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



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ST6000 Plus
Autopilot
Control Unit
Owner's
Handbook
Document number: 81133_3
Date: 1st April 1999
2   Title of handbook
Preface                                                                                             1




Raytheon 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 1996
2   ST6000 Plus Autopilot Control Unit Owner,s Handbook
Preface                                                                        3


Preface
             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
             thoroughly.

How 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 unit.

Safety 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 coffee.
4                                  ST6000 Plus Autopilot Control Unit Owner,s 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 vessel's 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 rules.

EMC 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
              Electromagnetic Compatibility (EMC) standards, but correct
              installation is required to ensure that performance is not
              compromised.

Warranty
              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 benefits.
Preface                                                                                                   5



Contents
          Preface ..................................................................................... 3
                    How this handbook is organised ....................................... 3
                    Warranty ............................................................................ 3
                    Safety information ............................................................. 3
                    EMC conformance ............................................................ 4

          Chapter 1: Introduction ......................................................... 1
                    1.1 Overview ..................................................................... 1
                    1.2 Specification ............................................................... 2

          Chapter 2: Basic Operation ................................................... 3
                    2.1 Key functions .............................................................. 3
                    2.2 Display layout ............................................................. 4
                    2.3 Using Auto mode ........................................................ 5
                         Engaging the Autopilot (Auto) .................................... 5
                         Disengaging the autopilot (Standby) to return to hand
                         steering ........................................................................ 5
                         Changing course in Auto mode ................................... 5
                         Dodging obstacles in Auto mode ................................ 6
                         Returning to the previous locked heading ................... 6
                         Automatic tack (AutoTack) ......................................... 7
                              AutoTack to starboard ........................................... 7
                              AutoTack to port .................................................... 8
                         Off course alarm .......................................................... 8
                         Operating hints ............................................................ 9
                              Making major course changes ............................... 9
                              Course changes under autopilot control ................ 9
                              Sailboats in gusty conditions ............................... 10
                    2.4 Using Manual mode .................................................. 10
                    2.5 Display and keypad illumination .............................. 10
6                                ST6000 Plus Autopilot Control Unit Owner,s Handbook


           2.6 Data pages ................................................................. 11

    Chapter 3: Advanced Operation ......................................... 13
           3.1 Operation in Track mode .......................................... 13
               Initiating Track mode ................................................ 13
                    Automatic acquisition .......................................... 14
                    Manual acquisition .............................................. 15
               Cross track error ........................................................ 16
               Tidal stream compensation ........................................ 16
               Waypoint arrival and advance ................................... 17
                    Arrival .................................................................. 17
                    Skipping a waypoint ............................................ 18
                    Advance ............................................................... 18
               Dodges ....................................................................... 18
                    Initiating a dodge manoeuvre .............................. 18
                    Cancelling a dodge manoeuvre ............................ 18
               Safety ......................................................................... 18
                    Position confirmation at the start of a passage .... 19
                    Verifying computed positions .............................. 19
                    Plot frequency ...................................................... 19
                    Setting waypoints ................................................. 19
                    General ................................................................ 19
           3.2 Operation in Vane mode (WindTrim) ....................... 19
               Selecting Vane mode ................................................. 20
               Adjusting the locked wind angle ............................... 20
               Returning to the previous apparent wind angle ......... 21
               Dodges ....................................................................... 21
               Wind shift alarm ........................................................ 22
               Using AutoTack in Vane mode .................................. 22
               Operating hints .......................................................... 23
Preface                                                                                               7


                  3.3 Adjusting autopilot performance .............................. 23
                       Changing the response level (AutoSeastate) ............. 23
                       Changing the rudder gain .......................................... 24
                  3.4 Alarms ....................................................................... 24
                            SeaTalk failure ..................................................... 25
                            No link ................................................................. 25
                            Off course ............................................................ 25
                            Wind shift ............................................................ 25
                            Large cross track error ......................................... 25
                            Drive stopped ....................................................... 25
                            Data not received ................................................. 26
                            Waypoint advance ................................................ 26
                            Low battery .......................................................... 26
                            Watch alarm ......................................................... 27
                            Man overboard (MOB) ........................................ 27

          Chapter 4: CodeLock ............................................................ 29
                  4.1 CodeLock Modes ...................................................... 29
                  4.2 Setting Up CodeLock ................................................ 29
                       Initial Setup ............................................................... 29
                       Changing the code or master unit .............................. 31
                  4.3 Entering your code (Manual mode only) .................. 31
                  4.4 Code number problems ............................................. 32

          Chapter 5: Customising the System .................................. 33
                  5.1 User setup ................................................................. 33
                       Compass deviation correction ................................... 35
                       Deviation display ....................................................... 35
                       Heading alignment .................................................... 35
                       Heading mode ........................................................... 35
                       Bar selection .............................................................. 35
8                                 ST6000 Plus Autopilot Control Unit Owner,s Handbook


                 Rudder calibration ..................................................... 36
                 Data pages ................................................................. 36
            5.2 Dealer setup: Type 100/300 Course Computer ......... 38
                 Recommended settings .............................................. 39
                 Pilot type ................................................................... 39
                 Calibration lock ......................................................... 40
                 Rudder gain ............................................................... 40
                 Rate level ................................................................... 40
                 Rudder offset ............................................................. 41
                 Rudder limit ............................................................... 41
                 Turn limit ................................................................... 41
                 Cruise speed .............................................................. 42
                 Off course alarm ........................................................ 42
                 AutoTrim ................................................................... 43
                 Power steer ................................................................ 43
                 Drive type .................................................................. 44
                 Rudder damping ........................................................ 44
                 Variation .................................................................... 45
                 AutoAdapt ................................................................. 45
                 Latitude ..................................................................... 46
                 Wind Trim ................................................................. 46
                 Tack angle ................................................................. 46
                 AutoRelease .............................................................. 47
                 Response ................................................................... 47
                 Recording calibration settings ................................... 47

    Chapter 6: Installation ........................................................ 49
            6.1 Planning the Installation ............................................ 49
                 EMC installation guidelines ...................................... 49
                 Connections to other equipment ................................ 50
                 Cabling ...................................................................... 50
Preface                                                                                                9


                 6.2 Control head .............................................................. 50
                      Siting ......................................................................... 51
                      Mounting procedure .................................................. 51
                      Connections to the SeaTalk bus ................................. 52
                           SeaTalk cables ..................................................... 52
                           Cable types .......................................................... 52
                           Typical SeaTalk cabling ....................................... 53
                 6.3 NMEA interface ........................................................ 53
                      Cabling ...................................................................... 53
                      NMEA cable connectors ........................................... 54
                      NMEA data transmission .......................................... 54
                      Transmission of NMEA data on SeaTalk .................. 55
                 6.4 Functional test (repeater unit) ................................... 55
                      Switch on ................................................................... 56
                      Navigation interface (GPS, Decca, Loran) ................ 56
                      SeaTalk interface ....................................................... 57

          Chapter 7: Post Installation Procedures ........................... 59
                 7.1 Functional test and initial calibration ........................ 59
                      Switch on ................................................................... 59
                      Initial calibration ....................................................... 59
                      Operating sense ......................................................... 59
                      Navigation interface (GPS, Decca, Loran) ................ 60
                      Wind transducer interface ......................................... 61
                      SeaTalk interface ....................................................... 61
                 7.2 Initial sea trial ........................................................... 62
                      EMC conformance .................................................... 62
                      Overview ................................................................... 62
                      Automatic compass deviation correction .................. 63
                      Further heading alignment adjustment ...................... 65
10                                    ST6000 Plus Autopilot Control Unit Owner,s 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 ...................................................................................... 73
Chapter 1: Introduction                                                                       1


Chapter 1: Introduction
1.1 Overview
                      The ST6000 Plus is a SeaTalk compatible autopilot control unit. It is
                      designed for use as a repeater in an autopilot system, allowing autopilot
                      control from a secondary location, or as the control unit for a
                      Type 100/300 Course Computer. It can also repeat instrument data in a
                      programmable selection of Data Pages.
                      The ST6000 Plus can share all data transmitted from other Raytheon
                      SeaTalk instruments:
                       Wind information from a wind instrument can be used for wind trim
                        (Vane) steering without the need to install a separate vane.
                       Track information, from a navigation instrument, provides waypoint
                        control from the autopilot.
                       Boat speed from the Speed instrument provides optimum track-
                        keeping performance.
                      The ST6000 Plus autopilot can also be used with any navigator (GPS,
                      Decca, Loran) transmitting NMEA 0183 data.
                      There are five operating modes:
                      Standby: Autopilot disengaged
                      Auto:       Autopilot engaged and locked onto a heading
                      Track:      Autopilot maintains a track between two waypoints created
                                  using a navigation system
                      Vane:       Autopilot maintains a course relative to an apparent wind
                                  angle
                      Manual: Autopilot power steers rudder using joystick control
                      When the ST6000 Plus is being used to repeat instrument data, pop-up
                      pilot pages are displayed for 5 seconds whenever a change in autopilot
                      control is made.
                      The ST6000 Plus also provides the following:
                       Automatic tack facility, which can be used in Auto and Vane modes
                       Automatic compass deviation correction
                       Northerly/Southerly heading compensation
                       Automatic heading deadband  seastate control
                       Waypoint advance feature
2                                   ST6000 Plus Autopilot Control Unit Owner,s 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 support


1.2 Specification
             Power Supply: 10 to 15 V dc
             Current consumption:
             Standby: 60 mA (less than 200 mA with full lighting)
             Operating temperature: 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 SeaTalk
Chapter 2: Basic Operation                                                                                   3


Chapter 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 Pages.


2.1 Key functions
                     The autopilot is controlled using simple push-button operations, all of
                     which are confirmed with a beep. In addition to the main single key
                     functions, there are several dual key functions.



                                                       -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

                                                                                                   D3447-1


                      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 standby.
4                                     ST6000 Plus Autopilot Control Unit Owner,s Handbook



2.2 Display layout
           The following illustration shows all the elements, together with a brief
           description, that make up the ST6000 Plus autopilot LCD display.




                     MANUAL                                     3




                        Rudder or Steer Direction Indicator

                                                                                        D3507-1


            The bar graph at the bottom of the display is normally a rudder bar.
            If it has been set as a direction-to-steer indicator, the display depends
            on the current mode, as follows:

           Mode                          Bar
           Standby                       Not used

           Auto                          Heading error bar

           Track                         Cross track error (XTE) bar, in 0.02 nm increments

           Vane                          Wind angle error bar

            If neither distance units (nm or SM) is displayed, the distance is
            in Km.
Chapter 2: Basic Operation                                                                5


2.3 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 times.
6                                ST6000 Plus Autopilot Control Unit Owner,s 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 heading:
Chapter 2: Basic Operation                                                                         7


                     1. Press auto for 1 second. The previous locked heading (LAST
                        HDG?) is displayed for 10 seconds.




                         1




                     Note: A direction-to-steer indicator is displayed to show you the
                     direction the vessel will turn.
                     2. To accept this heading, and resume the original course, press auto
                         once within this 10 second period.




                             If you do not press 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 starboard.
8                                ST6000 Plus Autopilot Control Unit Owner,s 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 20).
Chapter 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 heading.
10                                  ST6000 Plus Autopilot Control Unit Owner,s 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 conditions.


2.4 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 Plus.



2.5 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
            setting.
Chapter 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 time-out 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 off.


2.6 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 pop-ups, 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 way.
12                            ST6000 Plus Autopilot Control Unit Owner,s 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 5.1).
     The following illustration shows the default settings for the Data Pages.




                                                                     D3581-1


      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 direction-to-steer arrows relate to the Data Page information.
Chapter 3: Advanced Operation                                                            13



Chapter 3: Advanced Operation
                    This chapter provides information on:
                     Operation in Track mode
                     Operation in Vane mode (WindTrim)
                     Adjusting the response level and rudder gain
                     Alarms


3.1 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:
                    (a)A SeaTalk navigation instrument or chartplotter
                        or
                    (b)A non-SeaTalk 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 data
14                            ST6000 Plus Autopilot Control Unit Owner,s 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 0.1nm 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 0.3nm 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 cancelled.
Chapter 3: Advanced Operation                                                                 15




                                                                         Previous
                                                                         Heading




                                                                                    D3505-1


                         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 0.1nm 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 by.
16                                 ST6000 Plus Autopilot Control Unit Owner,s 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 0.3nm.




           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 0.05 nm (300 ft) or better. The autopilot takes account of
          vessel speed when computing course changes to ensure optimum
Chapter 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).




                                                    Vessel's speed




                                         Vessel's




            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.




                                                                                   D3457-1
18                                 ST6000 Plus Autopilot Control Unit Owner,s 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 0.1 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 plots.
Chapter 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 0.5 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 checks.


3.2 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 angle.
20                                ST6000 Plus Autopilot Control Unit Owner,s 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 mode.
Chapter 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 WND).
22                                ST6000 Plus Autopilot Control Unit Owner,s 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
                                                                              D4373_1
Chapter 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 off-shore 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 late.


3.3 Adjusting autopilot performance
                    The response level and rudder gain can be adjusted during normal
                    operation using a combined key-press. Alternatively, you can set up
                    these two control displays as default Data Pages (see section 2.5).
                    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 helm/drive 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 damping.
24                                    ST6000 Plus Autopilot Control Unit Owner,s 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.




                                                                                  D3606-1




      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 speeds.


3.4 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 otherwise.
Chapter 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 2.3, 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 3.2, Operation in Vane mode).

                    Large cross track error
                    LARGE XTE
                    This alarm is activated when the cross track error exceeds 0.3 nm (see
                    section 3.1, 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 pre-set rudder limits or the rudder end-stops.
26                            ST6000 Plus Autopilot Control Unit Owner,s 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 limits.
Chapter 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
                    5.1.
                    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 waypoint.
28   ST6000 Plus Autopilot Control Unit Owner,s Handbook
Chapter 4: CodeLock                                                                           29


Chapter 4: CodeLock
                      CodeLock is a personal four-digit 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
                      CodeLock-compatible control unit on your SeaTalk system.
                      When you first enter a code and activate CodeLock, the code is sent to
                      all the CodeLock-compatible 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 thieves.


4.1 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 CodeLock-compatible 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 CodeLock-compatible control unit, and is then sent to all
                         the other compatible units via SeaTalk.


4.2 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 page.
30                           ST6000 Plus Autopilot Control Unit Owner,s 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 Setup.
Chapter 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 settings.


4.3 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 CodeLock-compatible 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 way.
32                                 ST6000 Plus Autopilot Control Unit Owner,s 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




                                                                               D3394-1


          To enter the code on any other master display unit, refer to the
          handbook for that unit for details of the code entry procedure.


4.4 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 code.
Chapter 5: Customising the System                                                              33


Chapter 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 100/300
                     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 ST4000/5000 control unit is used, please refer to the
                     appropriate manual for system calibration.


5.1 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 exit
34   ST6000 Plus Autopilot Control Unit Owner,s Handbook
Chapter 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 re-correcting 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 follows:
36                                 ST6000 Plus Autopilot Control Unit Owner,s 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 100/300 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 2.5).
         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 follows:
Chapter 5: Customising the System                                    37


                     Data                           Displayed as
                     Speed Knots                    SPEED KTS

                     Log                            LOG XXXX.X

                     Trip                           TRIP XXX.X

                     Average Speed, Knots           AV. SPD KTS

                     Wind Direction                 E.g. 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         UTC
38                                  ST6000 Plus Autopilot Control Unit Owner,s 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 display.


5.2 Dealer setup: Type 100/300 Course Computer
           This section applies if you have installed the ST6000 Plus as the control
           unit for a Type 100/300 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 exit.
Chapter 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 here.
40                                   ST6000 Plus Autopilot Control Unit Owner,s Handbook


          Setting                  Description
          DISPL MNT                Displacement

          SEMI DIS                 Semi-displacement

          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 (Semi-displacement)
                                   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 rudder.
Chapter 5: Customising the System                                                             41


                     The settings available are as follows:

                     Range:                 1 to 9

                     Defaults:              7        Displacement
                                            7        Semi-displacement
                                            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, semi-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 20.
42                                 ST6000 Plus Autopilot Control Unit Owner,s Handbook


         Range:                  5 to 20 per second

         Default:                20 (Displacement)
                                 15 (Semi-displacement)
                                 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     Semi-displacement
                                 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:                20
Chapter 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
                     Bang-Bang.
44                                ST6000 Plus Autopilot Control Unit Owner,s Handbook


         Proportional applies rudder in proportion to Joystick movement - the
         further the Joystick is held over the greater the applied rudder.
         Bang-Bang 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 = Bang-bang

         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 value.
Chapter 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
                     heading.
46                                  ST6000 Plus Autopilot Control Unit Owner,s 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 degrees
Chapter 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, Semi-displacement &
                                            Planing
                                            1 for Sterndrives



            Response
                     This is the power-on response setting. The response level can be
                     changed during normal operation (see section 3.3) or via the Response
                     Data Page, if this is set for display (see section 2.6).

                     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 fine-tuned the calibration settings during initial sea trials,
                     record them for future reference, in the table on the following page.
48                      ST6000 Plus Autopilot Control Unit Owner,s 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 Level
Chapter 6: Installation                                                                              49


Chapter 6: Installation
6.1 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
                          Electromagnetic 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 e.g. 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 position.
50                                  ST6000 Plus Autopilot Control Unit Owner,s 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 etc


6.2 Control head
                                                                                    115mm (4.53in)
                                                                     91mm (3.6in)




                        110mm (4.33in)                 24mm         17mm
                                                      (0.95in)     (0.67in)
                                                                                                 D3242-1
Chapter 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 radio/radar receiving/transmitting
                              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




                                                                                             D3243-1




                              1 Cable boss 2 Fixing studs 3 Thumb nuts

                          Note: Always leave a 6 mm (1/4 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 (5/32 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 1/2 in) diameter cutter to drill the hole for the cable
                              boss (1).
52                                 ST6000 Plus Autopilot Control Unit Owner,s 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     0.15 m (6 in) long

         D188                Flat to a female round connector   0.3 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
         available.
Chapter 6: Installation                                                                          53




                                                                                       D3445-1



                          Typical SeaTalk cabling
                              ST6000 Plus     SeaTalk                 100/300 Course
                               Repeater      Instrument                 Computer




                                     SeaTalk Bus
                                                                        ST6000 Plus
                                                                        Control Head

                                                                                     D3446-1




6.3 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
                          instrument.
54                                  ST6000 Plus Autopilot Control Unit Owner,s Handbook




                     Navigator
                 with NMEA output




                                                     Red                Blue
                                                 (Data In +ve)      (Data In -ve)



                                                                             D3442-1




     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 installed.
Chapter 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 C.


6.4 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 100/300 course computer, you should skip to
                          Chapter 7, Post Installation Procedures, and follow the instructions
                          given there.
56                                 ST6000 Plus Autopilot Control Unit Owner,s 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 fuse/circuit 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 action.
Chapter 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
                          instruments/control unit.
58   ST6000 Plus Autopilot Control Unit Owner,s Handbook
Chapter 7: Post Installation Procedures                                                     59


Chapter 7: Post Installation Procedures
                      This chapter applies to systems where the ST6000 Plus has been
                      installed as the only control unit for a Type 100/300 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 5.


7.1 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 fuse/circuit 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 follows:
60                                 ST6000 Plus Autopilot Control Unit Owner,s Handbook


          1. Press auto.
          2. Press the +10 key. The helm should move to produce a turn to
             starboard.




                                                                           D3393-1


          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 action.
Chapter 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
                      instruments/control unit.
62                                    ST6000 Plus Autopilot Control Unit Owner,s Handbook


7.2 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 built-in calibration capability which
             enables it to be fine tuned to suit the individual vessel, its steering
             system and dynamic steering characteristics. 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 steering.
Chapter 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.




                                                           D3448-1


                         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.




                                                                                       D3460-1
64                           ST6000 Plus Autopilot Control Unit Owner,s Handbook


     4. Press the +1 or -1 key to change the setting from OFF to YES. The
        Turn Boat page is then displayed.




                                      D3451-1


     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 page.
Chapter 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 again.
66                                 ST6000 Plus Autopilot Control Unit Owner,s 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 characteristics.
         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 low.
Chapter 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 3.3).
                      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 tear.
68   ST6000 Plus Autopilot Control Unit Owner,s Handbook
Chapter 8: Maitenance                                                                        69



Chapter 8: Maintenance
General
                     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 cables.


Servicing 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
                     cables/connectors 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
                     standards.


Advice
                    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 5).
70   ST6000 Plus Autopilot Control Unit Owner,s Handbook
Chapter 9: Fault Finding                                                                    71


Chapter 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 fuse/circuit 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
                       Northerly/Southerly heading correction not set up.

                      Display shows CAL LOCK when entering calibration
                       Calibration locked out  calibration protection feature is turned on in
                       Dealer Setup.
72                           ST6000 Plus Autopilot Control Unit Owner,s 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 action.
Index                                                    73



Index
A
Adjusting the Locked Wind Angle 20
Advance 18
Advanced Operation 13
Advice 69
Alarms 24
Apparent wind angle
  Adjusting 20
  Previous 21
Auto mode 5
AutoAdapt 45
Automatic Acquisition 14
Automatic Compass Deviation Correction    63
Automatic Deadband 23
Automatic track acquisition 14
AutoRelease 47
AutoSeastate 23
AutoTack 7
  To Port 8
  To Starboard 7
  Vane mode 22
AutoTrim 43

B
Bar graph 4
Bar Selection 35
Basic Operation 3

C
Cabling 50, 69
Calibration Lock 40
Cancelling a Dodge Manoeuvre 18
changed, or if the operating mode is changed.Wind   25
Changing course 5
Changing Course in Auto Mode 5
Changing the Response Level 23
Changing the Rudder Gain 24
Checking Autopilot Operation 66
Checking the Rudder Gain 66
Code number 31
Code Number Problems 32
74                                       ST6000 Plus Autopilot Control Unit Owner,s Handbook


Compass alignment 64
Compass Deviation Correction 35
Compass deviation correction 35, 63
Connections to the SeaTalk Bus 52
Control Head 50
Course changes 5
  operating hints 9
Course Changes Under Autopilot Control   9
Cross Track Error 16
Cross track error (XTE) 16
Cruise Speed 42
Cruise speed 47
Customising the autopilot 3348

D
Data Not Received 26
Data Pages 11, 36
   Setting up 36
Deadband 23
Dealer Setup 38, 3848
Deviation 64
Deviation Display 35
Disengaging the autopilot 5
Display layout 4
djusting Autopilot Performance   23
Dodges 18, 21
Dodging Obstacles 6
Dodging obstacles
   Auto mode 6
   Track mode 18
   Vane mode 21
Drive Stopped 25
Drive Stopped alarm 25
Drive type 44

E
EMC
  Conformance 62
  Installation Guidelines 49
Engaging the autopilot 5
Entering Your Code 31
Index                                       75


F
Fault Finding 71
Fault finding 71
Functional test 5557
  course computer installations 59
Functional Test (Repeater Unit) 55
Further Heading Alignment Adjustment   65

G
Graph use   35

H
Hand steering 5
Heading 6
Heading alignment 35
Heading alignment adjustment    65
Heading mode 35

I
Illumination 10
Initial calibration 59
Initiating a Dodge Manoeuvre    18
Initiating Track Mode 13
Installation 49
Interfaces 56, 60
Intermediate Setup 29

K
Key functions 3
Keypad Illumination   10

L
Large Cross Track Error 25
Large Cross Track Error alarm   16
LAST HDG 6
LAST WND 21
Latitude 46
Lighting 10
Locked Wind Angle 20
Low Battery 26
Low Battery alarm 26
76                                           ST6000 Plus Autopilot Control Unit Owner,s Handbook


M
Maintenance 69
Major Course Changes 9
Man Overboard (MOB) 27
Manual Acquisition 15
Manual mode 10
Manual steering 5
Manual track acquisition 15
Master unit (CodeLock) 29
Minimum Deadband 23

N
Navigation data displays 11
Navigation Interface 56, 60
Navigation interface (GPS, Decca, Loran)    56, 60
NEXT WPT 26
NMEA Cable Connectors 54
NMEA Data Transmission 54
NMEA Interface 53
No Data alarm 26
No Link 25

O
Off Course 25
Off Course Alarm 8, 42
Off Course alarm 8
  Default angle 42
Operating Hints 9, 23
Operating modes 1
Operating sense 59
Operation in Vane Mode 19
Overview 1

P
Performance 23
Pilot type 39
Planning the Installation 49
Plot Frequency 19
Position Confirmation at the Start of a Passage   19
Post Installation Procedures 59
Power Steer 43
Previous Apparent Wind Angle 21
Previous heading 6
Previous Locked Heading 6
Index                                          77


R
Recommended Settings 39
Recording Calibration Settings 47
Response 41
Response level 23
  Default setting 41
Returning to the Previous Locked Heading   6
Rudder bar 35
Rudder Calibration 36
Rudder damping 46
Rudder Gain 40
Rudder gain 24, 40, 66
Rudder Limit 41
Rudder offset 41

S
Safety 18
Sea trial 62
SeaTalk data displays 11
SeaTalk Failure 25
SeaTalk interface 57, 61
Servicing 69
Servicing and Safety 69
Setting Waypoints 19
Skipping a Waypoint 18
Specification 2
Standby mode 5
Steering bar 35
Swinging the compass 63
Switch On 59

T
Testing autopilot operation 66
Testing the system 5557, 59
Tidal stream compensation 16
Track acquisition 13
Track Mode 13
Track mode 1314
Typical SeaTalk Cabling 53

U
User Setup   33
78                                ST6000 Plus Autopilot Control Unit Owner,s Handbook


V
Vane Mode 20
Vane mode 1920
Variation 45
Verifying Computed Positions 19
Version number 31

W
Watch alarm 27
Waypoint Advance 26
Waypoint arrival and advance 17
Wind Shift alarm 22
Wind transducer interface 61
Wind Trim 47
WindTrim 19, 1920
                           Drill 5mm (3/16in)
                     Machine hole
                     90mm (3.54in)
                     diameter
Drill 5mm (3/16in)
Limited Warranty Certificate
Raytheon Marine Company warrants each new Light Marine/Dealer Distributor Product to be of good materials
and workmanship, and will repair or exchange any parts proven to be defective in material and workmanship
under normal use for a period of 2 years/24 months from date of sale to end user, except as provided below.
Defects will be corrected by Raytheon Marine Company or an authorized Raytheon dealer. Raytheon Marine
Company will, except as provided below, accept labor cost for a period of 2 years/24 months from the date of
sale to end user. During this period, except for certain products, travel costs (auto mileage and tolls) up to 100
round trip highway miles and travel time of 2 hours, will be assumed by Raytheon Marine Company only on
products where proof of installation or commission by authorised service agents, can be shown.

Warranty Limitations
Raytheon Marine Company Warranty policy does not apply to equipment which has been subjected to accident,
abuse or misuse, shipping damage, alterations, corrosion, incorrect and/or non-authorized service, or equipment
on which the serial number has been altered, mutilated or removed.
Except where Raytheon Marine Company or its authorized dealer has performed the installation, it assumes no
responsibility for damage incurred during installation.
This Warranty does not cover routine system checkouts or alignment/calibration, unless required by
replacement of part(s) in the area being aligned.
A suitable proof of purchase, showing date, place, and serial number must be made available to Raytheon
Marine Company or authorized service agent at the time of request for Warranty service.
Consumable items, (such as: Chart paper, lamps, fuses, batteries, styli, stylus/drive belts, radar mixer crystals/
diodes, snap-in impeller carriers, impellers, impeller bearings, and impeller shaft) are specifically excluded from
this Warranty.
Magnetrons, Cathode Ray Tubes (CRT), hailer horns and transducers are warranted for 1 year/12 months from
date of sale. These items must be returned to a Raytheon Marine Company facility.
All costs associated with transducer replacement, other than the cost of the transducer itself, are specifically
excluded from this Warranty.
Overtime premium labor portion of services outside of normal working hours is not covered by this Warranty.
Travel cost allowance on certain products with a suggested retail price below $2500.00 is not authorized. When/
or if repairs are necessary, these products must be forwarded to a Raytheon Marine Company facility or an
authorized dealer at owners expense will be returned via surface carrier at no cost to the owner.
Travel costs other than auto mileage, tolls and two (2) hours travel time, are specifically excluded on all
products. Travel costs which are excluded from the coverage of this Warranty include but are not limited to:
taxi, launch fees, aircraft rental, subsistence, customs, shipping and communication charges etc..
Travel costs, mileage and time, in excess to that allowed must have prior approval in writing.
TO THE EXTENT CONSISTENT WITH STATE AND FEDERAL LAW:
(1) THIS WARRANTY IS STRICTLY LIMITED TO THE TERMS INDICATED HEREIN, AND NO
OTHER WARRANTIES OR REMEDIES SHALL BE BINDING ON RAYTHEON MARINE COMPANY
INCLUDING WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABLE OR FITNESS FOR
A PARTICULAR PURPOSE.
(2) Raytheon Marine Company shall not be liable for any incidental, consequential or special (including
punitive or multiple) damages.
All Raytheon Marine Company products sold or provided hereunder are merely aids to navigation. It is the
responsibility of the user to exercise discretion and proper navigational skill independent of any Raytheon
equipment.
                                                                                                                   44592_4
                                                                                                          21st October 1998
United States of America
Raytheon Marine Company                     Tel       603-647-7530
Recreational Products                       Fax       603-634-4756
676 Island Pond Road
Manchester, NH 03109-5420
U.S.A.
UK, Europe, Middle East, Far East
Raytheon Marine Company                     Tel       (44) 1705 693611
Recreational Products                       Fax       (44) 1705 694642
Anchorage Park, Portsmouth                  Fax       Customer support (44) 1705 661228
PO3 5TD, England




                                                                                 Factory Service Centers
                                                                                 United States of America
                                                                                 Raytheon Marine Company
                                                                                 address as above

                                                                                 UK, Europe, Middle East, Far East
                                                                                 Raytheon Marine Company
                                                                                 address as above




                                                                             Stick barcode label here




Purchased from                                               Purchase date

Dealer Address




Installed by                                                 Installation date


Commissioned by


                                                             Commissioning date

Owner's name


Mailing address




This portion of card should be completed and retained by the owner.


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