconds                         1                     Note A  indicator is displayed to show you the                     direction the vessel will turn                     2 To accept this heading and resume the original course press auto                         once within this 10 second period                             If you do not press auto while the display is flashing the current                             heading will be maintained             Automatic tack AutoTack                     The ST6000 Plus has a built in automatic tack facility that turns the                     vessel through a predetermined angle the factory default is 100 in the                     required direction                     AutoTack to starboard                      Press the 1 and 10 keys together to tack to starboard8                                ST6000 Plus Autopilot Control Unit Owners Handbook        AutoTack to port            Press the 1 and 10 keys together to tack to port     Off course alarm        The off course alarm will sound if the locked autopilot heading and the        vessels current heading differ for more than 20 seconds by more than        the alarm angle set in calibration the factory default is 20Chapter 2 Basic Operation                                                                     9                     1 To cancel the off course alarm press standby to return to hand                        steering                     2 Check whether your vessel is carrying too much sail or whether                        the sails are badly balanced Significant improvements in course                        keeping can usually be obtained by improving sail balance             Operating hints                     Making major course changes                      It is sound seamanship to make major course changes only when                      steering manually                      Manual course changes ensure that obstructions or other vessels can                      be cleared properly and due account taken of the changed wind and                      sea conditions on the new heading prior to engaging the autopilot                     Course changes under autopilot control                     It is important to understand the effect of sudden trim changes on                     steering performance When a sudden trim change occurs due for                     example to weather helm or sail imbalance there will be a delay before                     the automatic trim applies rudder to restore the locked heading This                     correction can take up to one minute                     Large course changes which change the apparent wind direction can                     produce large trim changes 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 eliminate this problem the following procedure can be adopted for                     large course changes                     1 Note the required new heading                     2 Select standby and steer manually                     3 Bring the vessel onto the new heading10                                  ST6000 Plus Autopilot Control Unit Owners Handbook           4 Select auto and let the vessel settle onto course           5 Bring the vessel to the final course with 1 increments           Sailboats in gusty conditions           In gusting conditions the course may tend to wander slightly           particularly if the sails are badly balanced A significant improvement           in course keeping can always be obtained by improving sail balance           Bear in mind the following important points            Do not allow the yacht 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 in very strong winds and large seas           Ideally the wind should be brought at least 30 away from a dead run           and in severe conditions it may be advisable to remove the mainsail           altogether and sail under headsail only           Provided these simple precautions are taken the autopilot will be able           to maintain competent control in gale force conditions24 Using Manual mode           If your system is fitted with a joystick the ST6000 Plus will enter           Manual mode when the joystick is used           The ST6000 Plus will return to Standby mode when the joystick button           is released or if you press the standby key on the ST6000 Plus25 Display and keypad illumination            Press disp for 1 second from any mode to enter illumination            adjustment mode and turn the lights on            Subsequent presses of the disp key cycles the possible illumination            settings L3 L2 L1 OFF L1 L2 L3 etc where L3 is the brightest            settingChapter 2 Basic Operation                                                                          11                             1                     The display times out to normal operation after 10 seconds of keypad                     inactivity                     Pressing any other key before the 10 second timeout will select the                     mode assigned to that key for example auto selects Auto mode                     standby selects Standby mode                     Note If other SeaTalk instruments or autopilot control units are                     connected to SeaTalk the illumination can be adjusted from these                     units                     Any adjustments to the illumination are lost when the unit is                     switched off                     The keys are still lit at a courtesy level when the display lighting is off26 Data pages                     The disp key is used to cycle pages of SeaTalk or NMEA data Once                     a Data Page is selected this page becomes the principle autopilot                     display The autopilot mode displays Standby Auto Track Vane and                     Manual then become popups and are displayed for 5 seconds when                     the autopilot mode is changed or a course change is made                      Press disp to display each Data Page in turn                      When the last Data Page is cycled the display returns to the current                        autopilot mode display for example Standby                      To return to a previous Data Page press disp for 1 second within 2                        seconds of displaying a page You can continue to move backwards                        through the Data Page sequence in this way12                            ST6000 Plus Autopilot Control Unit Owners Handbook     Up to 7 Data Pages are available using the disp key The number of     pages and the information displayed on each page depends on the the     selections made in User Setup see section 51     The following illustration shows the default settings for the Data Pages                                                                     D35811      If the required data for a page is not available dashes are displayed      instead of a value      Most displays are repeated data and cannot be adjusted The      exceptions are the Response and Rudder Gain pages if selected for      display which can be adjusted using the 1 and 1 keys      The current autopilot mode is shown at the left of the display and      the autopilot bar graph remains in use      The  arrows relate to the Data Page  3 Advanced Operation                                                            13Chapter 3 Advanced Operation                    This chapter provides information on                     Operation in Track mode                     Operation in Vane mode WindTrim                     Adjusting the response level and rudder gain                     Alarms31 Operation in Track mode                    Track mode is used to maintain a track between two waypoints created                    on a GPS Decca or Loran navigation system The ST6000 Plus will                    then compute any course changes to keep your boat on track                    automatically compensating for tidal streams and leeway                    The ST6000 Plus can receive cross track error the distance your vessel                    is from a planned track from                    aA SeaTalk navigation instrument or chartplotter                        or                    bA nonSeaTalk navigation system transmitting data in the                        NMEA 0183 format  this can be connected directly to the ST6000                        Plus NMEA input as described in the Installation Chapter                    Track mode is selected by pressing the track key but can only be                    selected from Auto mode You can return to either Auto or Standby                    mode from Track mode as follows                     Press auto to leave Track mode and return to Auto mode                     Press standby to leave Track mode and return to manual steering                    Note The ST6000 Plus control head can be programmed to display                    various pages of navigation data such as XTE BTW etc Please refer to                    page 37 for details            Initiating Track mode                    When initiating Track mode the track can be acquired in one of two                    ways                     Automatic acquisition when cross track error and bearing to                      waypoint data are available                     Manual acquisition when cross track error is the only available data14                            ST6000 Plus Autopilot Control Unit Owners Handbook     Automatic acquisition     Automatic acquisition can only be achieved if the pilot is receiving     cross track error and bearing to waypoint information via SeaTalk or     NMEA 0183 It is initiated as follows     1 Bring the vessel to within 01nm of track     2 Press auto     3 Press track to enter Track mode with the current locked heading         displayed         After a short delay for data acquisition the Waypoint Advance         alarm will sound and the display will show the planned bearing to         waypoint alternating with the direction in which the boat will turn     Note If the vessel is further than 03nm from the track the Large     Cross Track Error alarm will sound Press standby to cancel the     alarm hand steer closer to the track and press auto and track again     4 Check that it is safe to turn onto the new course     5 Press the track key The boat will turn on to the new course and         the alarm will be  3 Advanced Operation                                                                 15                                                                         Previous                                                                         Heading                                                                                    D35051                         The display shows the new bearing to waypoint                    Manual acquisition                    For manual track acquisition when only cross track error data is                    available                    1 Steer the vessel to within 01nm of track                    2 Bring the heading to within 5 of the bearing to the next waypoint                    3 Press auto                    4 Press track to enter Track mode                     The display shows the locked pilot heading                    Note At low speeds the effect of tidal streams is far more significant                    than it is at higher speeds Providing the tidal flow is less than 35 of                    the vessels speed no noticeable difference should occur in the                    performance of Track mode However extra care should be taken                    during manual acquisition as follows                     Ensure that the vessel is as close as possible to track and the                       direction made good over the ground is as close as possible to the                       direction of the next waypoint before selecting Track mode                     Make positive positional checks at regular intervals especially if                       navigational hazards are close by16                                 ST6000 Plus Autopilot Control Unit Owners Handbook     Cross track error          Cross track error XTE is the distance between the current position          and a planned route This is displayed in nautical miles nm statute          miles SM or kilometres and is taken directly from your navigator          The Large XTE alarm sounds if the XTE exceeds 03nm           The direction of the error is identified as Pt port or Stb           starboard           To cancel the alarm and leave track mode press standby to return           to hand steering or auto to return to Auto mode          Note If the Large Cross Track Error alarm sounds it is usually an          indication that the cross tide is too great for the vessels current speed     Tidal stream compensation          Under most conditions Track mode will hold the selected track to          within 005 nm 300 ft or better The autopilot takes account of          vessel speed when computing course changes to ensure optimumChapter 3 Advanced Operation                                                                17                    performance over a wide range of vessel speeds If speed data is                    available the ST6000 Plus uses the measured vessel speed Otherwise                    the Speed Over Ground SOG or specified cruise speed is used                    depending on the calibration setting see Dealer Setup in Chapter 5                                                    Vessels speed                                         Vessels            Waypoint arrival and advance                    If your navigation receiver transmits valid NMEA waypoint number                    and bearing to waypoint data it is possible to advance from one                    waypoint to the next by simply pressing track only the last four                    characters of waypoint names are recognied and therefore adjacent                    waypoint names must be different                    Arrival                    As the vessel passes the target waypoint the navigation receiver should                    select manually or automatically the next target waypoint                    The ST6000 Plus detects the new target waypoint number sounds the                    Waypoint Advance alarm and displays the Waypoint Advance                    information This display shows the new bearing to waypoint and the                    direction the boat will turn to acquire the new track                                                                                   D3457118                                 ST6000 Plus Autopilot Control Unit Owners Handbook         To accept the new target waypoint press track         Skipping a waypoint  SeaTalk navigators only         If you wish to advance to the next waypoint before you have arrived at         the target waypoint press track for 1 second The Waypoint Advance         information for the next waypoint is displayed         Advance         While the waypoint advance alarm is sounding Track mode is         suspended and the ST6000 Plus maintains the current boat heading         1 Check that it is safe to turn onto the new track         2 Press the track key This will cancel the waypoint arrival alarm             and turn the boat towards the next waypoint             Unless the Waypoint Advance is accepted in the above manner             the alarm will continue to sound and the current heading will be             maintained     Dodges         Full control is still available from the keypad when the autopilot is in         Track mode         Initiating a dodge manoeuvre         In track mode dodge manoeuvres are accomplished by simply         selecting the desired course change using the course change keys         1 1 10 or 10         Cancelling a dodge manoeuvre         Once the hazard has been avoided the course change selected for the         dodge manoeuvre should be cancelled by selecting an equal course         change in the opposite direction         Note Provided the vessel remains within 01 nm of track there is no         need to steer back towards the track     Safety         Passage making in Track mode removes the chores of compensating         for wind and tidal drift and will aid precise navigation However it is         important to maintain an accurate log with regular plotsChapter 3 Advanced Operation                                                                 19                    Position confirmation at the start of a passage                    At the start of a passage you must always confirm the fix given by the                    position transducer using an easily identifiable fixed object Check for                    fixed positional errors and compensate for them                    Verifying computed positions                     Verify the computed position with a dead reckoned position                     calculated from the average course steered and the distance logged                    Plot frequency                     In open water plots should be at least hourly                     In confined waters or when potential hazards are near plots should                     be more frequent                     Local variations in radio signal quality and changes in the tidal                     stream will produce deviations from the desired track                    Setting waypoints                     When setting waypoints remember that deviations will occur                     Thoroughly check along each track                     Check up to 05 nm each side of the track to ensure that there are no                     hazards within the zone                    General                    The use of track mode will enable accurate track keeping even in                    complex navigational situations However it cannot remove the                    responsibility of the skipper to ensure the safety of his vessel at all times                    by careful navigation and frequent position checks32 Operation in Vane mode WindTrim                    Vane mode also known as WindTrim allows the ST6000 Plus to                    maintain a course relative to an apparent wind angle It uses wind trim                    to eliminate the effects of turbulence and short term wind variations                    and provides smooth precise performance under Vane mode operation                    with minimal power consumption                    Vane mode uses the fluxgate compass as the primary heading reference                    and as changes in the apparent wind angle occur the locked compass                    heading is adjusted to maintain the original apparent wind angle20                                ST6000 Plus Autopilot Control Unit Owners Handbook         To use Vane mode the ST6000 Plus must receive wind information         from one of the following sources          SeaTalk Wind instrument connected to a ST6000 Plus via SeaTalk          NMEA wind information          Raytheon wind vane connected to a SeaTalk interface box     Selecting Vane mode         Vane mode can be selected from either Standby or Auto modes as         follows         1 Steady the vessel onto the required apparent wind angle         2 Press standby and auto together to select Vane mode and lock              the current apparent wind angle          The locked heading is displayed along with the apparent wind angle          The boat heading is adjusted by the pilot to maintain the locked          apparent wind angle     Adjusting the locked wind angle         The locked wind angle can be adjusted by changing course using the 1         1 10 and 10 keys         For example to bear away by 10 when the vessel is on starboard tack         press 10 to turn the vessel 10 to port The locked apparent wind angle         and locked heading both change by 10 The new apparent wind angle         is maintained and the locked heading adjusted by the autopilot as         required         Note This method should only be used for minor adjustments to the         apparent wind angle since turning the boat affects the relationship         between the true and apparent wind angles For major changes return         to Standby mode steer onto the new heading and reselect Vane modeChapter 3 Advanced Operation                                                                  21            Returning to the previous apparent wind angle            LAST WND                    If for any reason the vessel is steered away from the selected apparent                    wind angle for example a dodge manoeuvre or selecting Standby you                    can return to the previous locked wind angle                    1 Press standby and auto together for 1 second to display the                         previous apparent wind angle LAST WND                          1                       The LAST WND text alternates with the previous wind angle and                       direction The previous locked heading is displayed with an                       indicator to show you the direction in which the vessel will turn                    2 Check that it is safe to turn on to this course                    3 To accept this apparent wind angle press standby and auto                       together within 10 seconds                    If you do not accept the previous wind within this time the autopilot                    will lock on to the current apparent wind angle            Dodges                    Full control is still available from the keypad when the autopilot is in                    Vane mode                     Dodge manoeuvres are accomplished by simply selecting the                      desired course change using the course change keys                      1 1 10 or 10 Both the locked heading and locked apparent                      wind angle are adjusted                     Once the hazard has been avoided you can reverse the previous                      course change or return to the previous apparent wind angle                      LAST WND22                                ST6000 Plus Autopilot Control Unit Owners Handbook     Wind shift alarm         The wind shift alarm sounds and the text WINDSHIFT is displayed if a         wind shift of more than 15 is detected         1 Press standby to cancel the alarm and return to hand steering and             steer onto the required heading         2 Press standby and auto together to return to Vane mode with the             new apparent wind angle     Using AutoTack in Vane mode         The automatic tack function tacks the vessel through a set angle the         factory default is 100 The locked heading can then be adjusted until         the required apparent wind angle is achieved          To tack to starboard press the 1 and 10 keys together          To tack to port press the 1 and 10 keys together         Note If you use the Autotack function in Vane mode it is important to         check that the wind vane has been centred accurately when it was         installed                                                             AutoTack                                                              Angle                                                Course adjustment may                                                be necessary to mirror                                                the previous apparent                                                wind angle                                Apparent Wind Angle                                                                              D43731Chapter 3 Advanced Operation                                                                 23            Operating hints                     Major changes to the selected apparent wind angle should be made                     by returning to Standby mode changing course manually then                     reselecting Vane Mode                     Vane mode filters the windvane output This provides the optimum                     response for offshore conditions where genuine shifts in wind                     direction occur gradually                     In gusty 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 tolerated                     It is important to ensure that the amount of standing helm is                     minimised by careful sail trimming and positioning of the mainsheet                     traveller                     The headsail and mainsail should be reefed a little early rather than                     too late33 Adjusting autopilot performance                    The response level and rudder gain can be adjusted during normal                    operation using a combined keypress Alternatively you can set up                    these two control displays as default Data Pages see section 25                    The default calibration settings for response and rudder gain refer to                    Dealer Setup are restored when the system is powered on            Changing the response level AutoSeastate                    The response level controls the relationship between the autopilots                    course keeping accuracy and the amount of helmdrive activity                     Response Level 1 AutoSeastate Automatic Deadband causes the                       autopilot to gradually ignore repetitive movements of the vessel and                       only react to true variations in course This provides the best                       compromise between power consumption and course keeping                       accuracy and is the default calibration setting                     Response Level 2 Minimum Deadband provides the tightest                       course keeping possible However tighter course keeping results in                       increased power consumption and drive unit activity                     Response Level 3 also Minimum Deadband provides the tightest                       course keeping possible by introducing yaw damping24                                    ST6000 Plus Autopilot Control Unit Owners Handbook             The response can be changed at any time To do so             1 Press the 1 and 1 keys together momentarily to display the                 RESPONSE screen             2 Press 1 or 1 to change the response level             3 Wait for 10 seconds or press disp  to return to the previous                 display                                                                                  D36061      Changing the rudder gain             Press the 1 and 1 keys together for 1 second to display the Rudder             Gain screen and adjust the setting in the same way as for the response             level Refer to Chapter 7 Post installation procedures for instructions             on how to check that the rudder gain is set correctly             WARNING             It is important that the rudder gain is correctly set on planing             craft Incorrect adjustment will lead to poor steering performance             and is dangerous at high speeds34 Alarms             This section summarises the alarms in order of priority that are             reported by the ST6000 Plus             Press standby to clear an alarm and return to hand steering unless             indicated  3 Advanced Operation                                                                 25                    SeaTalk failure                    ST FAIL                    This silent alarm indicates that there is a wiring fault in the SeaTalk                    connection                    No link                    NO LINK                    This silent alarm indicates that there is no link between the ST6000                    Plus and the course computer                    Off course                    OFFCOURSE                    This alarm is activated when the vessel has been off course from the                    locked heading by more than the specified angle for more than                    20 seconds see section 23 Using Auto mode                    The alarm is cleared if the heading recovers or the course is changed or                    if the operating mode is changed                    Wind shift                    WINDSHIFT                    This alarm is activated when a change in the apparent wind angle                    requires an adjustment of the locked heading by more than 15 see                    section 32 Operation in Vane mode                    Large cross track error                    LARGE XTE                    This alarm is activated when the cross track error exceeds 03 nm see                    section 31 Operation in Track mode                    The alarm is cleared if the heading recovers or the course is changed or                    if the operating mode is changed                    Drive stopped                    DRIVESTOP                    This alarm is activated if the autopilot is unable to turn the rudder This                    occurs if the weather load on helm is too high or if the requested rudder                    position is past the preset rudder limits or the rudder endstops26                            ST6000 Plus Autopilot Control Unit Owners Handbook     Data not received     NO DATA     This alarm is displayed in the following circumstances      Track mode is engaged and the autopilot is not receiving SeaTalk       navigation data      Track mode is engaged and the position transducer GPS Loran       Decca is receiving a low strength signal  this will clear as soon as       the signal strength improves      Vane mode is engaged and the autopilot has not received wind angle       data for 30 seconds     The autopilot stops adjusting the locked heading as soon as data is lost     Waypoint advance     NEXT WPT     The waypoint advance alarm sounds whenever the target waypoint     number changes which occurs in the following circumstances      Automatic acquisition is selected by pressing track from Auto       mode      Waypoint arrival Vessel arrives at the target waypoint and moves       onto the next waypoint in the route      Waypoint advance is requested by pressing track for 1 second in       Track mode SeaTalk Navigators only     When the alarm sounds the pilot continues on its current heading but     displays the bearing to the next waypoint and the direction in which the     boat will turn to take up that bearing     Check that it is safe to turn onto the new track and press track to     accept the waypoint advance     To cancel the alarm without accepting the waypoint advance press     standby to return to hand steering or auto to return to Auto     Note The waypoint advance will only operate on pilots receiving     valid bearing to waypoint and waypoint number information     Low battery     LOW BATT     The Low Battery alarm sounds when the supply voltage drops below     acceptable limitsChapter 3 Advanced Operation                                                             27                    Press standby to clear the alarm and return to hand steering                    Start the engine to recharge the battery                    Watch alarm                    WATCH ALM                    The Watch alarm is activated in Watch mode when the timer reaches                    4 minutes It is not available from Standby mode                    If you wish to set the Watch mode the WATCH screen must be                    configured as one of the Data Pages for display as described in section                    51                    To set and control the Watch alarm                    1 Select Auto Track or Vane mode                    2 Press the disp key until the WATCH Data Page is displayed                          The watch timer starts counting                          When the timer reaches 3 minutes the text on the display starts                            flashing to indicate the last minute of Watch alarm                          When the timer reaches 4 mins the audible Watch alarm                            activates                    3 Press auto at any time to silence the alarm and reset the timer to                         4 minutes Pressing any other key resets the timer and perform the                         keys normal function                    4 To clear Watch mode press disp to display a different page or                         press standby                    Note You cannot engage Auto mode from Watch mode  pressing                    auto only resets the Watch timer                    Man overboard MOB                    If a man overboard MOB message is received from another                    instrument on the SeaTalk system the text MOB is shown instead of the                    waypoint number for the XTE DTW and BTW Data Pages                    If the autopilot is operating in Track mode the Waypoint Advance                    alarm will sound to notify the change in waypoint28   ST6000 Plus Autopilot Control Unit Owners  4 CodeLock                                                                           29Chapter 4 CodeLock                      CodeLock is a personal fourdigit security feature designed to protect                      your valuable instruments against theft You dont have to activate the                      system but its there if you need to You can activate it using any                       control unit on your SeaTalk system                      When you first enter a code and activate CodeLock the code is sent to                      all the  units on the system After this whenever                      you power on the system the units will only start up if they receive the                      correct code                      Remember to fix a CodeLock sticker by each instrument to deter                      potential thieves41 CodeLock Modes                      When you set up CodeLock you can choose whether the code will be                      sent automatically or must be entered manually at power on as follows                       Auto mode is used when there is a display unit situated in a secure                         location ideally below deck or one which can be unplugged and                         removed to a secure location You enter your chosen code on this                         master unit when you first activate CodeLock This code is then                         automatically sent to all  display heads on                         SeaTalk without further intervention every time the system is                         powered on                       Manual mode is used to provide a higher degree of security                         perhaps when all your instruments are mounted in exposed                         locations In this case you must enter your personal code every time                         the system is switched on The code can be entered into any                         convenient  control unit and is then sent to all                         the other compatible units via SeaTalk42 Setting Up CodeLock                      CodeLock is set up and activated on the ST6000 Plus using the                      Intermediate Setup options            Initial Setup                      When you first install your ST6000 Plus CodeLock is set OFF To                      activate CodeLock refer to the flow diagram on the next page30                           ST6000 Plus Autopilot Control Unit Owners Handbook      Make sure that the autopilot is in Standby mode before accessing       Intermediate Setup      If the CAL LOCK screen is displayed instead of the VERSION screen       you need to turn off the lock feature in Dealer SetupChapter 4 CodeLock                                                                          31                      The Intermediate Setup displays have the following functions                       Version numbers Displays the current ST6000 Plus version                        number alternating with the Course Computer version number if                        applicable You cannot adjust these displays                       CodeLock status Reports the current status which can be OFF or                        SET You cannot adjust this display directly                       CodeLock entry Used to enter a new code if CodeLock is OFF or                        to turn CodeLock off if it is already set                       CodeLock mode Used to select Auto or Manual CodeLock mode                        when a new code has been entered            Changing the code or master unit                      You can change the code from any CodeLock compatible control unit                      on your SeaTalk system provided you know the current code                      Note If you set up CodeLock in Auto mode the unit on which you                      enter the new code becomes the new master unit                      To change the code                      1 Display the CodeLock entry screen and enter your current code as                          shown in the flowchart                          The code is checked If it is incorrect the four dashes are                          redisplayed and you must enter the code again If it is correct the                          CodeLock status screen is displayed with the status set to OFF                      2 Press disp to display the CodeLock entry screen again                      3 Enter the new code and move on to the CodeLock mode selection                          screen                      4 Set the mode to Auto or Manual as required                      5 Press and hold standby for 1 second to exit Intermediate Setup                          and save the new settings43 Entering your code Manual mode only                      If CodeLock has been set up in Manual mode the correct code must be                      entered on one of the control units every time the system is switched on                      The code number created on the master is entered via the keypad from                      any  instrument and this code is then sent to all                      compatible instruments on the same SeaTalk bus Once this code has                      been received the instruments operate in the normal way32                                 ST6000 Plus Autopilot Control Unit Owners Handbook          To enter your chosen code number on the ST6000 Plus display unit          use the keys as shown                                                                        Adjust                  Move the                                              value at                   flashing                                             the cursor                  cursor to                   the next                                             Adjust                   position                                             value at                                                                        the cursor                                                                               D33941          To enter the code on any other master display unit refer to the          handbook for that unit for details of the code entry procedure44 Code number problems           If an incorrect code number has been entered the four dashes are           redisplayed with the prompt enter code Repeat the procedures           illustrated above entering the correct four digit number           If you forget your code number you must take your master unit to an           authorised dealer together with appropriate proof of ownership           such as the original invoice The dealer will be able to reset the unit           so that you can enter a new codeChapter 5 Customising the System                                                              33Chapter 5 Customising the System                     The ST6000 Plus provides setup and configuration options that are                     used to adjust the settings for the ST6000 Plus itself the compass and                     the autopilot                     Note You should perform the post installation procedures described                     in Chapter 7 before adjusting any other calibration features                     There are three setup levels                      User Setup which controls compass setup rudder calibration and                       the ST6000 Plus display features                      Intermediate Setup which controls the CodeLock security feature                       and displays status and version number information see Chapter 4                      Dealer Setup which controls the autopilot settings and also the                       calibration lock which can be used to prevent accidental access to                       User and Intermediate Setup                     The Dealer Setup options described in this chapter only apply if you                     have installed the ST6000 Plus as the control unit for a Type 100300                     course computer If you have installed the ST6000 Plus as a repeater                     unit on an autopilot system please refer to the Dealer Setup instructions                     in the handbook for the main control unit                     Note If the vessel type is changed you must then relinearise the                     fluxgate compass                     If an ST40005000 control unit is used please refer to the                     appropriate manual for system calibration51 User setup                     The flow chart on the following page shows the User Setup control                     procedure and the setup screens with their default settings Information                     on the functions of the different settings is given in the remainder of this                     section                     The following points should be considered                      Make sure that the autopilot is in Standby mode before you access                       User Setup                      If the CAL LOCK screen is displayed instead of the initial page you                       need to turn off the lock feature in Dealer Setup                      Setup options are always saved on exit34   ST6000 Plus Autopilot Control Unit Owners  5 Customising the System                                                                 35            Compass deviation correction SWING COMPASS                     The compass deviation correction option allows you to correct the                     compass for deviating magentic fields The procedure must be                     performed as the first item in your initial sea trial and is described in                     detail in Chapter 7 Post Installation Procedures            Deviation display DEVIATION                     The deviation screen shows the current deviation value calculated                     from the correction procedure Swing Compass You cannot edit this                     value            Heading alignment HDG ALIGN                     The heading alignment screen shows the current reported heading                     Note You should always check the compass alignment after                     performing a compass deviation correction see Post Installation                     Procedures However once the initial correction procedure has been                     performed you can make adjustments to the alignment as often as you                     wish without recorrecting your compass                      Steer your vessel onto a known heading and check the heading                        displayed                      If required adjust the heading value to match the known value using                        the 1 1 10 and 10 keys            Heading mode HDG                     Select either magnetic or true heading mode When heading data is                     displayed in normal operation the screen indicates whether true or                     magnetic mode has been selected            Bar selection RUDD BAR                     Select the type of bar graph that is shown at the bottom of the SeaTalk                     displays The options are as follows                     RUDD BAR This shows the rudder position and is the default setting                     Note that a rudder reference transducer is required for accurate rudder                     position information                     STEER BAR The bar graph is used as follows36                                 ST6000 Plus Autopilot Control Unit Owners Handbook         Mode                        Bar         Standby                     Not used         Auto                        Heading error bar         Track                       XTE bar         Vane                        Wind angle error bar     Rudder calibration DOCKSIDE RUDD CAL         The Dockside Rudder Calibration function performs an automatic         calibration of the rudder range for systems with a rudder reference unit         If a rudder reference unit is not installed the function determines the         helm drive speed         WARNING         This procedure moves the helm and should only be used when the         vessel is at the dockside For sterndrive systems the engines must         running before you start the procedure         The auto dockside procedure is not available if the ST6000 Plus is used         with a Type 100300 Course Computer         If you start the procedure by mistake press any key to cancel it     Data pages DATA PAGE         The next 7 pages of User Setup allow you change the default settings         for the Data Pages These are the pages of SeaTalk or NMEA data         available for display using the disp key during normal operation see         section 25         Each of the setup pages initially shows the title DATA PAGE After         1 second this changes to show the title of the data currently set for that         page         The available pages are as followsChapter 5 Customising the System                                    37                     Data                           Displayed as                     Speed Knots                    SPEED KTS                     Log                            LOG XXXXX                     Trip                           TRIP XXXX                     Average Speed Knots           AV SPD KTS                     Wind Direction                 Eg WIND PORT                     Wind Speed                     WIND KTS                     Depth Metres                   DEPTH M                     Depth Feet                     DEPTH FT                     Depth Fathoms                  DEPTH FA                     Heading                        HEADING                     Water Temperature Degrees C   WATER C                     Water Temperature Degrees F   WATER F                     Course Over Ground             COG                     Speed Over Ground Knots       SOG KTS                     Cross Track Error              XTE                     Distance to                    WaypointDTW                     Bearing to Waypoint            BTW                     Rudder Gain                    RUDD GAIN                     Response                       RESPONSE                     Watch                          WATCH                     Univeral Time Constant         UTC38                                  ST6000 Plus Autopilot Control Unit Owners Handbook           The default pages are           Data Page          Default Setting                  Sequence Number           1                  XTE Cross Track Error            12           2                  BTW Bearing to Waypoint          14           3                  DTW Distance to Waypoint         13           4                  NOT USED                         19           5                  NOT USED                         19           6                  NOT USED                         19           7                  NOT USED                         19            For each setup page scroll forwards or backwards using the 1 or 1            keys until the required page title is displayed           Notes If you set a page to NOT USED it is omitted from the display           cycle during normal operation For example with the default page           settings only three pages are displayed in the sequence           There are 3 depth pages and 2 water temperature pages Data is           displayed in the units defined by the selected page            Press disp to move on to the next Data Page selection screen and              repeat the selection procedure           Note If a man overboard MOB message is received by the autopilot           the BTW and DTW pages will display the bearing and distance to the           MOB location so it is good practice to retain these pages for display52 Dealer setup Type 100300 Course Computer           This section applies if you have installed the ST6000 Plus as the control           unit for a Type 100300 Course Computer If you are using the ST6000           Plus as a repeater for another autopilot system refer to the Dealer Setup           instructions in the handbook for the main control unit           Dealer Setup is used to customise the autopilot to your boat However           once the Pilot Type is set the factory defaults will provide safe           performance for initial sea trials and fine tuning is not normally           required The flow chart below shows you how to enter Dealer Setup           scroll through the setup displays adjust the values and exitChapter 5 Customising the System                                                               39                                                                          1   OR    1                             SECONDS            Recommended settings                     The following pages list the default calibration settings for sailing                     power displacement and planing power vessels Once you have set the                     Pilot Type these will provide good performance for initial sea trials                     and can be fine tuned later to optimise performance                     After initial calibration has been carried out further adjustment can be                     made at any time                     The features that can be adjusted are listed in the table at the end of this                     chapter where you can record your settings for future reference                     Information on the functions of the different settings is given in the                     remainder of this section                     The following points should be noted                      Make sure that the autopilot is in Standby mode before you access                       Dealer Setup                      Setup options are always saved on exit            Pilot type                     This should be set when the system is first switched on The default                     settings for other Dealer Setup options depend on the pilot type you                     select here40                                   ST6000 Plus Autopilot Control Unit Owners Handbook          Setting                  Description          DISPL MNT                Displacement          SEMI DIS                           PLANING                  Planing          STERN DRV                Sterndrive          Default                 Displacement     Calibration lock          Calibration lock controls whether User Setup and Intermediate Setup          are available and is intended for charter boat users          Setting                  Description          ON                       Setup ON          OFF                      Setup OFF          Default                 OFF     Rudder gain          This must be set while under way as described in Chapter 7 Post          Installation Procedures          Range                   1 to 9          Default                 5 Displacement                                   5                                    4 Planing                                   3 Sterndrive     Rate level          Rate Level applies rudder to reduce rate or changes of course Rate          level will if the rate at which the vessel is turning is too fast counter this          turn with opposite rudderChapter 5 Customising the System                                                             41                     The settings available are as follows                     Range                 1 to 9                     Defaults              7        Displacement                                            7                                                    7        Planing                                            5        Sterndrive            Rudder offset                     You only need to set this option if your system includes a rudder                     reference unit                      Manually place the helm in a central position The reported rudder                        angle is indicated on the rudder bar graphic at the bottom of the                        screen                      Adjust the offset value using the 1 and 1 keys until the rudder                        position is shown as central on the rudder bar The offset must be                        within the range 7 to 7                     Range                 7 to 7                     Default               0            Rudder limit                     Rudder Limit restricts autopilot rudder movement to just less than the                     steering systems mechanical stops This avoids putting the steering                     system under unnecessary load                     The range available is as follows                     Range                 15 to 40                     Defaults              30 Displacement  planing                                            20 Sterndrive            Turn limit                     This limits the rate of turn of your vessel when making a course change                     under pilot control The value must be within the range 5 to 20 For                     sailboat applications it should be set to 2042                                 ST6000 Plus Autopilot Control Unit Owners Handbook         Range                  5 to 20 per second         Default                20 Displacement                                 15                                  08 Sterndrive     Cruise speed         Cruise speed should be set to the boats normal cruising speed if boat         speed is not aviailable via SeaTalk or NMEA  SeaTalk boat speed is         used in preference to SOG         Range                  4 to 60 knots         Defaults               6     Displacement                                 8                                      15    Planing                                 15    Sterndrive     Off course alarm         This feature controls the alarm that warns you if the pilot is unable to         maintain its set course The alarm operates if the autopilot strays off         course by more than the alarm angle limit for more than 20 seconds         The value must be within the range 15 to 40 and can be adjusted in 1         steps         Range                  15 to 40         Default                20Chapter 5 Customising the System                                                                 43            AutoTrim                     The AutoTrim level setting determines the rate at which the autopilot                     applies standing helm to correct for trim changes caused by varying                     wind loads on the sails or superstructure The settings are                     Setting            Effect                      Recommended for                     Off                No trim correction                     1                  Slow trim correction        Heavy displacement vessels                                                                    with full keel or transom                                                                    rudder                     2                  Medium trim correction      Heavy displacement vessels                     3                  Fast trim correction        Moderate to light                                                                    displacement vessels                     4                  Super fast correction       Planing power vessels                     Defaults          Displacement                2                                        Semi displacement           3                                        Planing                     3                                        Sterndrive                  3                     The default setting Level 3 should provide optimum performance                     with the ST6000 Plus autopilot However depending on the vessels                     dynamic stability an incorrect rate of trim application may result in                     poor course keeping due to autopilot instability                     After gaining experience with the ST6000 Plus you may wish to                     change the setting The effect of the setting must be evaluated while                     under sail                      Decrease the AutoTrim level if the autopilot gives unstable course                        keeping or excessive drive activity with a change in the heel angle                      Increase the AutoTrim level if the autopilot reacts slowly to a                        heading change due to a change in the heel angle                      For systems without a rudder reference unit these settings have no                        effect and trim is set to level 3            Power steer                     Power steer selects the Joystick mode of operation Proportional or                     BangBang44                                ST6000 Plus Autopilot Control Unit Owners Handbook         Proportional applies rudder in proportion to Joystick movement  the         further the Joystick is held over the greater the applied rudder         BangBang applies continous rudder drive in the direction of lever         movement To improve control the speed of rudder movement changes         with the angle of the lever For maximum speed push the lever         hardover If the lever is returned to the center position the rudder will         remain in its current position         The settings available are as follows         Range             0  Off                            1  Proportional                            2  Bangbang         Default           Off     Drive type         The drive type controls the way which the autopilot drives the steering         system The default setting should be retained for mechanically driven         vessels         Range             1  Mechanically driven vessels without a rudder reference unit                            2  Hydraulic no rudder reference unit                            3  Linear rotary and sterndrive with a rudder reference unit                            4  Hydraulic with rudder reference unit         Default           Displacement 3 semi displacement 4 planing and                            4 sterndrive 3     Rudder damping         Set this option only if your system includes a rudder reference unit and         the drive hunts when trying to position the rudder         Test for this when your vessel is moored dockside by pressing auto         and then 10 If the helm overshoots and has to drive back or starts to         hunt back and forth increase the damping level         Alternatively you can set a value between1 to 9 Adjust the damping         one level at a time and always use the lowest acceptable valueChapter 5 Customising the System                                                            45                     Range                  1 to 9                     Default                2            Variation                     If required set this value to the level of magnetic variation present at                     your vessels current position ve variation  East ve variation                      West The variation setting is sent to other instruments on the SeaTalk                     system and can be updated by other SeaTalk instruments                     Range                  30 to 30                     Default                Off            AutoAdapt                     The patented AutoAdapt feature allows the ST6000 Plus to                     compensate for heading errors at higher latitudes which are caused by                     the increasing dip of the earths magnetic field The increased dip has                     the effect of amplifying rudder response on northerly headings in the                     northern hemisphere and on southerly headings in the southern                     hemisphere                     Set AutoAdapt to nth in the northern hemisphere or sth in the southern                     hemisphere You then need to enter your current latitude in the next                     setup screen so that the ST6000 Plus can provide accurate course                     keeping by automatically adjusting the rudder gain depending on the                     heading46                                  ST6000 Plus Autopilot Control Unit Owners Handbook         Range                 0ff  Off                                nth  North                                Sth  South         Default               Off     Latitude         This screen is only used if AutoAdapt is set to North or South         Use the 1 1 10 and 10 keys to set the value to your vessels         current latitude to the nearest degree         Range                 0 to 80         Default               Off         Note If valid latitude data is available via SeaTalk or NMEA it will be         used instead of this calibration value     Wind Trim         This varies the response of the autopilot when in wind mode         The settings available are as follows         Range                 1     Normal setting                                2     Faster response for wind shifts         Default               1     Tack angle         This adjusts the heading change controlled by the Auto Tack feature         1 and 10 or 1 and 10         The settings available are as follows         Range                 40 to 125 degrees         Default               100 degreesChapter 5 Customising the System                                                             47            AutoRelease                     AutoRelease provides emergency manual override should it be                     necessary to avoid an obstacle at the last moment This option only                     applies to cable operated sterndrive actuators  for all other systems this                     option should be set to off                     Range                 Off                                            On                     Defaults              0 for Displacement                                              Planing                                            1 for Sterndrives            Response                     This is the poweron response setting The response level can be                     changed during normal operation see section 33 or via the Response                     Data Page if this is set for display see section 26                     Range                 Level 1 Auto Seastate                                            Level 2 Auto sea state inhibit                                            Level 3 Auto sea state inhibit counter rudder                     Default               Level 1            Recording calibration settings                     Having finetuned the calibration settings during initial sea trials                     record them for future reference in the table on the following page48                      ST6000 Plus Autopilot Control Unit Owners Handbook     Feature              Setting     Pilot Type     Calibration Lock     Rudder gain     Response     Turn rate Limit     Rudder Offset     Off Course Alarm     AutoTrim     Drive Type     Variation     AutoAdapt     Latitude     Rudder Damping     AutoRelease     Cruise Speed     Power Speed     Rudder Limit     Rate LevelChapter 6 Installation                                                                              49Chapter 6 Installation61 Planning the Installation                          This chapter explains how to install and connect the ST6000 Plus                          autopilot control unit Before starting the installation decide how you                          will site the unit and run the cables              EMC installation guidelines                          All Raytheon equipment and accessories are designed to the best                          industry standards for use in the leisure 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                          To minimise the risk of operating problems all Raytheon equipment                          and cables connected to it should be                           At least 1m 3 feet from any equipment transmitting or cables                            carrying radio signals eg VHF radios cables and antennas In the                            case of SSB radios the distance should be increased to 2 m 7 ft                           More than 2 m 7 ft from the path of a radar beam A radar beam                            can normally be assumed to spread 20 degrees above and below the                            radiating element                           The equipment should be supplied from a different battery than the                            one used for engine start Voltage drops below 10 V in the power                            supply to our products can cause the equipment to reset This will                            not damage the equipment but will cause the loss of some                            information and can change the operating mode                           Raytheon specified cables should be used at all times Cutting and                            rejoining these cables can compromise EMC performance and so                            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 has to be removed during installation it                            must be reassembled in the same position50                                  ST6000 Plus Autopilot Control Unit Owners Handbook           The following illustration shows the typical range of suppression           ferrites fitted to Raytheon equipment Always use the ferrites specified           by Raytheon      Connections to other equipment           If your Raytheon equipment is going to be connected to other           equipment using a cable not supplied by Raytheon a suppression           ferrite MUST always be fitted to the cable close to the Raytheon unit      Cabling            Avoid running cables through bilges where possible            Secure coiled lengths at regular intervals            Avoid running cables close to fluorescent lights engines radio            transmitting equipment etc62 Control head                                                                                    115mm 453in                                                                     91mm 36in                        110mm 433in                 24mm         17mm                                                      095in     067in                                                                                                 D32421Chapter 6 Installation                                                                                51              Siting                          The control head is completely waterproof and should be sited where it                          is                           Within easy reach of the steering position                           Protected from physical damage                           At least 230 mm 9 in from any compass                           At least 500 mm 20 in from any radioradar                               equipment                          Note The back cover is designed to breath through the cable boss to                          prevent moisture accumulation This must be protected from the                          weather by following the mounting procedure              Mounting procedure                                               1                         2   3                                                                                             D32431                              1 Cable boss 2 Fixing studs 3 Thumb nuts                          Note Always leave a 6 mm 14 in gap between adjacent display                          heads to allow the protective sun covers to be fitted                          1 Use the template provided near the end of this handbook to mark                              the hole centres for the fixing stud and the cable boss                          2 Drill 4 mm 532 in diameter holes for the fixing studs                          3 Taking great care not to cut the hole for the cable boss too big                              use a 90 mm 3 12 in diameter cutter to drill the hole for the cable                              boss 152                                 ST6000 Plus Autopilot Control Unit Owners Handbook         4 Screw the fixing studs 2 into the display head         5 Pass the cables SeaTalk NMEA through the bulkhead         6 Fit the cables to the appropriate terminals see relevant subsection            for connection details of each item         7 Fit the display head to the bulkhead         8 Assemble the thumb nuts 3 onto the fixing studs 2         9 Tighten the thumb nuts by hand until the display head is secure            Under no circumstances must wrenches be used to tighten the            thumb nuts     Connections to the SeaTalk bus         SeaTalk cables         The ST6000 Plus is supplied with a 9 m SeaTalk cable as standard          The following table lists other cables available from your dealer         Part No            Type                               Length         D187                Flat to a male round connector     015 m 6 in long         D188                Flat to a female round connector   03 m 12 in long         D284                Flat moulded plugs at both ends    1 m 3 ft 3 in long         D285                Flat moulded plugs at both ends    3 m 9 ft 9 in long         D286                Flat moulded plugs at both ends    6 m 19 ft 6 in long         D287                Flat moulded plugs at both ends    9 m 29 ft 3 in long         Cable types         The following illustration shows the different types of SeaTalk cables          6 Installation                                                                          53                                                                                       D34451                          Typical SeaTalk cabling                              ST6000 Plus     SeaTalk                 100300 Course                               Repeater      Instrument                 Computer                                     SeaTalk Bus                                                                        ST6000 Plus                                                                        Control Head                                                                                     D3446163 NMEA interface                          ST6000 Plus accepts NMEA navigation data for display and use in                          Track and Vane modes The required NMEA data formats are shown                          in the table at the end of this section              Cabling                          The NMEA port should be connected to a Navigator or Wind                          instrument54                                  ST6000 Plus Autopilot Control Unit Owners Handbook                     Navigator                 with NMEA output                                                     Red                Blue                                                 Data In ve      Data In ve                                                                             D34421     NMEA cable connectors          NMEA connections are made using spade connectors          When fitting the spade connectors make sure the connector fits          securely over the blade and not between the connector and its plastic          insulating boot  incorrect fitting will give intermittent contact          which will lead to faulty autopilot operation     NMEA data transmission         If you wish to transmit NMEA information to other equipment a         SeaTalk Interface should be  6 Installation                                                                             55                          The following NMEA 0183 wind and navigation data can be decoded                          by the ST6000 Plus                          Data                  NMEA 0183                          Latitude and Longitude GLL RMC RMA GLP GOP GXP GGA                          GDP                          Course Over Ground    VTG RMC RMA                          Speed Over Ground     VTG RMC                          Cross Track Error     APB APA RMB XTE                          Bearing to Waypoint   APA APB BWR BWC RMB                          Distance to Waypoint BWR BWC RMB                          Waypoint Number       APB APA BWR BWC RMB                          Apparent Wind Speed VWR                          Apparent Wind Angle VWR MWV                          Speed Through Water VHW                          Depth                         DBT                          Water Temperature     MTW              Transmission of NMEA data on SeaTalk                          If any of the above NMEA data is received and the equivalent data is                          not present on SeaTalk the autopilot will transmit the data onto                          SeaTalk to make it available to other SeaTalk compatible instruments                          Depth is transmitted in the units defined by the first page in the data                          page rollover Water temperature is always transmitted in C64 Functional test repeater unit                          If you have installed your ST6000 Plus as a repeater unit on an                          autopilot system you should perform the functional test described in                          this section However if you have installed the ST6000 Plus as the only                          control unit for a Type 100300 course computer you should skip to                          Chapter 7 Post Installation Procedures and follow the instructions                          given there56                                 ST6000 Plus Autopilot Control Unit Owners Handbook     Switch on          Having installed your ST6000 Plus switch on the main power breaker          If the control head is active and the system operating the following will          occur           The control head beeps and displays the pilot type ST6000           After the pilot type has been displayed for 2 seconds the Standby              mode screen should be displayed          This shows that the control head is active If the head does not beep          check the fusecircuit breaker          If the text ST FAIL or NO LINK is displayed check the SeaTalk cables          between the ST6000 Plus control head and the Course Computer     Navigation interface GPS Decca Loran          If the ST6000 Plus is interfaced to a navigator via its NMEA data port          the interface can be checked by displaying the default Data Pages          These are XTE BTW and DTW          Press disp to display the first page and check that the expected data is          displayed Press disp again to check each successive page          If dashes are displayed instead of data values the cause could be one or          more of the following           A cabling error Check for an open circuit short circuit or reversed              wires           The navigator is not configured to transmit the required data format           The signals being received by the navigator are too weak for reliable              navigation Refer to the navigator handbook for further actionChapter 6 Installation                                                                               57              SeaTalk interface                          If the ST6000 Plus has been linked to other SeaTalk instruments via                          SeaTalk the link can be checked as follows                          1 Press standby                          2 Select display illumination level 3 on any other SeaTalk instrument                               or autopilot control unit                          The ST6000 Plus should immediately respond by switching on its                          display illumination                          If the illumination does not switch on then a cabling fault exists in the                          SeaTalk cabling between the ST6000 Plus control head and the                           unit58   ST6000 Plus Autopilot Control Unit Owners  7 Post Installation Procedures                                                     59Chapter 7 Post Installation Procedures                      This chapter applies to systems where the ST6000 Plus has been                      installed as the only control unit for a Type 100300 Course Computer                      Once you have installed the system you need to confirm that it is wired                      correctly and is also set up to suit your type of boat                      This chapter provides instructions for the following procedures                       Functional test consisting of a few simple tests to confirm that the                        system is wired correctly                       Initial sea trial to swing the compass and align the heading check                        the autopilots operation and check the rudder gain                      Further customisation can be performed after the sea trial as described                      in Chapter 571 Functional test and initial calibration             Switch on                      Having installed your ST6000 Plus system switch on the main power                      breaker If the control head is active and the system operating the                      following will occur                       The control head beeps and displays the pilot type as ST6000                       After 2 seconds the Standby screen is displayed                      This shows that the control head is active                       If the head does not beep check the fusecircuit breaker                       If the SEATALK FAIL or NO LINK alarm is displayed check the                         SeaTalk connections             Initial calibration                      Use the Dealer Setup function see Chapter 5 as soon as you have                      completed this functional test             Operating sense                      The operating sense defines the direction the helm will be applied when                      a course change key is pressed or the vessel goes off course Check the                      operating sense as follows60                                 ST6000 Plus Autopilot Control Unit Owners Handbook          1 Press auto          2 Press the 10 key The helm should move to produce a turn to             starboard                                                                           D33931          3 If the helm produces a turn to port reverse the motor connections             at the course computer          4 If the helm overshoots and has to drive back or starts to hunt back             and forth you need to increase the Rudder Damping option in             Dealer Setup see Chapter 5     Navigation interface GPS Decca Loran          If the ST6000 Plus is interfaced to a navigator via its NMEA data port          the interface can be checked by displaying the default Data Pages          These are XTE BTW and DTW          Press disp to display the first page and check that the expected data is          displayed Press disp again to check each successive page          If dashes are displayed instead of data values the cause could be one or          more of the following           A cabling error Check for an open circuit short circuit or reversed              wires           The navigator is not configured to transmit the required data format           The signals being received by the navigator are too weak for reliable              navigation Refer to the navigator handbook for further actionChapter 7 Post Installation Procedures                                                           61             Wind transducer interface                      If the ST6000 Plus is connected to a wind instrument via its NMEA                      data port or SeaTalk then the link between the two instruments should                      be checked as follows                           Press standby and auto together                      The ST6000 Plus should display the Vane mode screen with the                      locked wind angle and locked heading as shown                      Alternatively if the wind data is not received  the ST6000 Plus will                      display a NO DATA error message             SeaTalk interface                      If the ST6000 Plus has been linked to other SeaTalk instruments via                      SeaTalk the link can be checked as follows                      1 Press standby                      2 Select display illumination level 3 on any other SeaTalk instrument                           or autopilot control unit                      The ST6000 Plus should immediately respond by switching on its                      display illumination                      If the illumination does not switch on then a cabling fault exists in the                      SeaTalk cabling between the ST6000 Plus control head and the                       unit62                                    ST6000 Plus Autopilot Control Unit Owners Handbook72 Initial sea trial        EMC conformance              Always check the installation before going to sea to make sure that it              is not affected by radio transmissions engine starting etc              In some installations it may not be possible to prevent the              equipment from being affected by external influences In general              this will not damage the equipment but can lead to it resetting or              momentarily may result in faulty operation        Overview             Having checked that the system is functioning correctly a short sea trial             is now required to complete the setup It involves the following             procedures              Automatic compass deviation correction              Heading alignment adjustment              Autopilot operation check              Rudder gain adjustment             Note The ST6000 Plus has a builtin calibration capability which             enables it to be fine tuned to suit the individual vessel its steering             system and dynamic steering  As supplied from the             factory the unit is calibrated to provide safe stable autopilot control for             the majority of vessels             The initial sea trial should be performed in the following             circumstances              After all the installation functional test and initial calibration have                been completed successfully              Before any other changes have been made to the default calibration                settings check and if necessary reset the values to the                recommended levels as described in Chapter 5              In conditions of light wind and calm water so that autopilot                performance can be assessed without the influence of strong winds                or large waves              In waters clear of any obstructions             Note At any time during the sea trial you can press standby to return             to hand  7 Post Installation Procedures                                                          63             Automatic compass deviation correction                      The ST6000 Plus will correct the fluxgate compass for most deviating                      magnetic fields Compass errors due to deviating magnetic fields can                      be up to 45 depending on your vessel type The correction procedure                      reduces these to a few degrees so it is essential to perform the                      procedure as the first item in your initial sea trial                      CAUTION                      Failure to carry out the deviation correction may result in                      impaired autopilot performance on some compass headings                      To allow the system to determine the deviation and calculate any                      correction required you must turn your vessel in slow circles This                      procedure must be carried out in calm conditions and preferably in flat                      water                      To perform the deviation correction                      1 Make sure that the autopilot is in Standby mode                       2 Press and hold the standby key for 2 seconds to display the User                          Setup entry page                                                           D34481                         If CAL LOCK is displayed you need to turn off the lock feature                         contained in Dealer Setup see Chapter 5                      3 Press the disp key to move on to the Swing Compass page                                                                                       D3460164                           ST6000 Plus Autopilot Control Unit Owners Handbook     4 Press the 1 or 1 key to change the setting from OFF to YES The        Turn Boat page is then displayed                                      D34511     5 Keeping the boat speed below 2 knots turn the vessel in slow        circles It should take at least 3 minutes to complete 360     6 Keep turning your boat until the unit beeps and the Deviation        screen is displayed         This shows the maximum deviation detected and indicates that         compass correction has been completed successfully     Note If the deviation value exceeds 15 you should consider moving     the fluxgate compass to a better location     7 Press the disp key to move on to the Heading Alignment pageChapter 7 Post Installation Procedures                                                      65                      8 Use the 1 and 1 keys or the 10 and 10 keys to increase or                         decrease the displayed heading until it agrees with the ships                         steering compass or a known transit bearing                      9 Press and hold standby for 2 seconds to exit calibration and save                         the new settings                      Note Setup options are always saved on exit             Further heading alignment adjustment                      You should always check the compass alignment after swinging the                      compass However once the initial deviation correction procedure has                      been performed you can make adjustments to the alignment as often as                      you wish without swinging the compass again                      Although the compass deviation correction procedure removes most of                      the alignment error you will probably be left with small errors of the                      order of a few degrees that will vary depending on the heading                      Ideally you should check the heading reading against a number of                      known headings plot a deviation curve and determine the heading                      alignment value that will give the lowest average alignment error This                      value can then be entered on the Heading Alignment screen as                      described above                      If the average heading error is more than 5 you should perform the                      compass deviation correction procedure again66                                 ST6000 Plus Autopilot Control Unit Owners Handbook     Checking autopilot operation         Having calibrated the compass the following proceedure is         recommended to familiarise yourself with autopilot operation         1 Steer onto a compass heading and hold the course steady         2 Press auto to lock onto the current heading A constant heading             should be achieved in calm sea conditions         3 Use the 1 10 1 and 10 keys to alter course to port or             starboard in multiples of 1 and 10         4 Press standby and disengage the autopilot to return to hand             steering     Checking the rudder gain         The factory set rudder gain level will provide stable control for initial         sea trials However vessels can vary widely in their response to the         helm and further adjustment to the rudder gain may improve the         autopilots steering          It is particularly important that the rudder gain is set correctly on high         speed craft Incorrect adjustment will lead to poor steering performance         and is a dangerous condition at high speed         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 alter course to              starboard by 40 by pressing the  10 key four times               At cruising speeds course changes of 40 should result in crisp                  turns followed by an overshoot of no more than 5 If this                  occurs the rudder gain is adjusted correctly               An excessively high rudder setting results in oversteer This is                  recognised by a distinct overshoot of more than 5 A This                  condition can be corrected by reducing the rudder gain setting               Similarly an insufficient rudder control setting will result in                  understeer which gives sluggish steering performance B If                  the vessel takes a long time to make the turn and there is no                  overshoot then the rudder setting is too lowChapter 7 Post Installation Procedures                                                      67                         These actions are most easily recognised in calm sea conditions                         where wave action does not mask basic steering performance                      2 Refer to Chapter 5 Customising the System for instructions on                         how to adjust the default rudder gain setting Note that you can also                         make temporary adjustments to rudder gain during normal                         operation see section 33                      3 Repeat the test until a crisp course change with no more 5 of                         overshoot is achieved                      The rudder control setting should be set to the lowest setting consistent                      with accurate course keeping This will minimise helm movements and                      hence reduce power consumption and wear and tear68   ST6000 Plus Autopilot Control Unit Owners  8 Maitenance                                                                        69Chapter 8                      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                     Never use chemical or abrasive materials to clean your autopilot If                     the pilot is dirty wipe it with a clean damp cloth                     Periodically check the cabling for chafing or damage to the outer                     casing  replace any damaged  and safety                     Raytheon equipment should be serviced only by authorised                     Raytheon service engineers They will ensure that service                     procedures and replacement parts used will not affect performance                     There are no user serviceable parts in your autopilot control unit                     Some products generate high voltages and so never handle the                      when power is being supplied to the equipment                     Always report any EMC related problem to your nearest Raytheon                     dealer We will use any such information to improve our quality                                         Should any difficulties arise with this product please contact the                    Raytheon Product Support department in the UK or your own national                    distributor who will be able to provide expert assistance                    The working parts of the drive system are sealed and lubricated for life                    during manufacture  servicing is not required                    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 Fault Finding chapter of this                    handbook If the fault cannot be traced or rectified please contact your                    nearest Raytheon dealer or Service Centre                    Always quote the product serial number which is printed on the rear                    cover of the autopilot and the software version number which is                    displayed when you enter Intermediate Setup see Chapter 570   ST6000 Plus Autopilot Control Unit Owners  9 Fault Finding                                                                    71Chapter 9 Fault Finding                      All Raytheon products are subjected to a comprehensive test procedure                      prior to packing and shipping In the unlikely event that a fault does                      occur with your autopilot the following check list should help identify                      the problem and provide a cure                      The autopilot display is blank                       No power  check the fusecircuit breaker                      The autopilot display shows CODE LOCK at power on                       The CodeLock code must be entered manually see Chapter 4                      The displayed compass heading does not agree with the                      ships compass                       The compass has not been corrected for deviation  carry out the                       deviation and alignment procedures                      Vessel turns slowly and takes a long time to come on to                      course                       Rudder gain too low                      Vessel overshoots when turning on to a new course                       Rudder gain too high                      The autopilot appears to be unstable in Track mode or track                      holding is slow                       If tide speed exceeds 35 of boat speed and boat speed is not                       available via SeaTalk change the Cruise Speed setting in Dealer                       Setup to the boats cruising speed                      The autopilot appears to be unstable on Northerly headings                      in the Northern hemisphere and Southerly headings in the                      Southern hemisphere                        heading correction not set up                      Display shows CAL LOCK when entering calibration                       Calibration locked out  calibration protection feature is turned on in                       Dealer Setup72                           ST6000 Plus Autopilot Control Unit Owners Handbook     The autopilot will not talk to other SeaTalk instruments      Cabling problem  make sure all the cables are connected properly     Position information not received      Navigator not transmitting the correct position data     The autopilot will not auto advance to the next waypoint      No bearing to waypoint information received from the navigator     A series of rotating dashes are displayed on screen      Compass deviation correction or dockside rudder calibration is      running     The display shows a series of stationary dashes      Data is not being received  check the cabling     The display shows NO DATA      The signals received from the navigator are too weak  refer to the      navigator handbook for further actionIndex                                                     the Locked Wind Angle 20Advance 18Advanced Operation 13Advice 69Alarms 24Apparent wind angle  Adjusting 20  Previous 21Auto mode 5AutoAdapt 45Automatic Acquisition 14Automatic Compass Deviation Correction    63Automatic Deadband 23Automatic track acquisition 14AutoRelease 47AutoSeastate 23AutoTack 7  To Port 8  To Starboard 7  Vane mode 22AutoTrim 43BBar graph 4Bar Selection 35Basic Operation 3CCabling 50 69Calibration Lock 40Cancelling a Dodge Manoeuvre 18changed or if the operating mode is changedWind   25Changing course 5Changing Course in Auto Mode 5Changing the Response Level 23Changing the Rudder Gain 24Checking Autopilot Operation 66Checking the Rudder Gain 66Code number 31Code Number Problems 3274                                       ST6000 Plus Autopilot Control Unit Owners  alignment 64Compass Deviation Correction 35Compass deviation correction 35 63Connections to the SeaTalk Bus 52Control Head 50Course changes 5  operating hints 9Course Changes Under Autopilot Control   9Cross Track Error 16Cross track error XTE 16Cruise Speed 42Cruise speed 47Customising the autopilot 3348DData Not Received 26Data Pages 11 36   Setting up 36Deadband 23Dealer Setup 38 3848Deviation 64Deviation Display 35Disengaging the autopilot 5Display layout 4djusting Autopilot Performance   23Dodges 18 21Dodging Obstacles 6Dodging obstacles   Auto mode 6   Track mode 18   Vane mode 21Drive Stopped 25Drive Stopped alarm 25Drive type 44EEMC  Conformance 62  Installation Guidelines 49Engaging the autopilot 5Entering Your Code 31Index                                       75FFault Finding 71Fault finding 71Functional test 5557  course computer installations 59Functional Test Repeater Unit 55Further Heading Alignment Adjustment   65GGraph use   35HHand steering 5Heading 6Heading alignment 35Heading alignment adjustment    65Heading mode  10Initial calibration 59Initiating a Dodge Manoeuvre    18Initiating Track Mode 13Installation 49Interfaces 56 60Intermediate Setup 29KKey functions 3Keypad Illumination   10LLarge Cross Track Error 25Large Cross Track Error alarm   16LAST HDG 6LAST WND 21Latitude 46Lighting 10Locked Wind Angle 20Low Battery 26Low Battery alarm 2676                                           ST6000 Plus Autopilot Control Unit Owners  69Major Course Changes 9Man Overboard MOB 27Manual Acquisition 15Manual mode 10Manual steering 5Manual track acquisition 15Master unit CodeLock 29Minimum Deadband 23NNavigation data displays 11Navigation Interface 56 60Navigation interface GPS Decca Loran    56 60NEXT WPT 26NMEA Cable Connectors 54NMEA Data Transmission 54NMEA Interface 53No Data alarm 26No Link 25OOff Course 25Off Course Alarm 8 42Off Course alarm 8  Default angle 42Operating Hints 9 23Operating modes 1Operating sense 59Operation in Vane Mode 19Overview 1PPerformance 23Pilot type 39Planning the Installation 49Plot Frequency 19Position Confirmation at the Start of a Passage   19Post Installation Procedures 59Power Steer 43Previous Apparent Wind Angle 21Previous heading 6Previous Locked Heading 6Index                                          77RRecommended Settings 39Recording Calibration Settings 47Response 41Response level 23  Default setting 41Returning to the Previous Locked Heading   6Rudder bar 35Rudder Calibration 36Rudder damping 46Rudder Gain 40Rudder gain 24 40 66Rudder Limit 41Rudder offset 41SSafety 18Sea trial 62SeaTalk data displays 11SeaTalk Failure 25SeaTalk interface 57 61Servicing 69Servicing and Safety 69Setting Waypoints 19Skipping a Waypoint  2Standby mode 5Steering bar 35Swinging the compass 63Switch On 59TTesting autopilot operation 66Testing the system 5557 59Tidal stream compensation 16Track acquisition 13Track Mode 13Track mode 1314Typical SeaTalk Cabling 53UUser Setup   3378                                ST6000 Plus Autopilot Control Unit Owners HandbookVVane Mode 20Vane mode 1920Variation 45Verifying Computed Positions 19Version number 31WWatch alarm 27Waypoint Advance 26Waypoint arrival and advance 17Wind Shift alarm 22Wind transducer interface 61Wind Trim 47WindTrim 19 1920                           Drill 5mm 316in                     Machine hole                     90mm 354in                     diameterDrill 5mm 316inLimited Warranty  Marine Company warrants each new Light MarineDealer Distributor Product to be of good materialsand workmanship and will repair or exchange any parts proven to be defective in material and  normal use for a period of 2 years24 months from date of sale to end user except as provided belowDefects will be corrected by Raytheon Marine Company or an authorized Raytheon dealer Raytheon MarineCompany will except as provided below accept labor cost for a period of 2 years24 months from the date ofsale to end user During this period except for certain products travel costs auto mileage and tolls up to 100round trip highway miles and travel time of 2 hours will be assumed by Raytheon Marine Company only onproducts where proof of installation or commission by authorised service agents can be shownWarranty  Marine Company Warranty policy does not apply to equipment which has been subjected to accidentabuse or misuse shipping damage alterations corrosion incorrect andor nonauthorized service or equipmenton which the serial number has been altered mutilated or removedExcept where Raytheon Marine Company or its authorized dealer has performed the installation it assumes  for damage incurred during  Warranty does not cover routine system checkouts or  unless required byreplacement of parts in the area being alignedA suitable proof of purchase showing date place and serial number must be made available to RaytheonMarine Company or authorized service agent at the time of request for Warranty  items such as Chart paper lamps fuses batteries styli stylusdrive belts radar mixer crystalsdiodes snapin impeller carriers impellers impeller bearings and impeller shaft are specifically excluded fromthis  Cathode Ray Tubes CRT hailer horns and transducers are warranted for 1 year12 months fromdate of sale These items must be returned to a Raytheon Marine Company facilityAll costs associated with transducer replacement other than the cost of the transducer itself are  from this  premium labor portion of services outside of normal working hours is not covered by this WarrantyTravel cost allowance on certain products with a suggested retail price below 250000 is not authorized Whenor if repairs are necessary these products must be forwarded to a Raytheon Marine Company facility or anauthorized dealer at owners expense will be returned via surface carrier at no cost to the ownerTravel costs other than auto mileage tolls and two 2 hours travel time are specifically excluded on allproducts Travel costs which are excluded from the coverage of this Warranty include but are not limited totaxi launch fees aircraft rental subsistence customs shipping and communication charges etcTravel costs mileage and time in excess to that allowed must have prior approval in writingTO THE EXTENT CONSISTENT WITH STATE AND FEDERAL LAW1 THIS WARRANTY IS STRICTLY LIMITED TO THE TERMS INDICATED HEREIN AND NOOTHER WARRANTIES OR REMEDIES SHALL BE BINDING ON RAYTHEON MARINE  WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABLE OR FITNESS FORA PARTICULAR PURPOSE2 Raytheon Marine Company shall not be liable for any incidental consequential or special  or multiple damagesAll Raytheon Marine Company 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                                                                                                                    445924                                                                                                          21st October 1998United States of  Marine Company                     Tel        Products                       Fax       6036344756676 Island Pond RoadManchester NH 031095420USAUK Europe Middle East Far EastRaytheon Marine Company                     Tel       44 1705  Products                       Fax       44 1705  Park Portsmouth                  Fax       Customer support 44 1705 661228PO3 5TD England                                                                                 Factory Service Centers                                                                                 United States of America                                                                                 Raytheon Marine Company                                                                                 address as above                                                                                 UK Europe Middle East Far East                                                                                 Raytheon Marine Company                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