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ST6000 PlusAutopilotControl UnitOwner’sHandbookDocument number: 81133_3Date: 1st June 1999133_3cov.p65 14/06/99, 10:231

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PrefaceixPrefaceThis handbook contains information on the operation andinstallation of your new equipment. In order to obtain the bestperformance from

x ST6000 Plus Autopilot Control Unit Owner’s HandbookThe following rules should always be observed:• Maintain a permanent watch and regularly check al

Chapter 1: Introduction1Chapter 1: Introduction1.1 OverviewThe ST6000 Plus is a SeaTalk® compatible autopilot control unit. It isdesigned for use as a

2 ST6000 Plus Autopilot Control Unit Owner’s Handbook• Setup and calibration options to suit each installation, givingmaximum performance with many ty

Chapter 2: Basic Operation3Chapter 2: Basic OperationThis chapter first provides summary diagrams of the key functions andscreen layout. It then gives

4 ST6000 Plus Autopilot Control Unit Owner’s Handbook2.2 Display layoutThe following illustration shows all the elements, together with a briefdescrip

Chapter 2: Basic Operation52.3 Using Auto modeEngaging the Autopilot (Auto)1. Steady the vessel on the required heading.2. Press auto.• In Auto mode,

6 ST6000 Plus Autopilot Control Unit Owner’s HandbookDodging obstacles in Auto modeIn order to avoid an obstacle when your vessel is under autopilotco

Chapter 2: Basic Operation71. Press auto for 1 second. The previous locked heading (LASTHDG?) is displayed for 10 seconds.1Note: A direction-to-steer

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8 ST6000 Plus Autopilot Control Unit Owner’s HandbookAutoTack to starboard• Press the +1 and +10 keys together to tack to starboard.AutoTack to port•

Chapter 2: Basic Operation91. To cancel the off course alarm, press standby to return to handsteering.2. Check whether your vessel is carrying too muc

10 ST6000 Plus Autopilot Control Unit Owner’s Handbook4. Select auto and let the vessel settle onto course.5. Bring the vessel to the final course wit

Chapter 2: Basic Operation111The display times out to normal operation after 10 seconds of keypadinactivity.Pressing any other key before the 10 secon

12 ST6000 Plus Autopilot Control Unit Owner’s Handbook• To return to a previous Data Page, press disp for 1 second within 2seconds of displaying a pag

Chapter 3: Advanced Operation13Chapter 3: Advanced OperationThis chapter provides information on:• Operation in Track mode• Operation in Vane mode (Wi

14 ST6000 Plus Autopilot Control Unit Owner’s HandbookAutomatic acquisitionAutomatic acquisition can only be achieved if the pilot is receivingcross t

Chapter 3: Advanced Operation15PreviousHeadingD3505-1• The display shows the new bearing to waypoint.Manual acquisitionFor manual track acquisition, w

16 ST6000 Plus Autopilot Control Unit Owner’s HandbookCross track errorCross track error (XTE) is the distance between the current positionand a plann

Chapter 3: Advanced Operation17performance over a wide range of vessel speeds. If speed data isavailable, the ST6000 Plus uses the measured vessel spe

PrefaceiRaytheon Electronics, as part of its commitment to continuous improvement and updating, reserve theright to make changes, without prior notice

18 ST6000 Plus Autopilot Control Unit Owner’s HandbookSkipping a waypoint – SeaTalk navigators onlyIf you wish to advance to the next waypoint before

Chapter 3: Advanced Operation19Position confirmation at the start of a passageAt the start of a passage you must always confirm the fix given by thepo

20 ST6000 Plus Autopilot Control Unit Owner’s HandbookVane mode uses the fluxgate compass as the primary heading referenceand, as changes in the appar

Chapter 3: Advanced Operation21Note: This method should only be used for minor adjustments to theapparent wind angle, since turning the boat affects t

22 ST6000 Plus Autopilot Control Unit Owner’s HandbookWind shift alarmThe wind shift alarm sounds, and the text WINDSHIFT is displayed, if awind shift

Chapter 3: Advanced Operation23Operating hints• It is important to ensure that the amount of standing helm isminimised by careful sail trimming.• The

24 ST6000 Plus Autopilot Control Unit Owner’s HandbookD3606-1Changing the rudder gainPress the +1 and -1 keys together for 1 second to display the Rud

Chapter 3: Advanced Operation25Off courseOFFCOURSEThis alarm is activated when the vessel has been off course from thelocked heading by more than the

26 ST6000 Plus Autopilot Control Unit Owner’s Handbook• Track mode is engaged and the position transducer (GPS, Loran,Decca) is receiving a low streng

Chapter 3: Advanced Operation27Watch alarmWATCH ALMThe Watch alarm is activated in Watch mode when the timer reaches4 minutes. It is not available fro

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Chapter 4: Customising the System29Chapter 4: Customising the SystemThe ST6000 Plus provides setup and configuration options that areused to adjust th

30 ST6000 Plus Autopilot Control Unit Owner’s Handbook+1-1ORAdjusting User Setup Values133_3c04.p65 14/06/99, 10:2330

Chapter 4: Customising the System31Compass deviation correction (SWING COMPASS)The compass deviation correction option allows you to correct thecompas

32 ST6000 Plus Autopilot Control Unit Owner’s HandbookMode BarStandby Rudder bar for systems with rudder reference transducerAuto Heading error barTra

Chapter 4: Customising the System33Data Displayed asSpeed Over Ground, Knots SOG KTSCross Track Error XTEDistance to Waypoint DTWBearing to Waypoint B

34 ST6000 Plus Autopilot Control Unit Owner’s HandbookNote: If a man overboard (MOB) message is received by the autopilot,the BTW and DTW pages will d

Chapter 4: Customising the System35The features that can be adjusted are listed in the table at the end of thischapter, where you can record your sett

36 ST6000 Plus Autopilot Control Unit Owner’s HandbookRange: 1 to 9Default: 5 (Displacement)5 (Semi-displacement)4 (Planing)3 (Sterndrive)Rate levelRa

Chapter 4: Customising the System37The range available is as follows:Range: 15° to 40°Defaults: 30° Displacement, semi-displacement, planing20° Sternd

PrefaceiiiContentsPreface...ixHow this handbook is organised ...

38 ST6000 Plus Autopilot Control Unit Owner’s HandbookThe value must be within the range 15 to 40°, and can be adjusted in 1°steps.Range: 15 to 40°Def

Chapter 4: Customising the System39The default setting (Level 3) should provide optimum performancewith the ST6000 Plus autopilot. However, depending

40 ST6000 Plus Autopilot Control Unit Owner’s HandbookRange: 1 = Mechanically driven vessels without a rudder reference unit2 = Hydraulic, no rudder r

Chapter 4: Customising the System41AutoAdaptThe patented AutoAdapt feature allows the ST6000 Plus tocompensate for heading errors at higher latitudes,

42 ST6000 Plus Autopilot Control Unit Owner’s HandbookNote: If valid latitude data is available via SeaTalk or NMEA, it will beused instead of this ca

Chapter 4: Customising the System43Range: Level 1 (Auto Seastate)Level 2 (Auto sea state inhibit)Level 3 (Auto sea state inhibit counter rudder)Defaul

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Chapter 5: Installation45Chapter 5: Installation5.1 Planning the InstallationThis chapter explains how to install and connect the ST6000 Plusautopilot

46 ST6000 Plus Autopilot Control Unit Owner’s HandbookThe following illustration shows the typical range of suppressionferrites fitted to Raytheon equ

Chapter 5: Installation47SitingThe control head is completely waterproof and should be sited where itis:• Within easy reach of the steering position•

iv ST6000 Plus Autopilot Control Unit Owner’s Handbook2.5 Display and keypad illumination ... 102.6 Data pages...

48 ST6000 Plus Autopilot Control Unit Owner’s HandbookD3243-214 2 38. Assemble the control head to the bulkhead.9. Secure the control head with the th

Chapter 5: Installation49D4585-1534 617. Mount the assembled control head, studs, and gasket into thepanel.8. Locate the bracket (6) onto the fixing s

50 ST6000 Plus Autopilot Control Unit Owner’s HandbookCable typesThe following illustration shows the different types of SeaTalk cablesavailable.D3445

Chapter 5: Installation51CablingThe NMEA port should be connected to a Navigator or Windinstrument.Red(Data In +ve)Blue(Data In -ve)D3442-1Navigatorwi

52 ST6000 Plus Autopilot Control Unit Owner’s HandbookData formatsThe following NMEA 0183 wind and navigation data can be decodedby the ST6000 Plus.Da

Chapter 5: Installation535.4 Switch on and initial testUse the procedures in this section to switch on your ST6000 Plus andcheck its operation. If you

54 ST6000 Plus Autopilot Control Unit Owner’s HandbookNavigation interface (GPS, Decca, Loran)If the ST6000 Plus is interfaced to a navigator, via its

Chapter 6: Post Installation Procedures55Chapter 6: Post Installation ProceduresThis chapter applies to systems where the ST6000 Plus has beeninstalle

56 ST6000 Plus Autopilot Control Unit Owner’s HandbookD3393-13. If the helm produces a turn to port, reverse the motor connectionsat the course comput

Chapter 6: Post Installation Procedures576.2 Initial sea trialEMC conformance• Always check the installation before going to sea to make sure that iti

Prefacev3.3 Adjusting autopilot performance ... 23Changing the response level (AutoSeastate) ... 23Changing the r

58 ST6000 Plus Autopilot Control Unit Owner’s HandbookAutomatic compass deviation correctionThe ST6000 Plus will correct the fluxgate compass for most

Chapter 6: Post Installation Procedures594. Press the +1 or -1 key to change the setting from OFF to YES. TheTURN BOAT page is then displayed.D3451-15

60 ST6000 Plus Autopilot Control Unit Owner’s Handbook7. Press the disp key to move on to the Heading Alignment page.8. Use the +1 and -1 keys, or the

Chapter 6: Post Installation Procedures61If the average heading error is more than 5°, you should perform thecompass deviation correction procedure ag

62 ST6000 Plus Autopilot Control Unit Owner’s HandbookThese actions are most easily recognised in calm sea conditionswhere wave action does not mask b

Chapter 7: Maitenance63Chapter 7: MaintenanceGeneral• In certain conditions, condensation may appear on the LCDwindow. This will not harm the unit, an

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Chapter 8: Fault Finding65Chapter 8: Fault FindingAll Raytheon products are subjected to a comprehensive test procedureprior to packing and shipping.

66 ST6000 Plus Autopilot Control Unit Owner’s HandbookPosition information not received• Navigator not transmitting the correct position data.The auto

Index67IndexAAdjusting the Locked Wind Angle 20Advance 18Advanced Operation 13Advice 63Alarms 24Apparent wind angleAdjusting 20Previous 21Auto mode 5A

vi ST6000 Plus Autopilot Control Unit Owner’s HandbookRudder limit... 36Turn limit...

68 ST6000 Plus Autopilot Control Unit Owner’s HandbookCompass alignment 60Compass Deviation Correction 31Compass deviation correction 31, 58Connection

Index69FFault Finding 65Fault finding 65Functional test 53–54, 55Functional Test (Repeater Unit) 53, 55Further Heading Alignment Adjustment 60GGraph u

70 ST6000 Plus Autopilot Control Unit Owner’s HandbookMMaintenance 63Major Course Changes 9Man Overboard (MOB) 27Manual Acquisition 15Manual mode 10Ma

Index71RRecommended Settings 34Recording Calibration Settings 43Response 36Response level 23Default setting 36Returning to the Previous Locked Heading

72 ST6000 Plus Autopilot Control Unit Owner’s HandbookVVane Mode 20Vane mode 19–20Variation 40Verifying Computed Positions 19WWarranty xWatch alarm 27

Machine hole90mm (3.54in)diameterDrill 5mm (3/16in)Drill 5mm (3/16in)Surface mount templateD3441-2a133_3tem.p65 14/06/99, 10:241

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Shaded area to be removedTOP109 mmFlush Mount Template114 mm4 holes6 mm diameterD4437-2133_3tem.p65 14/06/99, 10:243

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Limited Warranty CertificateRaytheon Marine Company warrants each new Light Marine/Dealer Distributor Product to be of good materialsand workmanship,

Prefacevii5.3 NMEA interface..... 50Cabling .....

Purchased fromPurchase dateDealer AddressInstalled byInstallation dateCommissioned byOwner’s nameMailing addressFactory Service CentersUnited States o