ST7000 Plus Autopilot Control Unit Owner`s Handbook

Distributed by
Any reference to Raytheon or
RTN in this manual should be
interpreted as Raymarine.
The names Raytheon and RTN
are owned by the
Raytheon Company.
ST7000 Plus
Autopilot
Control Unit
Owner’s
Handbook
Document number: 81118_1
Date: 20 January 1999
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Preface
Raytheon Electronics, as part of its commitment to continuous improvement 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 the Raytheon Marine Company
WindTrim, AutoTack, AutoSeastate, AutoAdapt, AutoRelease and AutoTrim are trademarks of
Raytheon Marine Company
Copyright © Raytheon Marine Company 1998
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Preface
Contents
Preface .................................................................................... xi
How this Handbook is Organised .................................... xi
Warranty ........................................................................... xi
Safety Information .......................................................... xii
EMC Conformance ........................................................ xiii
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
Bar Graph .................................................................... 4
Distance Units ............................................................. 5
2.3 Start Up Conditions .................................................... 5
2.4 Using Auto Mode ........................................................ 5
Safety ..................................................................... 5
Engaging the Autopilot ............................................... 5
Return to Hand Steering .............................................. 6
Changing Course ......................................................... 6
Dodging Obstacles in Auto Mode ............................... 7
Returning to the Previous Locked Heading ................ 8
Automatic Tack ........................................................... 9
AutoTack to Starboard ........................................... 9
AutoTack to Port .................................................... 9
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Off Course Alarm ...................................................... 10
Operating Hints ......................................................... 10
Making Major Course Changes ........................... 10
Course Changes Under Autopilot Control ..... 10
Sailboats in Gusty Conditions ............................. 11
2.5 Using Manual Mode ................................................. 11
2.6 Setting Up Backlighting and Contrast ...................... 12
Backlighting .............................................................. 12
Contrast ..................................................................... 13
2.7 Data Pages ................................................................. 13
Waypoint names ........................................................ 14
2.8 Remotely Controlling ST60 and ST80 Instruments . 15
Chapter 3: Advanced Operation ......................................... 17
3.1 Operating in Track Mode .......................................... 17
Initiating Track Mode ................................................ 17
Automatic Acquisition ......................................... 18
Manual Acquisition ............................................. 19
Cross Track Error ...................................................... 20
Tidal Stream Compensation ...................................... 21
Waypoint Arrival and Advance ................................. 21
Arrival .................................................................. 21
Skipping a Waypoint ...................................... 22
Advance ............................................................... 22
Dodges ...................................................................... 22
Initiating a Dodge Manoeuvre ............................. 22
Cancelling a Dodge Manoeuvre .......................... 22
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Preface
Safety ......................................................................... 23
Position Confirmation at the Start of a Passage .. 23
Verifying Computed Positions ............................. 23
Plot Frequency ..................................................... 23
Setting Waypoints ................................................ 23
General ................................................................ 23
3.2 Operating in Wind Mode (WindTrim) ...................... 24
Selecting Wind Mode ................................................ 24
Adjusting the Locked Wind Angle ............................ 25
Returning to the Previous Apparent Wind Angle
(LAST WIND) .......................................................... 25
Dodges ...................................................................... 26
Wind Shift Alarm ...................................................... 26
Using AutoTack in Wind Mode ................................. 26
Operating Hints ......................................................... 27
3.3 Adjusting Autopilot Performance ............................. 28
Changing the Response Level ................................... 28
Changing the Rudder Gain ........................................ 29
3.4 Alarms ....................................................................... 29
SeaTalk Failure .......................................................... 29
No Link ..................................................................... 29
Off Course ................................................................. 30
Wind Shift ................................................................. 30
Large Cross Track Error ............................................ 30
Drive Stopped ............................................................ 30
Data Not Received .................................................... 30
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Waypoint Advance .................................................... 31
Low Battery ............................................................... 31
Watch Alarm .............................................................. 32
Route Completed ....................................................... 32
AutoRelease .............................................................. 32
Shallow ...................................................................... 33
Man Overboard (MOB) ............................................ 33
Chapter 4: Customising the System .................................. 35
Important ............................................................. 35
4.1 User Setup ................................................................. 35
Pilot Type .................................................................. 37
Compass Deviation Correction ................................. 37
Deviation Display ...................................................... 37
Heading Alignment ................................................... 37
Heading Mode) ......................................................... 38
Bar Selection ............................................................. 38
Rudder Calibration .................................................... 38
Popup Timeout .......................................................... 39
Auto Tack .................................................................. 39
Data Pages ................................................................. 39
Software Version Number ......................................... 41
4.2 Dealer Setup: Type 100/300 Course Computer ........ 41
Recommended Settings ............................................. 42
Pilot Type ............................................................. 42
Calibration Lock .................................................. 43
Rudder Gain ........................................................ 43
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Preface
Rate Level ............................................................ 43
Rudder Offset ...................................................... 44
Rudder Limit ....................................................... 44
Turn Limit ............................................................ 44
Cruise Speed ........................................................ 45
Off Course Alarm ................................................ 45
AutoTrim ............................................................. 46
Power Steer .......................................................... 46
Drive Type ........................................................... 47
Rudder Damping ................................................. 47
Variation .............................................................. 48
AutoAdapt ........................................................... 48
Latitude ................................................................ 49
Wind Trim ............................................................ 49
AutoRelease ......................................................... 49
Response .............................................................. 49
Recording Calibration Settings ........................... 50
4.3 Setting Up For ST60 and ST80 Remote Control ...... 50
Instrument Grouping ................................................. 51
Setting Up Groups ............................................... 51
Grouping Standard Instruments .......................... 52
Grouping Maxiview Instruments ......................... 54
Chapter 5: Installation ........................................................ 57
5.1 Planning the Installation ........................................... 57
EMC Installation Guidelines ..................................... 57
Cabling ...................................................................... 58
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5.2 Instrument ................................................................. 58
Siting ......................................................................... 58
Mounting Procedure .................................................. 59
Power ......................................................................... 60
Connections to the SeaTalk Bus ................................ 60
SeaTalk Cables .................................................... 60
Cable Types ......................................................... 60
Typical SeaTalk Cabling ...................................... 61
5.3 NMEA Interface ....................................................... 61
Cabling ...................................................................... 61
NMEA Cable Connectors ......................................... 62
NMEA Data .............................................................. 62
Transmission of NMEA Data on SeaTalk ................. 63
5.4 Functional Test (Repeater Unit) ................................ 63
Switch On .................................................................. 64
Navigation Interface (GPS, Decca, Loran) ............... 64
SeaTalk Interface ....................................................... 65
Chapter 6: Post Installation Procedures ........................... 67
6.1 Functional Test and Initial Calibration ..................... 67
Switch On .................................................................. 67
Initial Calibration ...................................................... 67
Operating Sense ........................................................ 68
Navigation Interface (GPS, Decca, Loran) ............... 68
Wind Transducer Interface ........................................ 69
SeaTalk Interface ....................................................... 69
EMC Conformance ................................................... 70
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Preface
6.2 Initial Sea Trial .......................................................... 70
Automatic Compass Deviation Correction ............... 71
Further Heading Alignment Adjustment ................... 74
Checking Autopilot Operation .................................. 74
Checking the Rudder Gain ........................................ 74
Chapter 7: Maintenance ...................................................... 77
General ...................................................................... 77
Servicing and Safety ................................................. 77
Product Support ......................................................... 77
Chapter 8: Fault Finding ...................................................... 79
Index ...................................................................................... 81
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Preface
Preface
This handbook contains information on the operation and installation
of your ST7000 Plus. In order to obtain the best performance, please
read this handbook thoroughly.
How this Handbook is Organised
This handbook is divided into the following chapters:
Chapter 1: Introduces the ST7000 Plus Autopilot Control Unit, its
features and use.
Chapter 2: Describes basic autopilot operation.
Chapter 3: Explains how to use Track and Wind modes and adjust
autopilot performance. Also gives a summary of the ST7000 Plus
alarms.
Chapter 4: Provides details on how to make adjustments to customise
the ST7000 Plus and associated autopilot to give optimum
performance on your vessel.
Chapter 5: Explains how to install the ST7000 Plus.
Chapter 6: Covers functional testing, initial calibration procedures
after installation, and initial sea trials.
Chapter 7: Provides general maintenance procedures.
Chapter 8: 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.
Warranty
To verify the ownership of your new autopilot control unit, 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.
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Safety Information
WARNING
Although the ST7000 Plus is designed to give accurate and reliable
performance, it should serve only as an aid to navigation and
should never lead to the erosion of good seamanship. Always
maintain a permanent watch and be aware of situations as they
develop.
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.
• Ensure someone is present at the helm AT ALL TIMES, to take
manual control in an emergency.
• As the fluxgate compass used in the autopilot system is a type of
magnetic compass, it is susceptible to disturbances in the local
magnetic fields, in the same way that a conventional ship’s compass
would be. It is therefore important that the fluxgate compass is
installed and operated in a manner that will minimise the effects of
any such local disturbances.
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.
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xiii
Preface
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 good installation
is required to ensure that performance is not compromised.
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Chapter 1: Introduction
Chapter 1: Introduction
1.1 Overview
The ST7000 Plus is a SeaTalk® compatible autopilot control unit. It
can be used either as the control unit for a Type 100/300 Course
Computer, or as a repeater, to allow control of autopilot types such as
the ST4000 Plus, from a secondary location. It can also repeat
instrument data by means of a programmable selection of Data Pages.
The autopilot system uses data transmitted from Autohelm SeaTalk
instruments:
• Wind information from a wind instrument can be used for wind
trim steering without the need to install a separate vane.
• Track information, from a navigation instrument, provides the
ability to steer from waypoint to waypoint.
• Boat speed from the Speed instrument provides optimum trackkeeping performance.
The ST7000 Plus 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.
Wind:
Autopilot maintains a course relative to an apparent
wind angle.
Manual: Autopilot power steers rudder using joystick control.
When the ST7000 Plus is being used to repeat instrument data, “popup pilot” pages are displayed whenever a change in autopilot control is
made. The duration of pop-up pilot pages is user-adjustable.
The ST7000 Plus also provides access to autopilot features such as:
• Automatic tack facility, which can be used in Auto and Wind
modes.
• Automatic compass deviation correction.
• Northerly/Southerly heading compensation.
• Automatic heading deadband – seastate control.
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• Waypoint advance feature.
• User Setup and Dealer Setup functions, to enable optimum
performance to be achieved for a wide range of different types of
vessel.
1.2 Specification
• Power Supply: 10 to 15 V DC
• Current consumption:
50 mA with display lamps off.
120 mA with display lamps set at brightest level.
• Operating temperature: 0°C to +70°C (32°F to 158°F).
• Thirteen-button illuminated keypad.
• LCD display of heading, locked course, navigational, SeaTalk and
NMEA data, with three levels of illumination.
• Two connections for SeaTalk.
• Input connection for NMEA.
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Chapter 2: Basic Operation
Chapter 2: Basic Operation
This chapter provides introductory operating information for your
ST7000 Plus. Summary diagrams of the control key functions and
screen layout are given, plus instructions for tasks such as engaging the
autopilot, operating in Auto mode, changing the display lighting, and
using Data Pages to display SeaTalk or NMEA data.
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.
&
Press to adjust calibration parameters,
response and gain
Course Change Keys
-1 = Port 1˚
+1 = Starboard 1˚
-10 = Port 10˚
+10 = Starboard 10˚
disp
Press for 1 second
for lamp control
Press +1 and +10
together for AutoTack
to starboard
Press -1 and -10
together for AutoTack
to port
Press -1 and +1
together for response
level
Press for next Data
Page. When Data
Page is displayed,
press for 1 second
for previous page
Press -1 and +1
together for 1 second
for rudder gain
resp
Press to display
response level
Press for 1 second
for rudder gain
track
Press for Track mode from Auto
Press to accept waypoint advance
Press for 1 second to skip waypoint
standby
Press for Standby
mode
Press and hold for
Setup modes
auto
Press for Auto mode
Press for 1 second
for Last Heading
Press again to
accept Last Heading
set crs
Press to set course bearing
res'm
Press to resume previous course
Press standby and auto for Wind mode
Press standby and auto for 1 second to display
Last Wind. Press again to accept Last Wind
D4206-1
Note: The up arrow, down arrow, resp, track, set crs and res’m
keys can also be used to set up and control groups of Autohelm ST60
and ST80 instruments (see Section 2.8, Remotely Controlling ST60
and ST80 Instruments and Section 4.3, Setting Up For ST60 and ST80
Remote Control).
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2.2 Display Layout
The following illustration shows all the elements, together with a brief
description, that make up the ST7000 Plus control unit LCD display.
Calibration
Indicator
Displayed on
calibration
pages
Bar Graph
The bar graph at the bottom of the display can be set up either as a
rudder position indicator, or as an error bar. If it has been set as an error
bar, the display depends on the current autopilot mode, as follows:
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Mode
Bar
Standby
Rudder position indicator, in degrees.
Auto
Heading error bar. Deviation from locked course, in degrees.
Track
Cross track error (XTE) bar. Deviation from ground track. The
bar scaling is in the currently-selected distance units
(displayed on pages showing distances).
Wind
Wind angle error bar. Deviation from locked apparent wind
angle, in degrees.
Manual
Rudder position indicator
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Chapter 2: Basic Operation
Distance Units
Distance units are shown as either nm (nautical miles) or SM (statute
miles). If neither nm nor SM is displayed, the displayed distance is in
kilometres.
2.3 Start Up Conditions
When the ST7000 Plus is first switched on, it is in Standby mode with
the display showing the vessel’s current compass heading.
You can return to manual steering at any time by pressing standby
momentarily, to return to Standby mode.
2.4 Using Auto Mode
Safety
Although autopilot control can considerably ease the task of
sailing a vessel, its use must never lead to the erosion of goodseamanship. ALWAYS maintain a permanent watch, no matter
how clear the sea may appear to be.
Remember, a large ship can travel two miles in five minutes - just
the time it takes to make a cup of coffee.
Engaging the Autopilot (AUTO)
1. Steady the vessel on the required heading.
2. Press auto.
D4208-1
• In Auto mode, the display shows the locked autopilot heading.
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Return to Hand Steering
To disengage the Autopilot and return to Standby, press standby.
• The ST7000 Plus returns to Standby mode with the display
showing the vessel’s current compass heading.
• The previous autopilot heading is memorised and can be recalled
(see Returning to Previous Locked Heading for details).
Changing Course
There are two methods for changing to a new course. You can either:
• Set a new course directly (in Auto Mode)
or
• Set up the course you want (in Auto or Standby Mode) and apply it
at a specific time (e.g. to make a course change at a predetermined
time or location), after confirming that you have set the correct
course and the direction of turn is correct.
In both cases, the +1 and +10 (starboard) and –1 and –10 (port) keys
are used to change the locked heading, in increments of 1° and 10°.
To set a new course directly, in Auto Mode, use the +1 and +10
(starboard) and –1 and –10 (port) keys as appropriate, to set the
heading you want. The autopilot will turn on to the new course
immediately it is set.
Example: a 30° course change to port = press –10 three times.
To set a new course and apply it at a predetermined time or location:
1. Press set crs. The SET COURSE screen is then displayed.
2. Use the +1 and +10 (starboard) keys or the –1 and –10 (port) keys
as appropriate to set the heading you want. The autopilot will not
accept the new heading at this stage.
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Chapter 2: Basic Operation
3. If you do not want to accept the new course at this time, either
press the disp key or allow the display to timeout (10 seconds), to
return to the pilot page.
4. To accept the new course at a later time, press set crs to re-display
the new heading.
5. Press auto. A confirmation screen is then displayed. This shows
the new heading and the direction the autopilot will steer (PORT or
STARBOARD) to achieve the new heading.
6. Press auto again. The new heading is then applied and the
autopilot assumes the new course.
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).
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• When safely clear of the obstacle, you can resume the original
course by using the course change keys (for example, press
+10 three times), or by using the previous locked heading.
Returning to the Previous Locked Heading (LAST
HEADING)
Note: The previous locked heading is the most recent heading held for
20 seconds or more.
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:
1. Press res’m. The previous locked heading is displayed for 10
seconds and an appropriate direction-to-steer indicator flashes to
show you the direction the vessel will turn if this heading is
accepted.
2. To accept the previous locked heading and resume the original
course, press auto once within this 10 second period.
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Chapter 2: Basic Operation
If you do not press auto while the display is flashing, the current
heading will be maintained.
Automatic Tack (AUTOTACK)
The ST7000 Plus can access an 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.
AutoTack to Port
•
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Press the -1 and -10 keys together to tack to port.
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Off Course Alarm
The off course alarm will sound if the locked autopilot heading and the
vessel’s current heading differ for more than 20 seconds, by more than
the alarm angle set in calibration (the factory default is 20°).
D4229-1
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
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Chapter 2: Basic Operation
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.
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 gusty 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.
2.5 Using Manual Mode
If your system is fitted with a joystick, the ST7000 Plus will enter
Manual mode when the joystick is used.
The ST7000 Plus will return to the previous operating mode when the
joystick button is released, or to Standby mode if you press the
standby key on the ST7000 Plus.
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2.6 Setting Up Backlighting and Contrast
Backlighting
To set the backlighting level:
1. Press disp for 1 second, from any mode, to enter illumination
adjustment mode and turn the lights on.
1
D4211-1
2. Press the disp key the necessary number of times to cycle to the
required illumination setting. The settings are LAMP 3, LAMP 2,
LAMP 1, LAMP OFF, LAMP 1, LAMP 2, LAMP 3 etc, with LAMP 3
being the brightest setting.
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).
Notes: If other SeaTalk instruments or autopilot control units are
connected to SeaTalk, the illumination can be adjusted from these
units.
Any illumination adjustments are lost when the unit is switched off.
The keys are still lit at a courtesy level when the display lighting is off.
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Chapter 2: Basic Operation
Contrast
To set the display contrast:
1. With the autopilot in Standby mode, hold down the disp key for
1 second to show the illumination adjust display.
2. Hold down the disp key for 1 second again, to display the
CONTRAST adjust page.
3. Use the up and down arrow keys to set the required contrast level
(from 1 to 15).
The display times out to normal operation after 10 seconds of keypad
inactivity.
2.7 Data Pages
The disp key is used to cycle through Data Pages of SeaTalk or
NMEA data. Once a Data Page is selected, this page becomes the
principal autopilot display. The autopilot mode displays (Standby,
Auto, Track Wind and Manual) then become “pop-ups”, and are
displayed whenever the autopilot mode is changed or a course change
is made. The duration of pop-up pages is user-adjustable, from 1 to 10
seconds. You can use Data Pages as follows:
• 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.
Up to 15 Data Pages are available using the disp key. The number of
pages, and the information displayed on each page, depends on the
selections made in User Setup (see Section 4.1).
The following diagram shows the default Data Page settings.
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D4212-1
• 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 INST REM (ST60/ST80 Instrument Remote
Control) and the MAXI REM (ST80 Maxiview Remote Control)
pages (if selected for display). Setting up instructions for these are
given in Chapter 4, Customising the System.
• The current autopilot mode is always shown at the top of the
display, and the autopilot bar graph remains in use.
Waypoint names
Where waypoint names have been allocated, they are displayed on the
Distance To Waypoint (DTW), Cross Track Error (XTE) and Bearing To
Waypoint (BTW) Data Pages.
D4326-1
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Chapter 2: Basic Operation
Waypoint names of five characters or less (as at A above) are displayed
at the right of the screen. Waypoint names comprising more than five
characters (as at B above) are centralised on the screen, alternating
with the Data Page name.
When waypoint names have more than nine characters, only the first
nine characters are displayed.
2.8 Remotely Controlling ST60 and ST80 Instruments
On vessels where the ST7000 Plus is used with ST60 or ST80
instrumentation, you can use the ST7000 Plus to control these
instruments (both standard 110 mm, and Maxiview instruments).
However, before attempting to operate ST60 or ST80 instruments in
this manner, ensure the instrument grouping has been defined (see
Chapter 4, Customising the System).
Select instrument
All instrument types
Controlling a standard
instrument
Replication of the key-layout of the currentlyselected standard instrument.Thus, for
example,if you press resp, the selected
instrument responds as though its left-most
key has been pressed, and so on.
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Controlling a Maxiview
instrument
Chapter
select
Page
select
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To operate ST60 or ST80 instruments from ST7000 Plus:
1. Select either the INST REM Data Page (for control of standard
instruments) or the MAXI REM Data Page (for Maxiview
instruments).
2. Using the summary of control functions shown in the following
illustration, carry out the required instrument control functions
from your ST7000 Plus.
Note: The manner used to show a currently-selected instrument
depends on the instrument type:
• On ST80 instruments, the characters are displayed in inverse video
(i.e. white characters on a black background).
• On ST60 digital instruments, a REMOTE legend is displayed.
• On ST60 analogue instruments, either one or both of the TRUE/MAG
or TRUE/APP annunciators flash on the digital display.
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Chapter 3: Advanced Operation
Chapter 3: Advanced Operation
This chapter provides information on:
• Operation in Track mode.
• Operation in Wind mode (WindTrim).
• Adjusting the response level and rudder gain.
• Alarms.
3.1 Operating in Track Mode
Track mode is used to maintain a track between two waypoints created
on a GPS, Decca, or Loran navigation system. The autopilot will then
compute any course changes to keep your boat on track, automatically
compensating for tidal streams and leeway.
The ST7000 Plus can receive cross track error (the distance your vessel
is from a planned track) from:
• A SeaTalk navigation instrument or chartplotter
or
• A non-SeaTalk navigation system transmitting data in the
NMEA 0183 format – this can be connected directly to the ST7000
Plus NMEA input, as described in Chapter 5, Installation.
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 ST7000 Plus control head can be programmed to display
various pages of navigation data, such as XTE, BTW etc. Please refer to
Chapter 4 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.
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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 0.1 nm 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 current bearing to waypoint
alternating with the direction in which the boat will turn.
Note: If the vessel is further than 0.3 nm 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.
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Chapter 3: Advanced Operation
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 0.1 nm 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 at higher speeds. Provided the tidal flow is less than 35% of the
vessel’s 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.
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• Make positive positional checks at regular intervals, especially if
navigational hazards are close by.
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 0.3 nm.
• The direction of the error is identified as Pt (port) or Stb (starboard).
• To cancel the alarm, either press standby to leave Track mode and
return to Standby mode, or press 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 vessel’s current speed.
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Chapter 3: Advanced Operation
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
performance over a wide range of vessel speeds. If speed data is
available, the ST7000 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 4).
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 pressing track. In order for the waypoint
advance function to work, there must be at least one character
difference in the names of adjacent waypoints.
Arrival
As the vessel passes the target waypoint, the navigation receiver selects
(manually or automatically) the next target waypoint.
The ST7000 Plus detects the new target waypoint number, sounds the
Waypoint Advance alarm and displays Waypoint Advance
information. This display shows the new bearing to waypoint and the
direction the boat will turn to acquire the new track.
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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
information for the next waypoint is displayed.
Advance
While the waypoint advance alarm is sounding, Track mode is
suspended and the autopilot 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.
Note: 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
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Chapter 3: Advanced Operation
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.
Position Confirmation at the Start of a Passage
At the start of a passage, 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 on sail boats and more
frequently on power boats.
• 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.
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3.2 Operating in Wind Mode (WindTrim)
Wind mode (also known as WindTrim) allows the ST7000 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 Wind mode operation
with minimal power consumption.
Wind 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.
To use Wind mode, the ST7000 Plus must receive wind information
from one of the following sources:
• SeaTalk Wind instrument, connected to a ST7000 Plus via SeaTalk.
• NMEA wind information.
• Autohelm wind vane connected to a SeaTalk interface box.
Selecting Wind Mode
Wind 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 Wind 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.
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Chapter 3: Advanced Operation
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 Wind mode.
Returning to the Previous Apparent Wind Angle
(LAST WIND)
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 res’m to display the previous apparent wind angle (LAST
WIND).
The LAST WIND text alternates with the previous wind angle and
direction (PORT or STBD). 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.
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If you do not accept the previous wind within this time, the autopilot
locks on to the current apparent wind angle.
Dodges
Full control is still available from the keypad when the autopilot is in
Wind mode.
• Dodge manoeuvres are accomplished by simply selecting the
desired course change using the course change keys
(-1, +1, -10 and +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 WIND).
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 Wind mode with
the new apparent wind angle.
Using AutoTack in Wind 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 +1 and +10 together momentarily.
• To tack to port, press -1 and -10 together momentarily.
Note: In order to obtain optimum performance when using AutoTack
in Wind mode, it is important that the wind vane is accurately centred
when it is installed.
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Chapter 3: Advanced Operation
AutoTack
Angle
Course adjustment may
be necessary to mirror
the previous apparent
wind angle
Apparent Wind Angle
D4373_1
Operating Hints
• Major changes to the selected apparent wind angle should be made
by returning to Standby mode, changing course manually, then
reselecting Wind Mode.
• Wind 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.
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3.3 Adjusting Autopilot Performance
The response level and rudder gain can be adjusted during normal
operation using the resp key.
The calibration settings for response and rudder gain (see Dealer Setup
in Chapter 4) are restored when the system is powered on.
Changing the Response Level
The response level controls the relationship between the autopilot’s
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 by applying an amount of rudder
proportional to the heading error. 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.
The response can be changed at any time. To do so:
1. Press either the resp key or press the +1 and -1 keys together
momentarily to display the Response screen.
2. Use the up-arrow and/or down-arrow keys to change the response
level.
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Chapter 3: Advanced Operation
3. Wait for 10 seconds, or press disp, to return to the previous
display.
Changing the Rudder Gain
Press either the resp key for 1 second or 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 6, 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 that are reported by the ST7000
Plus.
Unless otherwise stated, alarms can be cleared by pressing standby,
to return to the Standby mode, i.e. hand steering.
SeaTalk Failure
SEATALK alternating with FAILURE
This silent alarm indicates that the SeaTalk bus is not operating
correctly. Can only be cleared by rectifying the fault.
No Link
NO LINK
This silent alarm indicates either a faulty autopilot or a disconnection
between the ST7000 Plus and the course computer. Can only be
cleared by rectifying the fault.
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Off Course
OFF alternating with COURSE
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 Using Auto Mode in Chapter 2).
The alarm is cleared if the heading recovers or the course is changed,
or if the operating mode is changed.
Wind Shift
WIND alternating with SHIFT
This alarm is activated when a change in the apparent wind angle
requires an adjustment of the locked heading by more than 15° (see
Operating in Wind Mode in this Chapter).
Large Cross Track Error
LARGE XTE
This alarm is activated when the cross track error exceeds 0.3 nm (see
Operating in Track Mode in this Chapter).
The alarm is cleared if the cross track error falls below 0.3 nm, or if the
operating mode is changed.
Drive Stopped
DRIVE alternating with STOPPED
This alarm is activated if the autopilot is unable to turn the rudder. This
occurs if the weather load on helm is too high, or if the requested
rudder position is past the preset rudder limits or the rudder end-stops.
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.
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Chapter 3: Advanced Operation
• 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.
• Wind 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 alternating with BATTERY
The Low Battery alarm sounds when the supply voltage drops below
acceptable limits.
Press standby to clear the alarm and return to hand steering.
Start the engine to recharge the battery.
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Watch Alarm
WATCH
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 (see User Setup in Chapter 4).
To set and control the Watch alarm:
1. Select Auto, Track or Wind 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 minutes, 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 performs
the key’s normal function).
4. To clear Watch mode, press disp to display a different page, or
press standby.
Note: You cannot engage Auto mode from the Watch mode – pressing
auto merely resets the Watch timer.
Route Completed
ROUTE alternating with COMPLETED
Occurs when you have reached the last waypoint.
To cancel the alarm, select either Standby, Auto or Wind mode.
AutoRelease
AUTO alternating with RELEASE
Occurs on stern drive vessels if you manually take over steering and
the autopilot relinquishes control.
The alarm cancels automatically after 10 seconds.
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Chapter 3: Advanced Operation
Shallow
SHALLOW
Occurs when the water depth is less than the SHALLOW value defined
by the associated SeaTalk Depth instrument.
To cancel the alarm, either press any key on the ST7000 Plus or cancel
it at the Depth instrument.
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.
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Chapter 4: Customising the System
Chapter 4: Customising the System
The ST7000 Plus provides setup and configuration options that are
used to adjust the settings for the ST7000 Plus itself, the compass, and
the autopilot.
Note: You should perform the post installation procedures described
in Chapter 6 before adjusting any other calibration features.
There are two setup levels:
• User Setup, which controls pilot type set up, tack angle set up,
compass set up, rudder calibration and the ST7000 Plus display
features.
• Dealer Setup, which controls the autopilot settings, and also the
calibration lock which can be used to prevent accidental access to
User Setup.
Note: If the vessel type is changed, you must then relinearise the
fluxgate compass.
Important
If your ST7000 Plus is part of a system which includes one or more
ST80 Masterview instruments, you must turn OFF the pop-up
pilot facility on each ST80 Masterview before attempting to carry
out either User Setup or Dealer Setup at the ST7000 Plus.
Once the User Setup and/or Dealer Setup procedures have been
completed, return each ST80 Masterview to the condition it was in
prior to setting up the ST7000 Plus.
4.1 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.
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Chapter 4: Customising the System
Pilot Type
The pilot type screen enables you to define your autopilot
configuration as follows:
• DISPLACE (displacement)
• SEMI alternating with DISPLACE (semi-displacement)
• PLANING
• STERN DRV
The pilot type screen is displayed only when the User Setup routine is
entered for the first time and only when the ST7000 Plus is being used
in conjunction with a Type 100/300 Course Computer using Software
Version 11 or later.
Compass Deviation Correction (SWING COMPASS)
The compass deviation correction option allows you to correct the
compass for deviating magnetic fields. The procedure must be
performed as the first item in your initial sea trial, and is described in
detail in Chapter 6, 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 (ALIGN HDG)
The heading alignment screen shows the current reported heading.
Note: You should always check the compass alignment after
performing a compass deviation correction (see Chapter 6, 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.
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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 (BAR)
Select the type of bar graph that is shown at the bottom of the SeaTalk
displays. The options are:
BAR OFF: The bar graph is not displayed.
BAR RUDD: This shows the rudder position, and is the default
setting. Note that a rudder reference transducer is required for
accurate rudder position information.
BAR ERROR: The bar graph is used as follows:
Mode
Bar
Standby
Rudder position
Auto
Heading error bar
Track
Cross track error (XTE) bar
Wind
Wind angle error bar
Manual
Rudder position
Rudder Calibration (DOCK SIDE/RUDD CAL)
WARNING
This procedure moves the helm, and should only be used when the
vessel is at the dockside. For sterndrive systems, the engines must
be running before you start the procedure.
The Dockside Rudder Calibration function is available when the
ST7000 Plus is used with either an ST4000 Plus or ST5000 Plus
autopilot. It 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.
The auto dockside procedure is not available if the ST7000 Plus is used
with a Type 100/300 Course Computer. If you try to use this function
with a Course Computer, the display shows AUTO N/A.
If you start the procedure by mistake, press any key to cancel it.
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Chapter 4: Customising the System
Popup Timeout (POPUP/TIMEOUT)
Sets the period for which autopilot mode pages (Standby, Auto,
Track, Wind and Manual) pop up when Data Pages are displayed.
Adjustable from 1 to 10 seconds.
Auto Tack (AUTO TACK)
The Auto Tack function can only be used when the ST7000 Plus is
used with a Type 100/300 Course Computer, fitted with software
Version 11 or later.
Use the Up and Down arrow keys to set the default auto tack angle.
Data Pages (DATA PAGE)
The next 15 pages of User Setup allow you to 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 Data Pages in Chapter 2).
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 follow:
Data
Displayed as
Vessel Speed
SPEED (followed by units)
Log
LOG (followed by units)
Trip
TRIP (followed by units)
Average Vessel Speed
AV SPD (followed by units)
Wind Direction
E.g. WIND PORT
Wind Speed
WIND (followed by units)
Depth Metres
DEPTH M
Depth Feet
DEPTH FT
Depth Fathoms
DEPTH FA
Heading
HEADING
continued ...
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Data
Displayed as
Water Temperature, Degrees C
WATER ºC
Water Temperature, Degrees F
WATER ºF
Course Over Ground
COG
Speed Over Ground
SOG (followed by units)
Cross Track Error
XTE (followed by units)
Distance to Waypoint
DTW (followed by units)
Bearing to Waypoint
BTW
Watch
WATCH
Universal Time Constant
UTC
ST60/ST80 Instrument Remote Control
INST REM
Maxiview Remote Control
MAXI REM
The units displayed for all data other than depth and water temperature
depend on the currently selected SeaTalk display units.
The default pages are:
Data Page
Default Setting
1
XTE (Cross Track Error)
2
BTW (Bearing to Waypoint)
3
DTW (Distance to Waypoint)
4 to 15
NOT USED
For each setup page, scroll forwards or backwards using the +1 or -1
keys, until the required page title is displayed.
Press disp to move on to the next Data Page selection screen, and
repeat the selection procedure.
Notes:
1. 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.
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Chapter 4: Customising the System
2. There are three depth pages and two water temperature pages.
Data is displayed in the units defined by the selected page.
3. 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.
Software Version Number
To check the Version of software in ST7000 Plus, hold down the
standby key for 4 seconds.
The ST7000 Plus software version number screen and the course
computer software number screen are then displayed alternately.
Course computer
software version
ST7000 Plus
software version
D4374-1
4.2 Dealer Setup: Type 100/300 Course Computer
This section applies if you have installed the ST7000 Plus as the
control unit for a Type 100/300 Course Computer. If you are using the
ST7000 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.
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Recommended Settings
This section details the 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 adjustable features are listed in a table at the end of this section,
Use this table to 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 automatically 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.
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Chapter 4: Customising the System
Setting
Description
DISPLACE
Displacement
SEMI/ DISPLACE
Semi-displacement
PLANING
Planing
STERN DRV
Sterndrive
Default:
DISPLACE
Calibration Lock
Calibration lock controls the access to User Setup, and is intended for
charter boat users.
Setting
Description
ON
User setup locked
OFF
User setup unlocked
Default:
OFF
Rudder Gain
This must be set while under way, as described in Chapter 6, Post
Installation Procedures.
Range:
1 to 9
Default:
for Pilot Type Displacement
for Pilot Type Semi-Displacement
for Pilot Type Planing
for Pilot Type Stern drive
5
5
4
3
Rate Level
Rate Level applies rudder to reduce the rate of change of course. If the
vessel is turning at too fast a rate, the rate level will counter this turn
with opposite rudder.
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The settings available are as follows:
Range:
1 to 9
Default:
for Pilot Type Displacement
for Pilot Type Semi-Displacement
for Pilot Type Planing
for Pilot Type Stern drive
7
7
7
5
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.
Range:
15° to 40°
Default:
for Pilot Type Displacement
for Pilot Type Semi-Displacement
for Pilot Type Planing
for Pilot Type Stern drive
30°
30°
30°
20°
Turn Limit
This limits the rate of turn of your vessel when making a course change
under autopilot control. The value must be within the range 5 to 20°.
For sailboat applications it should be set to 20°.
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Chapter 4: Customising the System
Range:
5° to 20°/second
Default:
for Pilot Type Displacement
for Pilot Type Semi-Displacement
for Pilot Type Planing
for Pilot Type Stern drive
20°/second
15°/second
15°/second
08°/second
Cruise Speed
Cruise speed should be set to the boat’s normal cruising speed if boat
speed is not available via SeaTalk or NMEA – SeaTalk boat speed is
used in preference to SOG.
Range:
4 to 60 knots
Default:
for Pilot Type Displacement
for Pilot Type Semi-Displacement
for Pilot Type Planing
for Pilot Type Sterndrive
6
8
15
15
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.
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Range:
15 to 40°
Default:
20°
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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
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
Some planing and moderate to light
displacement vessels.
4
Super fast correction
Fast planing power vessels
Default:
Recommended for:
for Pilot Type Displacement
for Pilot Type Semi-Displacement
for Pilot Type Planing
for Pilot Type Sterndrive
2
3
3
3
The default setting should provide optimum performance with the
Course Computer. However, an incorrect rate of trim application may
result in poor course-keeping due to autopilot instability, depending on
the dynamic stability of the vessel.
After gaining experience with the Course Computer, 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 coursekeeping 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’.
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Chapter 4: Customising the System
Proportional applies rudder in proportion to Joystick movement - the
further the Joystick is held over the greater the applied rudder.
Bang-Bang applies continuous 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
hard over. If the lever is returned to the centre position the rudder will
remain in its current position.
Range:
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:
for Pilot Type Displacement
for Pilot Type Semi-Displacement
for Pilot Type Planing
for Pilot Type Sterndrive
3
4
4
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 between 1 to 9. Adjust the damping
one level at a time, and always use the lowest acceptable value.
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Range:
1 to 9
Default:
2
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Variation
If required, set this value to the level of magnetic variation present at
your vessel’s current position. The variation setting is sent to other
instruments on the SeaTalk system, and can be updated by other
SeaTalk instruments.
Range:
30° EAST or WEST
Default:
0°
AutoAdapt
The AutoAdapt feature allows the Course Computer to compensate for
heading errors at higher latitudes, which are caused by the increasing
dip of the earth’s 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 Course Computer can provide accurate
course-keeping by automatically adjusting the rudder gain depending
on the heading.
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Range:
OFF
nth = North
Sth = South
Default:
OFF
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Chapter 4: Customising the System
Latitude
This screen is only used if AutoAdapt is set to North or South.
Use the up and down arrow keys to set the value to your vessel’s
current latitude, to the nearest degree.
Range:
0° to 80°
Default:
0°
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.
Range:
1 = Normal setting
2 = Faster response for wind shifts
Default:
1
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
Default:
for Pilot Type Displacement OFF
for Pilot Type Semi-Displacement
for Pilot Type Planing
OFF
for Pilot Type Sterndrive
On
OFF
Response
This is the power-on response setting. The response level can be
changed during normal operation (see Section 3.3).
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Range:
1 = Auto Seastate
2 = Auto sea state inhibit
3 = Auto sea state inhibit with counter rudder
Default:
1
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Recording Calibration Settings
Having fine-tuned the calibration settings during initial sea trials,
record them in the following table for future reference.
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
4.3 Setting Up For ST60 and ST80 Remote Control
Where the ST7000 Plus is used in conjunction with ST60 or ST80
instrumentation, the ST7000 Plus can be used to control the ST60
or ST80 instruments by duplicating the functions of the Remote
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Chapter 4: Customising the System
Keypads used by these instruments, to allow you to operate your
autopilot and ST60/ST80 instruments from the same location.
Instrument Grouping
Control of ST60 and ST80 instruments is achieved by allocating
groups of instruments to Remote Control Keypads (in this case, the
ST7000 Plus is used as one such keypad). The ST7000 Plus uses INST
REM and MAXI REM Data Pages, to control standard (110 mm) and
Maxiview instrument groups, respectively. Each ST7000 Plus can
control one group of up to eight ST60 or ST80 standard instruments
and another group of up to eight ST80 Maxiview instruments.
Before an ST7000 Plus can be used to remotely control other
instruments, you must first define the instrument grouping and then
allocate the ST7000 Plus to the required group.
Setting Up Groups
Grouping allows you to create up to eight standard instrument and
eight Maxiview instrument groups:
• Each group can have up to eight instruments.
• Each group must have one or more Remote Keypads or an ST7000
Plus grouped to it.
• Each ST7000 Plus can be grouped with one Maxiview group and
one standard instrument group.
• Each instrument in a group has a unique alphanumeric identity (e.g.
A1, where A defines the group and 1 the instrument sequence
number within the group). Standard ST60 or ST80 instruments are
assigned group letters from A to H. Maxiview instruments are
assigned group letters from J to Q. Ungrouped instruments have a
dash (-) in place of a group letter.
• The instrument sequence number range is from 1 to 8.
For the purposes of conciseness, the ST7000 Plus keys used to control
groups of ST60 or ST80 instruments are referred to in this handbook as
the instrument group keys. The instrument group keys are:
• For standard instruments, resp, track, set crs, res’m, down arrow
and up arrow.
• For Maxiview instruments, resp, track, down arrow and up arrow.
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Grouping Standard Instruments
The instrument group key functions for setting up ST60 and ST80
standard instrument groups are shown in the following illustration.
When setting up an instrument group, you need to understand the
indications which show when an instrument is selected. This depends
on instrument type as follows:
• On selected ST80 instruments, the characters are displayed in
inverse video (i.e. white characters on a black background).
• On selected ST60 digital instruments, a REMOTE legend is
displayed.
• On selected ST60 analogue instruments, either one or both of the
TRUE/MAG or TRUE/APP annunciators flash on the digital display.
To set up a standard instrument group:
1. At the ST7000 Plus, select the INST REM Data Page.
2. Press one of the instrument group keys so that one of the ST60 or
ST80 instruments is selected.
3. Hold down the up and down arrow keys for 4 seconds, to put all
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Chapter 4: Customising the System
the standard instruments and the ST7000 Plus into group setup
mode. When this occurs, one standard instrument is selected with
a flashing cursor, and the ST7000 Plus screen text will alternate
between INST REM and DSP SETUP.
4. At the ST7000 Plus, use the up arrow or down arrow key to select
an instrument to be the first in the group.
5. Use the ST7000 Plus to allocate a group letter and sequence
number to the selected instrument. To do this, use the track key to
toggle between group letter and sequence number, and the set crs
key to set the identifying character. When the instrument has been
properly identified it should display its group letter and sequence
number, e.g. A2.
Note: All standard instruments are selectable while in group setup
mode.
6. Press either the up arrow or down arrow key to select another
instrument and repeat the procedure in step 5.
7. Repeat the procedures in steps 5. and 6. until all instruments in the
group have been identified.
Note: If you have more than eight ST60 or ST80 instruments, a second
group, operated by another remote keypad, must be created. The
identification code for additional keypads and display heads would be
for example, B1, B2 etc.
8. Use the arrow keys to select one of the ST60 or ST80 instruments
in the group to which you want to allocate the ST7000 Plus as a
keypad.
9. Hold down the up and down arrow keys together for 1 second.
The ST7000 Plus screen text will alternate between INST REM and
KPD SETUP, and each of the instruments in the selected group will
display prompt messages similar to the following.
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10. Press one of the instrument group keys on the ST7000 Plus to
allocate it to the selected group of instruments.
11. If you are creating more than one group, repeat the procedures
described in actions 3 to 10.
12. When all instrument groups have been set up, hold down the
track and set crs keys for 1 second, to return to group setup
mode.
13. Hold down the track and set crs keys for 2 seconds, to return to
normal operation.
Grouping Maxiview Instruments
The instrument group key functions for setting up Maxiview
instrument groups are as follows:
Select the required Maxiview instrument
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Chapter 4: Customising the System
To set up a Maxiview instrument group:
1. At the ST7000 Plus, select the MAXI REM Data Page.
2. Press one of the instrument group keys so that one of the
Maxiview instruments is selected (indicated by inverse display
characters on the selected instrument).
3. Hold down the up and down arrow keys for 4 seconds, to put all
the Maxiview instruments and the ST7000 Plus into group setup
mode. When this occurs, one Maxiview instrument displays
reverse video with a flashing cursor, and the ST7000 Plus screen
text will alternate between MAXI REM and DSP SETUP.
4. At the ST7000 Plus, use the up arrow or down arrow key to select
an instrument to be the first in the group, i.e. so the required
instrument changes to inverse video.
5. Use the ST7000 Plus to allocate a group letter and sequence
number to the selected Maxiview. To do this, use the resp key to
toggle between group letter and sequence number, and the track
key to set the identifying character. When the Maxiview
instrument has been properly identified it should display its group
letter and sequence number, e.g. J2.
Note: All Maxiview instruments are selectable while in group setup
mode.
6. Press either the up arrow or down arrow key to select another
Maxiview instrument, and repeat the procedure in step 5.
7. Repeat the procedures in steps 5. and 6. until all instruments in the
group have been identified.
Note: If you have more than eight Maxiview instruments, a second
group, operated by another remote keypad, must be created. The
identification code for additional keypads and display heads would be
for example, K1, K2 etc.
8. Use the arrow keys to select one of the Maxiview instruments in
the group to which you want to allocate the ST7000 Plus as a
keypad.
9. Hold down the up and down arrow keys together for 1 second.
The ST7000 Plus screen text will alternate between MAXI REM and
KPD SETUP, and each of the Maxiview instruments in the selected
group will display prompt messages similar to those for the
standard instrument.
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10. Press one of the instrument group keys on the ST7000 Plus to
allocate it to the selected group of display heads.
11. If you are creating more than one group, repeat the procedures
described in actions 3 to 10.
12. When all instrument groups have been set up, hold down the resp
and track keys for 1 second, to return to group setup mode.
13. Hold down the resp and track keys for 2 seconds, to return to
normal operation.
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Chapter 5: Installation
Chapter 5: Installation
5.1 Planning the Installation
This chapter explains how to install and connect the ST7000 Plus
autopilot control unit. Before starting the installation, decide how you
will site the unit and run the cables.
EMC Installation Guidelines
The design and manufacture of Raytheon equipment and accessories
conforms to the appropriate Electromagnetic Compatibility (EMC)
standards, but good installation is required to ensure that performance
is not compromised.
To avoid the risk of operating problems, all Raytheon equipment and
cables connected to it should be:
• At least 1 m 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.
• More than 2 m from the path of a radar beam. A radar beam can
normally be assumed to spread 20° 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.
• Genuine Raytheon cables should be used at all times. Cutting and
rejoining these cables can compromise EMC performance and so
should be avoided unless called for 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 to facilitate installation
it must be reassembled in the same position.
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.
The following illustration shows the range of suppression ferrites fitted
to Raytheon equipment.
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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.
5.2 Instrument
Siting
CAUTION
The instrument must be installed so that the rear case is protected
from water. The presence of moisture could cause damage either
by entering the instrument through the breathing hole or by
coming into contact with the electrical connectors at the rear.
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Chapter 5: Installation
The instrument can be installed either above or below deck, provided
the rear of the instrument is sited where it is protected from contact
with water.
The instrument must also be positioned where it is:
• Within easy reach of the steering position.
• Protected from physical damage.
• At least 230 mm from any compass.
• At least 500 mm from any radio/radar receiving/transmitting
equipment.
Mounting Procedure
1
2
3
1 Cable boss 2 Fixing studs 3 Thumb nuts
Note: Always leave a 6 mm gap between adjacent display heads to
allow the protective sun covers to be fitted.
1. Use the template provided (after the Index in this handbook) to
mark the hole centres for the fixing stud and the cable boss.
2. Drill four 5 mm 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 diameter cutter to drill the hole for the cable boss (1).
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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 a wrench be used to tighten the
thumb nuts.
Power
Power to the ST7000 Plus should be supplied by the associated
autopilot, in accordance with the instructions in the relevant autopilot
handbook.
Connections to the SeaTalk Bus
SeaTalk Cables
The ST7000 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
D188
Flat to a female round connector
0.3 m
D284
Flat moulded plugs at both ends
1m
D285
Flat moulded plugs at both ends
3m
D286
Flat moulded plugs at both ends
6m
D287
Flat moulded plugs at both ends
9m
Cable Types
The following illustration shows the different types of SeaTalk cables
available.
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Chapter 5: Installation
D3445-1
Typical SeaTalk Cabling
5.3 NMEA Interface
ST7000 Plus accepts NMEA navigation data for display and use in
Track and Wind 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.
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Navigator
with NMEA output
Red
(Data In +ve)
Blue
(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. Incorrectly fitted connectors will give
intermittent contact and result in faulty control unit operation.
NMEA Data
The following NMEA 0183 wind and navigation data can be decoded
by the ST7000 Plus.
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Chapter 5: Installation
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, RMA
Cross Track Error
APB, APA, RMB, XTE
Bearing to Waypoint
APB, BWR, BWC, RMB
Distance to Waypoint
BWR, BWC, RMB
Waypoint Number
APB, APA, BWR, BWC, RMB
Apparent Wind Speed
VWR, MWV
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 ST7000 Plus 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 depth page in the
data page rollover. Water temperature is always transmitted in ºC.
If you wish to transmit NMEA information to other equipment a
SeaTalk-to-NMEA bridge should be installed.
5.4 Functional Test (Repeater Unit)
If you have installed your ST7000 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 ST7000 Plus as the
only control unit for a Type 100/300 course computer, you should now
carry out the procedures in Chapter 6, Post Installation Procedures.
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Switch On
Having installed your ST7000 Plus, switch on the main power breaker.
If the instrument is active and the system is operating, the following
will occur:
• The instrument beeps and displays the control unit type, ST7000+.
• After the control unit type has been displayed for 2 seconds, the
Standby mode screen should be displayed.
D4236-1
This shows that the control head is active. If the above events do not
occur, check the fuse/circuit breaker.
If the text SEATALK FAILURE or NO LINK is displayed, check the SeaTalk
cables between the ST7000 Plus control head and the Course
Computer.
Navigation Interface (GPS, Decca, Loran)
If the ST7000 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.
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Chapter 5: Installation
SeaTalk Interface
If the ST7000 Plus has been linked to other 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 ST7000 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 ST7000 Plus control unit and the
instruments/control unit.
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Chapter 6: Post Installation Procedures
Chapter 6: Post Installation Procedures
This chapter applies to systems where the ST7000 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 autopilot’s operation and check the rudder gain.
Further customisation can be performed after the sea trial, as described
in Chapter 4.
6.1 Functional Test and Initial Calibration
Switch On
Having installed your ST7000 Plus system, switch on the main power
breaker. If the instrument is active and the system operating, the
following will occur:
• The instrument beeps and displays ST7000+.
• If either the Pilot Type has not been set, or compass linearisation or
compass alignment have not been carried out, then the display will
flash between CALIBRATE and REQUIRED, for approximately
4 seconds, after which time the STANDBY screen is displayed.
• In all other cases, the STANDBY screen is displayed 2 seconds after
the ST7000+ screen.
This shows that the instrument is active.
• If the instrument does not beep or the display is blank, check the
fuse/circuit breaker.
• If the SEATALK FAILURE or NO LINK alarm is displayed, check the
SeaTalk connections.
Initial Calibration
Set up the correct Pilot Type as described in Chapter 4.
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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:
1. In Standby mode, move the wheel to produce a starboard turn, and
check that the rudder angle displaymoves to the right. If the rudder
angle display moves to the left, the red and green wires from the
rudder reference transducer must be reversed.
2. Press auto.
3. Press the +10 key. The helm should move to produce a turn to
starboard.
4. If the helm produces a turn to port, reverse the motor connections
at the course computer.
5. If the helm overshoots and has to drive back or starts to hunt back
and forth, you need to increase the Rudder Damping, described
under Dealer Setup in Chapter 4.
Navigation Interface (GPS, Decca, Loran)
If the ST7000 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:
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Chapter 6: Post Installation Procedures
• 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.
Wind Transducer Interface
If the ST7000 Plus is connected to a wind instrument via its NMEA
data port or SeaTalk, then the link between the two instruments should
be checked by pressing standby and auto together.
The ST7000 Plus should display the Wind mode screen, with the
locked wind angle and locked heading as shown.
SeaTalk Interface
If the ST7000 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.
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The ST7000 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 ST7000 Plus control head and the
instruments/control unit.
EMC Conformance
The design and manufacture of Autohelm equipment and accessories
conforms to the appropriate Electromagnetic Compatibility (EMC)
standards, but good 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.
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.
6.2 Initial Sea Trial
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 ST7000 Plus has a built-in calibration capability which
enables the autopilot 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 under the following
conditions:
• After all the successful completion of the installation procedure,
functional testing and initial calibration.
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Chapter 6: Post Installation Procedures
• 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 4.
• 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.
Automatic Compass Deviation Correction
The autopilot 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. If CAL LOCK is displayed, you need to turn off the
lock feature contained in Dealer Setup (see Chapter 4).
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3. Press the disp key to move on to the Swing Compass page.
4. Press the +1 or -1 key to change the setting from OFF to YES. The
Turn Boat page is then displayed.
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.
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Chapter 6: Post Installation Procedures
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.
8. Use the +1,-1, +10 and -10 keys, to adjust the displayed heading,
until it agrees with the ship’s 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.
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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 a small error (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.
Checking Autopilot Operation
Having calibrated the compass the following procedure 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
autopilot’s steering characteristics.
It is particularly important that the rudder gain is set correctly on highspeed craft. Incorrect adjustment will lead to poor steering
performance and is a dangerous condition at high speed.
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Chapter 6: Post Installation Procedures
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 (as at A below).
• An excessively high rudder setting results in oversteer. This is
recognised by a distinct overshoot of more than 5° (as at B
below). 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 (as at C
below). If the vessel takes a long time to make the turn and
there is no overshoot then the rudder setting is too low.
D4234-1
These actions are most easily recognised in calm sea
conditions where wave action does not mask basic steering
performance.
2. Refer to Chapter 4, 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 Adjusting Autopilot Performance in Chapter 2).
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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.
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Chapter 7: Maintenance
Chapter 7: 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
ST7000 Plus. If it 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
• Autohelm equipment should be serviced only by authorised
Autohelm service engineers. They will ensure that service
procedures and replacement parts used will not affect performance.
There are no user serviceable parts in any Autohelm product.
• Some products generate high voltages, and so never handle the
cables/connectors when power is being supplied to the equipment.
• Always report any problem related to Electromagnetic
Compatibility (EMC) to your nearest Autohelm dealer. We will use
any such information to improve our quality standards.
Product Support
If any difficulties arise with this product, please contact the Autohelm
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 instrument, 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 a fault cannot be traced or rectified, please contact your nearest
Autohelm dealer or Service Centre.
Always quote the product serial number, which is printed on the rear
cover, and the software version number, which you can see by
pressing standby for 4 seconds.
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Chapter 8: Fault Finding
Chapter 8: Fault Finding
All Autohelm 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 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 trackholding 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 boat’s cruising speed.
The autopilot appears to be unstable on Northerly headings
in the Northern hemisphere or 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.
The autopilot will not talk to other SeaTalk instruments (may
be indicated by a SEATALK FAILURE alarm )
• Cabling problem – make sure all the cables are connected properly.
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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.
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Index
Index
A
Adjusting
Autopilot performance 28
Locked wind angle 25
Response levels 28
Rudder Gain 29
Advance 22
Advanced Operation 17
Alarms 29
AutoRelease 32
Drive stopped 30
Large XTE 30
Low battery 31
Man overboard (MOB) 33
Next WPT 31
No data 30
No link 29
Off course 30
Route completed 32
SeaTalk failure 29
Shallow 33
Watch 32
Wind shift 30
Auto mode 5
Course changes 10
Dodging obstacles 7
Major course changes 10
AutoAdapt 48
Automatic acquisition 18
Automatic deadband 28
Automatic tack (AutoTack) 9
Automatic track acquisition 18
Autopilot performance adjustment
AutoRelease 49
Alarm 32
AutoSeastate 28
AutoTack
In Wind mode 26
To Port 9
To Starboard 9
AutoTrim 46
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B
Backlighting 12
Bar graph 4
Bar selection 38
Basic operation 3
C
Cabling 58
Checking condition 77
Calibration lock 43
Cancelling a dodge manoeuvre 22
Checking autopilot operation 74
Checking rudder gain 74
Cleaning 77
Compass
Alignment 73
Deviation correction 71
Deviation correction requirement 37
Condensation 77
Connections to the SeaTalk bus 60
Contrast adjustment 13
Course change keys 6
Course changes under autopilot control 10
Cross track error (XTE) 20
Cruise speed 45, 49
Customising the autopilot 35–56
D
Data not received 30
Data Pages 13, 39
Setting up 39
Deadband 28
Dealer setup 41, 41–56
Deviation 72
Deviation display 37
Display 4
Display contrast 13
Dodges 22, 26
Dodging obstacles
Auto mode 7
Track mode 22
Wind mode 26
Drive Stopped alarm 30
Drive type 47
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Index
E
EMC
Conformance xiii, 70
Installation guidelines 57
Engaging the autopilot 5
F
Fault finding 79
Front Panel 3
Functional test as Repeater Unit
63
G
Graph use
38
H
Hand steering 6
Heading alignment 37
Checking after compass swing
Heading bar 4
Heading mode 38
74
I
Initial calibration 67
Initiating a dodge manoeuvre
Initiating Track mode 17
Installation 57
Interfaces 64
22
J
Joystick control
11
K
Key functions 3
L
Large Cross Track Error
Alarm 20
Last heading 8
Latitude 49
Locked wind angle 25
Low battery alarm 31
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M
Magnetic variation 48
Maintenance 77
Major course changes 10
Man Overboard (MOB) alarm 33
Manual acquisition 19
Manual mode 11
Manual steering 6
Manual track acquisition 19
Minimum deadband 28
N
Navigation data displays 13
Navigation interface (GPS, Decca, Loran)
NEXT WPT 31
NMEA
Cable Connectors 62
Data Transmission 62
Interface 61
No Data alarm 30
No Link alarm 29
64, 68
O
Off Course alarm 10, 30, 45
clearing 30
Operating modes 1
Operating sense 68
Operation in Wind mode 24
P
Performance 28
Pilot type 42
Planning the installation 57
Plot frequency 23
Position confirmation at the start of a passage
Post installation procedures 67
Power requirement 2
Power steer 46
Previous apparent wind angle 25
Previous heading 8
Product support 77
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Index
R
Recommended Settings 42
Recording calibration settings 50
Response levels 49
Adjusting 28
Returning to the previous locked heading
Route completed alarm 32
Rudder bar 38
Rudder calibration 38
Rudder damping 47
Rudder gain 29, 43, 74
Rudder limit 44
8
S
Safety xii, 5, 23, 77
Sea trial 70
SeaTalk interface 65, 69
Data displays 13
Failure 29
Typical cabling 61
Servicing 77
Set Course screen 6
Setting waypoints 23
Shallow alarm 33
Skipping a waypoint 22
Software version number 41
ST60 and ST80 instruments
Controlling with ST7000 Plus 15
Setting up for use with ST7000 Plus
Standby mode 6
Start up conditions 5
Steering bar 38
Swinging the compass 71
Switch on 67
System testing 67–76
50
T
Testing the system 63, 67–76
Tidal stream compensation 21
Track acquisition 17
Track mode 17–18
Turn limit 44
Turn rate level 43
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U
User setup
35
V
Variation 48
Verifying computed positions
23
W
Warranty xi
Watch alarm 31
Waypoints
Arrival and advance 21
Setting 23
Skipping 22
Waypoint names 14
Wind angle error bar 4
Wind mode 24
Wind shift alarm 26, 30
Wind transducer interface 69
WindTrim 24, 49
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Drill 5mm
1
Machine hole
90mm diameter
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Drill 5mm
Drill 5mm
D4235-1
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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 owner’s 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_3
21st October 1998
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United States of America
Raytheon Marine Company
Recreational Products
676 Island Pond Road
Manchester, NH 03109-5420
U.S.A.
UK, Europe, Middle East, Far East
Raytheon Marine Company
Recreational Products
Anchorage Park, Portsmouth
PO3 5TD, England
Tel
Fax
603-647-7530
603-634-4756
Tel
Fax
Fax
(44) 1705 693611
(44) 1705 694642
Customer support (44) 1705 661228
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
Purchase date
Purchased from
Dealer Address
Installation date
Installed by
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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NO POSTAGE
NECESSARY
IF MAILED
IN THE
UNITED STATES
BUSINESS REPLY MAIL
FIRST CLASS MAIL PERMIT NO. 369 MANCHESTER NH
POSTAGE WILL BE PAID BY ADDRESSEE
07/01/99, 12:44
Attn: Warranty Department
Raytheon Marine Company
Recreational Products
676 Island Pond Road
Manchester NH 03109-9953
USA
North and South America
Detach and mail this portion within 48 hours.
To validate the warranty, the customer or dealer must fill in
the requested information below and mail to address shown
on front.
Retain other portion for your records.
Purchased from
Installation date
Stick barcode label here
Installed by
Commissioning date
Purchase date
Commissioned by
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Owner’s name
Mailing address
Owner’s occupation
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6
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Note: This information is held by Raytheon Marine only
and shall not be made available to any other companies.
Raytheon Marine may send you mailshots/details of any
new products.
❐
Please tick this box
if you do not wish to receive any
further information from Raytheon Marine.
NO STAMP REQUIRED IF POSTED IN THE UK.
07/01/99, 12:44
Raytheon Marine Company
Recreational Products
Freepost PT 1127
Portsmouth
PO3 5BR
England
UK, Europe, Middle East and Far East
Detach and mail this portion within 48 hours.
To validate the warranty, the customer or dealer must fill in
the requested information below and mail to address shown
on front.
Retain other portion for your records.
Purchased from
Installation date
Stick barcode label here
Installed by
Commissioning date
Purchase date
Commissioned by
Boat’s name/type//location
Dealer address
Owner’s name
Mailing address
Owner’s occupation
07/01/99, 12:44
8
118warry.p65