Autohelm ST5000 PLUS SAILPILOT User Manual

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.

ST5000 Plus SailPilot

Owner’s Handbook

Document number: 81136-4 Date: May 2001

Preface

SailPilot

Rudder Reference Unit

Boat's Electrical

Distribution Panel

ST5000 Plus Control Head

Fluxgate Compass SeaTalk Instruments

D3559-1

ST5000 Plus SailPilot Owner’s Handbook

Raymarine, as part of its commitment to continuous improvement and updating, reserves 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 Raymarine Ltd.

WindTrim, AutoTack, AutoTrim, Auto Seastate, Autoadapt and Auto Dockside are trademarks of

Raymarine Ltd.

Preface

Contents

iii

Preface....................................................................................ix

How this handbook is organised ......................................ix

Warranty........................................................................... ix

Safety information............................................................. x

EMC conformance ............................................................ x

Chapter 1: Introduction......................................................... 1

1.1 Overview..................................................................... 1

1.2 Extended systems ........................................................ 2

1.3 Specification ............................................................... 2

Chapter 2: Basic Operation ................................................... 3

2.1 Key functions ..............................................................3

2.2 Display layout ............................................................. 4

2.3 Using Auto mode ........................................................ 5

Engaging the Autopilot (Auto) .................................... 5

Disengaging the autopilot (Standby) to return to hand

steering ........................................................................ 5

Changing course in Auto mode ................................... 6

Dodging obstacles in Auto mode ................................ 6

Returning to the previous locked heading ................... 7

Automatic tack (AutoT ack) ......................................... 7

AutoTack to starboard ........................................... 8

AutoTack to port.................................................... 8

Off course alarm.......................................................... 8

Operating hints ............................................................ 9

Making major course changes ............................... 9

Course changes under autopilot control ................ 9

Gusty conditions ..................................................10

2.4 Display and keypad illumination .............................. 10

2.5 Data pages................................................................. 11

ST5000 Plus SailPilot Owner’s Handbook

Chapter 3: Advanced Operation ......................................... 13

3.1 Operation in Track mode .......................................... 13

Initiating Track mode ................................................ 13

Automatic acquisition .......................................... 14

Manual acquisition .............................................. 15

Cross track error ........................................................ 16

Tidal stream compensation........................................ 16

Waypoint arrival and advance ................................... 17

Arrival.................................................................. 17

Skipping a waypoint – SeaT alk navigators only..18

Advance ............................................................... 18

Dodges....................................................................... 18

Initiating a dodge manoeuvre .............................. 18

Cancelling a dodge manoeuvre............................18

Safety.........................................................................18

Position confirmation at the start of a passage .... 19

V erifying computed positions.............................. 19

Plot frequency......................................................19

Setting waypoints.................................................19

General ................................................................ 19

3.2 Operation in Vane mode (WindTrim) ....................... 19

Selecting Vane mode ................................................. 20

Adjusting the locked wind angle ............................... 20

Returning to the previous apparent wind angle ......... 21

Dodges....................................................................... 21

Wind shift alarm ........................................................ 21

Using AutoT ack in Vane mode.................................. 22

Operating hints .......................................................... 23

3.3 Adjusting autopilot performance .............................. 23

Changing the response level (AutoSeastate) ............. 23

Changing the rudder gain .......................................... 24

Preface

3.4 Alarms.......................................................................24

SeaT alk failure..................................................... 24

Off course ............................................................ 24

Wind shift ............................................................ 25

Large cross track error......................................... 25

Drive stopped....................................................... 25

Data not received ................................................. 25

W aypoint advance................................................ 26

Low battery.......................................................... 26

Watch alarm ......................................................... 26

Shallow alarm ...................................................... 27

Man overboard (MOB)........................................27

Chapter 4: Customising the ST5000 Plus ........................... 29

4.1 User setup ................................................................. 29

Compass deviation correction ................................... 31

Deviation display....................................................... 31

Heading alignment .................................................... 31

Heading mode ........................................................... 31

Bar selection..............................................................31

Data pages ................................................................. 32

4.2 Dealer setup .............................................................. 34

Calibration lock ......................................................... 36

Pilot type ................................................................... 36

Rudder gain ............................................................... 37

Response ................................................................... 37

Turn limit................................................................... 37

Align rudder (Rudder Offset) .................................... 37

Rudder limit............................................................... 37

Off Course alarm ....................................................... 38

AutoTack angle ......................................................... 38

AutoTrim ................................................................... 38

ST5000 Plus SailPilot Owner’s Handbook

Drive type.................................................................. 39

Variation .................................................................... 39

AutoAdapt ................................................................. 39

Latitude ..................................................................... 40

Rudder damping ........................................................40

Cruise speed .............................................................. 40

Chapter 5: Installation ........................................................ 41

5.1 Planning the installation............................................ 41

EMC installation guidelines ...................................... 41

Suppression Ferrites .................................................42

Connections to other equipment .......................... 42

Cabling ...................................................................... 42

5.2 Control head..............................................................43

Siting ......................................................................... 43

Mounting procedure ..................................................43

Surface mounting ................................................. 44

Flush mounting .................................................... 45

Cable connectors ....................................................... 46

Power supply connection........................................... 46

Connection to the SeaT alk bus .................................. 47

SeaT alk Cables .................................................... 47

Cable T ypes ......................................................... 48

T ypical SeaTalk Cabling ...................................... 48

5.3 Fluxgate compass...................................................... 48

Mounting location for steel-hulled vessels................ 49

Installing the fluxgate compass ................................. 50

Cabling ...................................................................... 51

5.4 Rudder reference transducer ..................................... 51

Mounting position ..................................................... 51

Control dimensions.................................................... 52

Installing the rudder reference transducer ................. 52

Cabling ...................................................................... 53

Preface

vii

5.5 SailPilot linear drive installation...............................54

Mounting the drive unit ............................................. 55

Drive unit cabling ...................................................... 56

5.6 NMEA interface........................................................57

Cabling ...................................................................... 57

NMEA data transmission to other equipment ........... 57

Data formats ..............................................................58

Transmission of NMEA data on SeaTalk ............ 58

Chapter 6: Post Installation Procedures ........................... 59

6.1 Functional test ........................................................... 59

Switch on ................................................................... 59

Operating sense ......................................................... 60

Navigation interface (GPS, Decca, Loran)................60

Wind transducer interface ......................................... 61

SeaTalk interface.......................................................61

6.2 Dockside procedure .................................................. 62

6.3 Initial sea trial ........................................................... 62

EMC conformance .................................................... 62

Overview ................................................................... 62

Automatic compass deviation correction .................. 63

Further heading alignment adjustment ...................... 67

Checking autopilot operation .................................... 67

Checking the rudder gain .......................................... 67

Chapter 7: Maintenance ...................................................... 71

General ...................................................................... 71

Servicing and Safety..................................................71

Advice ....................................................................... 71

Chapter 8: Fault Finding ...................................................... 73

Index ...................................................................................... 75

viii

ST5000 Plus SailPilot Owner’s Handbook

Preface

This handbook contains information on the operation and installation of your new equipment. In order to obtain the best performance from your autopilot, please read this handbook thoroughly.

How this handbook is organised

This handbook is divided into the following chapters:

Chapter 1: Introduces the autopilot, its features and its use. Chapter 2: Covers basic autopilot operation. Chapter 3: Explains how to use Track and Vane (WindTrim) modes

and adjust autopilot performance, and summarises the ST5000 Plus alarms.

Chapter 4: Provides details on how to make adjustments to customise the autopilot to your particular vessel.

Chapter 5: Explains how to install your autopilot and its components. Chapter 6: Covers functional testing and dockside procedures after

installation, and initial sea trials.

Warranty

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 templates

for the installation of the control head, SeaTalk deck connector and rudder reference transducer.

To verify the ownership of your new autopilot, please take a few minutes to complete the warranty card. It is important that you complete the owner information and return the card to the factory to receive full warranty benefits.

Safety information

Passage making under autopilot control is an enjoyable experience that can, if you are not careful, lead to the relaxation of the permanent watch. A permanent watch MUST be maintained no matter how clear the sea may appear to be.

Remember, a large ship can travel two miles in five minutes – just the time it takes to make a cup of coffee.

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.

ST5000 Plus SailPilot Owner’s Handbook

Your Raymarine autopilot will add a new dimension to your boating enjoyment. However, it is the responsibility of the skipper to ensure the safety of the vessel at all times by careful observance of these basic rules.

EMC conformance

All Raymarine equipment and accessories are designed to the best industry standards for use in the leisure marine environment.

Their design and manufacture conforms to the appropriate Electromagnetic Compatibility (EMC) standards, but correct installation is required to ensure that performance is not compromised.

Chapter 1: Introduction

1.1 Overview

The ST5000 Plus is a SeaTalk® compatible autopilot available for SailPilot linear drive steering systems, which can also repeat instrument data in a programmable selection of Data Pages.

The ST5000 Plus can share all data transmitted from other Raymarine SeaTalk instruments:

• Wind information from a wind instrument can be used for wind trim (Vane) steering without the need to install a separate vane.

• Track information, from a navigation instrument, provides waypoint control from the autopilot.

• Boat speed from the Speed instrument provides optimum trackkeeping performance.

The ST5000 Plus autopilot can also be used with any navigator (GPS, Decca, Loran) transmitting NMEA 0183 data.

There are four operating modes:

Standby: Autopilot disengaged Auto: Autopilot engaged and locked onto a heading Track: Autopilot maintains a track between two waypoints created

using a navigation system

Vane: Autopilot maintains a course relative to an apparent wind

angle

When the ST5000 Plus is being used to repeat instrument data, “pop-up pilot” pages are displayed for 5 seconds whenever a change in autopilot control is made.

The ST5000 Plus also provides the following:

• Automatic tack facility, which can be used in Auto and Vane modes

• Automatic compass deviation correction

• Northerly/Southerly heading compensation

• Automatic heading deadband – seastate control

• Waypoint advance feature

• Setup and calibration options to suit each installation, giving maximum performance with many types of boat, with three calibration menus (user, intermediate and dealer)

1.2 Extended systems

The ST5000 Plus is compatible with other Raymarine SeaTalk instruments.

Additional fixed and hand-held SeaTalk autopilot control units can be connected at secondary steering and control positions.

1.3 Specification

• Power Supply: 10 to 15 V dc

• Drive mechanism: Linear drive unit, high current FET drive

• Current consumption: Standby: 60 mA (less than 200 mA with full lighting) Auto: between 0.5 A and 1.5 A depending on drive type, boat trim, helm load and sailing conditions

• Operating temperature: 0°C to +70°C (32°F to 158°F)

• Eight button illuminated digital keypad

• LCD display of heading, locked course and navigational data, with three levels of illumination

• Input connections for SeaTalk, power, fluxgate compass, rudder reference unit and NMEA

• Output connections for: SeaTalk, clutch drive and motor drive

• Clutch current limit: 2 A

ST5000 Plus SailPilot Owner’s Handbook

Chapter 2: Basic Operation

This chapter first provides summary diagrams of the key functions and screen layout. It then gives operating instructions for engaging the autopilot and using Auto mode, changing the lighting, and displaying Data Pages.

2.1 Key functions

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

-1 plus +1

Press for Response level

-1 plus -10

Press together for AutoTack to port

DISP

Press for Data Page

Press for 1 second for lamp control

Press for 1 second

for Rudder Gain

+1 plus +10

Press together for AutoTack to starboard

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

Course Change Keys

Port 1˚ Starboard 1˚

Port 10˚ Starboard 10˚

STANDBY plus AUTO

Press for Vane mode

Press for 1 second for Last Wind

Press again to accept Last Wind

AUTO

Press for Auto mode Press for 1 second

for Last Heading

Press again to accept Last Heading

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• The autopilot always powers up in Standby mode.

• Course changes can be made at any time using the –1, +1, –10 and +10 keys.

• You can return to manual steering at any time by pressing standby.

2.2 Display layout

The following illustration shows all the elements, together with a brief description, that make up the ST5000 Plus autopilot LCD display.

ST5000 Plus SailPilot Owner’s Handbook

Rudder or Steer Direction Indicator

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

Mode Bar

Standby Rudder bar for systems with a rudder reference transducer

Auto Heading error bar

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

Vane Wind angle error bar

• If neither distance units (nm or SM) is displayed, the distance is in Km.

Chapter 2: Basic Operation

2.3 Using Auto mode

Engaging the Autopilot (Auto)

1. Steady the vessel on the required heading.

2. Press auto.

• In Auto mode, the display shows the locked autopilot heading.

CAUTION:

Remember, a large ship can travel two miles in five minutes – just the time it takes to make a cup of coffee.

Disengaging the autopilot (Standby) to return to hand steering

• Press standby.

• In Standby mode, the display shows the vessel’s current compass heading.

• The previous autopilot heading is memorised and can be recalled (see below).

ST5000 Plus SailPilot Owner’s Handbook

Changing course in Auto mode

The +1 and +10 (starboard) and –1 and –10 (port) keys are used to change the locked heading, in increments of 1° and 10°, when the autopilot has control.

Example: a 30° course change to port = press –10 three times.

Dodging obstacles in Auto mode

In order to avoid an obstacle when your vessel is under autopilot control, select a course change in the appropriate direction (for example, port 30° = press –10 three times).

When safely clear of the obstacle, you can reverse the previous course change (for example, press +10 three times), or return to the previous locked heading (LAST HDG).

Chapter 2: Basic Operation

Returning to the previous locked heading (LAST HDG)

If for any reason the vessel is steered away from the selected locked heading (for example, executing a dodge manoeuvre or selecting Standby) you can return to the previous locked heading:

1. Press auto for 1 second. The previous locked heading (LAST HDG)

Note: A direction-to-steer indicator is displayed to show you the direction the vessel will turn.

2. To accept this heading, and resume the original course, press auto

is displayed for 7 seconds.

once within this 7 second period.

If you do not press auto while the display is flashing, the current heading will be maintained.

Automatic tack (AutoTack)

The ST5000 Plus has a built in automatic tack facility that turns the vessel through a predetermined angle (the factory default is 100°) in the required direction.

ST5000 Plus SailPilot Owner’s Handbook

AutoTack to starboard

Press the +1 and +10 keys together to tack to starboard.

AutoTack to port

Press the -1 and -10 keys together to tack to port .

Off course alarm

The off course alarm will sound if the locked autopilot heading and the vessel’s current heading differ for more than 20 seconds, by more than the alarm angle set in calibration (the factory default is 20°).

Chapter 2: Basic Operation

1. To cancel the off course alarm, press standby to return to hand

2. Check whether your vessel is carrying too much sail, or whether

Operating hints

Making major course changes

• It is sound seamanship to make major course changes only when

• Manual course changes ensure that obstructions or other vessels can

steering.

the sails are badly balanced. Significant improvements in course keeping can usually be obtained by improving sail balance.

steering manually.

be cleared properly, and due account taken of the changed wind and sea conditions on the new heading prior to engaging the autopilot.

Course changes under autopilot control

It is important to understand the effect of sudden trim changes on steering performance. When a sudden trim change occurs, due, for example, to weather helm or sail imbalance, there will be a delay before the automatic trim applies rudder to restore the locked heading. This correction can take up to one minute.

Large course changes which change the apparent wind direction can produce large trim changes. In these situations, the autopilot will not immediately assume the new automatic heading, and will only settle onto course when the automatic trim has been fully established.

To eliminate this problem, the following procedure can be adopted for large course changes:

1. Note the required new heading.

2. Select standby and steer manually.

ST5000 Plus SailPilot Owner’s Handbook

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.

Gusty conditions

In gusting conditions, the course may tend to wander slightly, particularly if the sails are badly balanced. A significant improvement in course keeping can always be obtained by improving sail balance. Bear in mind the following important points:

• Do not allow the yacht to heel over excessively

• Ease the mainsheet traveller to leeward to reduce heeling and weather helm

• If necessary, reef the mainsail a little early

It is also advisable, whenever possible, to avoid sailing with the wind dead astern in very strong winds and large seas.

Ideally, the wind should be brought at least 30° away from a dead run and, in severe conditions, it may be advisable to remove the mainsail altogether and sail under headsail only.

Provided these simple precautions are taken, the autopilot will be able to maintain competent control in gale force conditions.

2.4 Display and keypad illumination

• Press disp for 1 second, from any mode, to enter illumination adjustment mode and turn the lights on.

Chapter 2: Basic Operation

• Subsequent presses of the disp key cycles the possible illumination

The display times out to normal operation after 7 seconds of keypad inactivity.

Pressing any other key before the 7 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 adjustments to the illumination are lost when the unit is switched off.

The keys are still lit at a courtesy level when the display lighting is off.

2.5 Data pages

The disp key is used to cycle “pages” of SeaTalk or NMEA data. Once a Data Page is selected, this page becomes the principle autopilot display. The autopilot mode displays (Standby, Auto, Track and Vane) then become “pop-ups”, and are displayed for 5 seconds when the autopilot mode is changed or a course change is made.

• Press disp to display each Data Page in turn.

• When the last Data Page is cycled, the display returns to the current

• To return to a previous Data Page, press disp for 1 second within 2

settings: L3, L2, L1, OFF, L1, L2, L3 etc. where L3 is the brightest setting.

autopilot mode display (for example, Standby).

seconds of displaying a page. You can continue to move backwards through the Data Page sequence in this way.

The following illustration shows the default settings for the Data Pages.

ST5000 Plus SailPilot Owner’s Handbook

D3581-1

Up to 7 Data Pages are available using the disp key. The number of pages, and the information displayed on each page, depends on the selections made in User Setup (see section 5.1).

• If the required data for a page is not available, dashes are displayed instead of a value.

• Most displays are repeated data, and cannot be adjusted. The exceptions are the Response and Rudder Gain pages (if selected for display), which can be adjusted using the +1 and -1 keys.

• The current autopilot mode is shown at the left of the display, and the autopilot bar graph remains in use.

• The “direction-to-steer” arrows relate to the Data Page information.

Chapter 3: Advanced Operation

This chapter provides information on:

• Operation in Track mode

• Operation in Vane mode (WindTrim)

• Adjusting the response level and rudder gain

• Alarms

3.1 Operation in Track mode

Track mode is used to maintain a track between two waypoints created on a GPS, Decca, or Loran navigation system. The ST5000 Plus will then compute any course changes to keep your boat on track, automatically compensating for tidal streams and leeway.

The ST5000 Plus can receive cross track error (the distance your vessel is from a planned track) from:

(a)A SeaTalk navigation instrument or chartplotter

(b)A non-SeaTalk navigation system transmitting data in the

NMEA 0183 format – this can be connected directly to the ST5000 Plus NMEA input, as described in the Installation Chapter.

Track mode is selected by pressing the track key, but can only be selected from Auto mode. You can return to either Auto or Standby mode from Track mode, as follows:

• Press auto to leave Track mode and return to Auto mode.

• Press standby to leave Track mode and return to manual steering.

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

ST5000 Plus SailPilot Owner’s Handbook

Automatic acquisition

Automatic acquisition can only be achieved if the pilot is receiving cross track error and bearing to waypoint information (via SeaTalk or NMEA 0183). It is initiated as follows:

1. Bring the vessel to within 0.1 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 planned 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 onto the new course and the

alarm will be cancelled.

Chapter 3: Advanced Operation

• The display shows the new bearing to waypoint.

Previous Heading

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 it is 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.

• Make positive positional checks at regular intervals, especially if navigational hazards are close by.

ST5000 Plus SailPilot Owner’s Handbook

Cross track error

Cross track error (XTE) is the distance between the current position and a planned route. This is displayed in nautical miles (nm), statute miles (SM) or kilometres, and is taken directly from your navigator.

The Large XTE alarm sounds if the XTE exceeds 0.3 nm

• The direction of the error is identified as port (Pt) or starboard (Stb).

• To cancel the alarm and leave track mode, press standby to return to hand steering, or auto to return to Auto mode and retain the current heading.

Note: If the Large XTE alarm sounds, it is usually an indication that the cross tide is too great for the vessel’s current speed.

Tidal stream compensation

Under most conditions, Track mode will hold the selected track to within ±0.05 nm (300 ft) or better.

Chapter 3: Advanced Operation

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 ST5000 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).

Waypoint arrival and advance

Vessel's speed

Vessel's

Arrival

As the vessel arrives at the target waypoint, the navigation receiver should select (manually or automatically) the next target waypoint.

The ST5000 Plus detects the new target waypoint number, sounds the Waypoint Advance alarm and displays the Waypoint Advance information. This display shows the new bearing to waypoint and the direction the boat will turn to acquire the new track.

D3457-1

To accept to the new target waypoint, press track.

Note: When you reach the last waypoint in the track, the NO DATA alarm will sound to indicate that there is no further waypoint information. Press auto to continue on the same heading, or standby to return to hand steering.

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