Autohelm STA3000, ST3000 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.

ST3000 Wheel Drive Autopilot

Owner’s Handbook

Document number: 81194-1
Date: June 2001

ii ST3000 Wheel Drive Autopilot - Owner’s Handbook

Autohelm, HSB (High Speed Bus), SailPilot, SeaTalk and SportPilot
are registered trademarks of Raymarine Ltd.

Raymarine, AST (Advanced Steering T echnology), AutoAdapt,
AutoLearn, AutoRelease, AutoSeastate, AutoTack, AutoTrim,
FastTrim, GyroPl us, RayGyro, RayPilot and W indTrim are
trademarks of Raymarine Ltd.

Handbook contents © Raymarine Ltd 2001.

Preface iii

Contents

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

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

1.2 Specifications ............................................................................3

1.3 About this handbook .................................................................4

Important Information ..............................................................4

Chapter 2: Using the Wheel Pilot .............................................9

2.1 Overview .................................................................................. 9

2.2 Using Auto mode ....................................................................10

Engaging the autopilot (Auto mode) .......................................10

Disengaging the autopilot (Stand by mode) ............................10

Changing course ..................................................................... 11

Automatic deadband control (Auto Seastate) ......................... 14

Operating hints – trim changes ...............................................14

2.3 Switching display illumination on and off ..............................16

2.4 Using Track mode ...................................................................17

Selecting Track mode .............................................................17

Returning to Auto from T rack mode .......................................20

Cross track error (XTE) ..........................................................20

Tidal stream compensation .....................................................21

W aypoint arrival and advanc e .................................................22

Dodges in Track m ode ............................................................ 22

Safety in Track mode .............................................................. 23

W arning messages in T rack mode ...........................................24

2.5 Using Wind Vane mode ..........................................................25

Selecting Wind Vane mode ..................................................... 25

Exiting Wind Vane mode ........................................................26

Returning to the previous apparent wind angle .......................26

Wind shift alarm ......................................................................26

Operating hints for Wind Vane mode ...................................... 27

Chapter 3: Maintenance & Fault Finding ..............................29

3.1 General maintenance ..............................................................29

3.2 Product support .......................................................................30

3.3 Fault finding ............................................................................30

Chapter 4: Installing the Wheel Pilot ....................................35

4.1 Planning the installation ..........................................................35

4.2 Control head installation .........................................................37

Mounting procedure ...............................................................37

Cabling and socket installation ............................................... 38

iv ST3000 Wheel Drive Autopilot - Owner’s Handbook

Mounting the socket ............................................................... 42

4.3 Drive unit installation .............................................................43

Attaching the wheel drum ....................................................... 43

Mounting the drive unit and belt ............................................. 44

Drive unit cabling ...................................................................47

Chapter 5: Commissioning the Wheel Pilot .........................53

5.1 Functional tests .......................................................................53

Switch on ................................................................................53

Operating sense .......................................................................53

Checking the navigation interface .......................................... 54

Checking the wind instrument interface ................................. 55

Checking the SeaT alk interface .............................................. 55

5.2 Initial sea trial .......................................................................... 56

Calibrating the compass .......................................................... 56

Autopilot operation ................................................................. 58

5.3 Adjusting autopilot performance ............................................ 59

Chapter 6: Adjusting Wheel Pilot Settings ..........................61

6.1 Introduction ............................................................................ 61

Adjusting calibration values ................................................... 61

Calibration features .................................................................63

Default calibration values ....................................................... 63

6.2 Calibrating the wheel pilot ...................................................... 64

Calibration Level 1: Rudder gain ............................................64

Calibration Level 5: Cruise speed ........................................... 64

Calibration Level 6: Off course alarm angle ........................... 64

Calibration Level 9: Magnetic variation ................................. 65

Calibration Level 10: Heading error correction ......................65

Calibration Level 11: Boat’s current latitude .......................... 66

Controlling access to calibration .............................................66

Index ..................................................................................... 69

Chapter 1: Introduction 1

Chapter 1: Introduction

1.1 Overview

The ST3000 wheel pilot is a cockpit autopilot for wheel steered boats.
It is designed for owner installation and consists of two main units:

• bracket mounted ST3000 control u nit with built-in compass

• proven ST3000 wheel drive unit

ST3000 control unit

Operating modes

The wheel pilot has four basic operating modes:

1 Introduction

D5652-1

• Stan dby mode: autopilot off

• Auto mode: autopilot engaged and locked onto a heading

• T rack mode: autopi lot on and maintaining a track between two

waypoints created on a navigation system

• Wind V ane mode: autopilot on and maintaining a course relative

to an apparent wind angle

SeaTalk and NMEA compatibility

The ST3000 control unit is SeaT alk compatible, so it can share data
transmitted from other Raymarine SeaT alk instruments:

• wind information from a wind instrument can be used for
wind vane steering without the need to install a separate vane

2 ST3000 Wheel Drive Autopilot - Owner’s Handbook

• track information, from a navigator, can pro vides waypoint
control from the autopilot

• boat speed from a speed instrument can provide optimum track
keeping performance

• SeaT alk compatibility also allows additional fixed and hand-held
autopilot control units to be easily connected at secondary

1 Introduction

steering and control positions

With an optional SeaT alk/NMEA interface (part number: E85001)
the wheel pilot can also be used with any navigator or position sensor
transmitting NMEA 0183.

The ST3000 can be calibrated to suit each installation. This can
provide optimum performance with many types of boat and
steering systems.

ST3000 wheel drive unit

The wheel drive unit is attached by a single pin to a clevis
permanently fixed to the cockpit structure. Drive is transmitted to the
wheel by a tensioned toothed belt. A lever operated eccentric bush in
the drive unit mounting arm enables belt tension to be released to
facilitate manual override by allowing the belt to slip. The drive
disengagement system is both effective and reliable.

CAUTION:

The ST3000 is recommended for wheel steer ed boats up to
7000 kg (15,000 lb) displacement. Above this limit and for heavy
duty applications, such as single handed racing or long distance
ocean sailing, we recommend one of the more powerful
Raymarine autopilots (such as t he ST5000+ system or
T ype 150/400 course computer).

Chapter 1: Introduction 3

1.2 Specifications

General specifications

Power supply: 10 V to 15 V DC

Current consumption: • Standby: 65 mA (120 mA with lighting)

• Auto: between 0.7 A and 2.5 A depending on
boat trim, helm load and sailing conditions

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

Control unit • 6 button digital keypad

• Liquid Crystal Display (LCD) showing heading,

locked course and navigational information

• SeaTalk compatible

• NMEA 0183 compatible via optional

SeaTalk/NMEA interface

Drive unit: • thrust torque: 70 Nm (52 lb.ft)

• helm speed: 3 rpm

• port or starboard mounting

• 6 belt options

• maximum displacement: 7,000 kg (15,000 lb)

Main features • User calibration for optimum performance

• 'WindTrim' control in Wind Vane mode

• Automatic tack

• Automatic compass deviation correction

• Northerly/Southerly heading compensation

• Automatic heading deadband

• Built-in navigator interface

• Track mode with waypoint advance feature

1 Introduction

EMC conformance

All Raymarine equipment and accessories are designed to the best
industry standards for use in the recreational marine environment.
The design and manufacture of Raymarine equipment and
accessories conform to the appropriate Electromagnetic
Compatibility (EMC) standards, but correct installation is required to
ensure that performance is not compromised.

4 ST3000 Wheel Drive Autopilot - Owner’s Handbook

1.3 About this handbook

Part 1: Using the Wheel Pilot

This part of the handbook explains how to use your wheel pilo t:

Chapter 2: Using the Wheel Pilot

2

1 Introduction

How to use the wheel pilot.

Chapter 3: Maintenance & Fault Finding

3

Provides maintenance and fault finding information.

Part 2: Installing the Wheel Pilot

This part of the handbook explains how to install your wheel pilot:

Chapter 4: Installing the Wheel Pilot

4

How to install your wheel pilot and its components.

Chapter 5: Commissioning the Wheel Pilot

5

How to check the wheel pilot and perform an initial sea trial.

Chapter 6: Adjusting Wheel Pilot Settings

6

How to change the wheel pilot calibration settings.

page 9

page 29

page 35

page 53

page 61

Note: T his handbook contains important infor mation about
installing, using and maintain ing your new Raymarine product. To
get the best from the product, please read this han dbook thoroughly.

Important Information

Warranty

T o register your new Raymarine product, please take a few minutes to
fill out the warranty card. It is important that you complete the owner
information and return the card to us to receive full warranty benefits.

Handbook information

T o the best of our knowledge, the information in this han dbook was
correct when it went to press. However, Raymarine cannot accept
liability for any inaccuracies or omissions it may contain. In addition,
our policy of continuous product improvement may change
specifications without notice. As a result, Raymarine cannot accept
liability for any differences between the product and the hand book.

Chapter 1: Introduction 5

Safety notices

WARNING: Product installation

This equipme nt must be inst alled and opera ted in accord ance
with the ins tructions containe d in this handboo k. Failure to do so
could result in poor p roduct performance, personal in jury
and/or damage to your boat.

WARNING: Electrical safety

Make sure the power su pply is swi tched off befo re you make any
electrical connections.

WARNING: Navigation aid

Although we have designed this product to be accurate and
reliable, many factors can affect its performance. As a result, it
should only be used as an aid to navigation and should never
replace common sense and navigational judgement. Always
maintain a permanent watch so you can r espond to situations as
they develop.

Y our Raymarine autopilot will add a new dimension to your boating
enjoymen t. Howeve r, i t is the sk ipper’s responsibility to ensure the
safety of the boat at all times by following these basic rules:

• Ensure that someone is present at the helm A T ALL TIMES, to
take manual control in an emergency .

• Make sure that all crew members know how to disengage the
autopilot – you cannot handsteer with the wheel pilot engaged.

• Regularly check for other boats and any obstacles to navigation –
no matter how clear the sea may appear, a dangerous situation can
develop rapidly.

• Maintain an accurate record of the boat’s posi tion by using either
a navigation aid or visual bearings.

• Maintain a continuous plot of your boat’s position on a current
chart. Ensure that the locked autopilot heading will steer the boat
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
navigation aid, always maintain a log and make regular positional
plots. Navigation signals can produce signifi cant errors under
some circumstances and the autopilot will not be able to detect
these errors.

1 Introduction

6 ST3000 Wheel Drive Autopilot - Owner’s Handbook

1 Introduction

Part 1: Using the Wheel Pilot

Part 1: Using the Wheel Pilot

Part 1: Using the Wheel Pilot

Chapter 2: Using the Wheel Pilot 9

Chapter 2: Using the Wheel Pilot

2.1 Overview

WARNING:

Passage making under autopi lot control is an enjoyable
experience that can, if you are not careful, lead to the relaxation
of the permanent watch. Always maintain a permanent watch no
matter how clear the sea may appear to be.

• The wheel pilot always powers up in Standby mode (indicated by
a flashing ‘

• The wheel pilot is controlled using simple pu sh-button
operations. The control unit confirms all button presses wit h a
short beep. In addition to the main single key functions, there are
several dual key operations.

• T o select automatic steering:

• steady the boat on the required heading

• engage the wheel drive clutch

• press

• T o return to manual steering at any time:

• press

• disengage the clutch lever

• Y ou can use the

when the boat is under autopilot control.

C’ alongside the boat’s current compass heading).

AUTO: the display wi ll then show an ‘A’ alongside the

current heading

STANDBY

-1, +1, -10, and +10 keys to make course changes

2 Using the Wheel Pilot

D5608-1

10 ST3000 Wheel Drive Autopilot - Owner’s Handbook

2.2 Using Auto mode

Engaging the autopilot (Auto mode)

+

1. Steady the boat on the required heading.

2. Engage the wheel drive clutch by rotating the clutch lever
clockwise.

3. Press

2 Using the Wheel Pilot

Disengaging the autopilot (Standby mode)

T o return to hand steering:

1. Press

2. Disengage the wheel drive clutch by rotating the clutch lever

3. The last heading is memorized and can be recalled (see page 13).

auto: the wheel pilot will enter Auto mode and the display

will show an ‘

The display will show a flashing ‘
compass heading.

anti-clockwise.

A’ (for auto) alongside the locked autopilot heading.

standby: the wheel pilot will return to Standby mode.

C’ and the boat’s current

D5610-1

+

D5609-1

Chapter 2: Using the Wheel Pilot 11

Changing course

In Auto mode, use the -1 and -10 (port) and +1 and +10 (starboard)
keys to change course in steps of 1° and 1 0°.

Port Starboard

or

or

D5611-1

For example: press -10 three times for a 30° course change to port:

x 3

30˚ to port

Original

course

D5612-1

2 Using the Wheel Pilot

12 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Automatic tack feature (AutoTack)

The autopilot has a built-in automatic tack facility (in Auto and Wind
V ane modes) that turns t he boat through 100°:

• to AutoTack 100° to port, press

• to AutoTack 100° to starboard, press

AutoTack - Port

Wind

and and

AutoTack

angle

AutoTack - Starboard

-1 and -10 together

AutoTack

angle

+1 and +10 together

Wind

2 Using the Wheel Pilot

Dodging obstacles

1. T o avoid an obstacle when you boat is under autopilot con trol,
select a course change in the appropriate direction. For example,
press

-10 three times for a 30°dodge to port.

D5619-1

x 3

30˚ to port

Original

course

2. When safely clear of the obstacle, you can either:

• reverse the previous course change (for example, by pressing

+10 three times), or

• return to the previous heading (see below)

D5612-1

Chapter 2: Using the Wheel Pilot 13

Returning to the previous heading

1. Press AUTO for 1 second: the previous heading will flash for
10 seconds.

2. T o accept the previous heading, press
previous heading is flashing.

AUTO again while the

1 SECOND

Dodge

Obstacle

Original

course

D5614-1

Resumed
course

Note: If you do not press AUTO while the display is flashing, the
autopilot will maintain the current heading.

Off course alarm

The off course alarm sounds if the locked autopilot heading and t he
boat’s current heading differ by more than the value set in
Calibration Level 6 (see page 64) for 20 seconds.

D191-2

Cancelling the off course alarm

T o cancel the off course alarm, press STANDBY to return to manual
steering.

Note: T he off course alarm is usually an indicati on that the boat is
carrying too much sail, or that the sails are badly b alanced. In these
conditions, you can usually significantly improve course keeping by
improving the sail balance.

2 Using the Wheel Pilot

14 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Automatic deadband control (Auto Seastate)

The wheel pilot is set to AutoSeastate (automatic deadband control)
as a default. This causes the pilot to gradually ignore repetitive
movements of the boat and respond only to true course variati ons.

By preventing unnecessary rudder movement, AutoSeastate
provides the best compromise between power consumption an d
course keeping accuracy .

If you want to switch off the AutoSeastate feature:

1. With the pilot in Aut o mode, press

-1 and +1 together to switch

from AutoSeastate to Fixed Minimum Deadband (1°).

2. The “

°” sign flashes when Fixed Minimum Deadband is selected.

Minimum deadband provides the tightest course keeping
possible, at the expense of increased power consumption and
drive unit activity.

From Auto mode

2 Using the Wheel Pilot

and

D5618-1

T o switch back to AutoSeastate, press -1 and +1 again.

Note: T he autopilot reverts to Automatic Deadband Control each
time you select Standby mode.

Operating hints – trim changes

CAUTION:

Only make major course changes when steering MANUALL Y .
This ensures that the boat wil l safely clear any obstructions or
other boats, and you can take into account the changed wind and
sea conditions on the new heading before engaging the autopilot.

Large course changes which change the apparent wind direction can
produce large trim changes. When a sudden trim change occurs (for
example due to weather helm or sail imbalance) there will be a delay
of up to one minute before the automatic trim applies rudder to restore
the locked heading.

Chapter 2: Using the Wheel Pilot 15

In these situations, the autopilot will not immediately assume the new
automatic heading, and will only settle onto cour se when the
automatic trim has been fully established. T o minimize this problem,
use the following procedure to make major course changes:

1. Note the required new heading.

2. Press

3. Bring boat onto the new heading and engage the clutch.

4. Press

5. Bring your boat onto the final course in 1° steps using

STANDBY, disengage the clutch, and steer manually .

AUTO and let the boat settle on course.

-1 or +1.

Gusting conditions

In gusting conditions, the course may tend to wan der slightly ,
particularly if the sails are badly balanced. By improving sail balance,
you can improve course keeping.

If you take the following precautions, the autopilot will be able to
maintain competent control even in gale force conditions:

• Do not allow the boat 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 when there are very strong winds and large s eas.

• Ideally, the wind should be at least 30° away from a dead run.

• In severe conditions, it may be advisable to remove the mainsail

altogether and sail under headsail only .

2 Using the Wheel Pilot

16 ST3000 Wheel Drive Autopilot - Owner’s Handbook

2.3 Switching display illumination on and off

Y ou can switch the displ ay illumination on and off when the wheel
pilot is in Standby mode:

• from Standby mode, press
illumination between on (

• to return to the previous mode either wait 10 seconds or press the
appropriate mode key

From Standby mode

and

2 Using the Wheel Pilot

Note: T he wheel pilot normally powers-up with the illumination
switched on (

L1).

If other SeaT alk instruments or autopilot control units are connected
via SeaT alk, you can also control the wheel pilot’s illumination from
these units.

-1 and +1 together to switch the

L1) and off (L0)

D5620-1

Chapter 2: Using the Wheel Pilot 17

2.4 Using Track mode

In Track mode, the wheel pilot maintains a track between waypoints
created on a navigation system. The wheel pilot computes any course
changes to keep your boat on track, automatically compensating fo r
tidal streams and leeway. T o operate in T rack mode, the wheel pilot
must receive cross track error information from either:

• a SeaT alk navigator, or

• a non-SeaT alk navigation system transmitting NM EA 0180 or

0183 data

Note: using NMEA 0180 navigators

NMEA 0180 equipment only transmits cross track error up to ± 0.3
nm. This means that even if you are 5 nm to starboard of track, the
transmitted data will still be 0.3 nm.

If you attempt to engage Track mode with the boat more than 0.3 nm
from track, the boat will overshoot excessively and may even circle.
For this reason, the Larger Cross Track Error alarm (seepage 24) is
displayed whenever cross track error is 0.3 nm or greater .

The requirement to remain within 0.3 nm of track also limits the
maximum allowable angular error between the track course and the
boat’s heading. If the angular error is too great, the autopilot will be
unable to cancel it within the 03 nm limit, leading to the problems
outlined above.

NMEA 0183 transmit cross track error up to 99.99 nm and so enables
Track mode to operate with larger cross track errors. However , the
autopilot will still display the alarm if cross track error exceeds

0.3 nm in case there are any hazards close to the intended track.

Selecting Track mode

When you select Track mode, the wheel pilot can acquire the track in
one of two ways:

• automatic acquisition – when both cross track error and bearing to
waypoint data are available

• manual acquisition – when Cross T rack Error is the only available
information

2 Using the Wheel Pilot

18 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Automatic track acquisition

If cross track error and bearing to waypoint data are both available
(via SeaTalk or NMEA), the pilot can acquire a track automatically:

1. Bring the boat to within 0.1 nm of track.

2. Press

3. Press

4. An alarm will sound and the display will alternate between:

2 Using the Wheel Pilot

5. Check that it is safe to turn the boat onto the new course.

6. Press

AUTO.

-10 and +10 together to enter Track mode.

• the bearing to waypoint, and

• the direction the boat will turn to take up the new track

Waypoint

and

Current

heading

-10 and +10 together:

• the boat will now turn on to the new course

• the alarm will cancel

at 058˚

Waypoint

at 058˚

D5621-1

and

7. The display will continuously cycle through the followi ng
navigation information pages:

D5654-1

Chapter 2: Using the Wheel Pilot 19

Locked heading

Distance to waypoint
(if available)

Bearing to waypoint
(if available)

Cross track error

D5622-1

Manual track acquisition

If your navigator only provides cross track error i nformation, you
must acquire the track manually:

1. Steer the boat to within 0.1 nm of track.

2. Bring the heading to within 5° of the bearing to the next waypoint.

3. Press

4. Press

AUTO.

-10 and +10 together to enter Track mode:

• the autopilot will start tracking to the wa ypoint

• the display will alternate between cross track error and the

locked pilot heading

2 Using the Wheel Pilot

Manual track acquisition at low speeds

Using manual acquisition at low speeds requires additional care as
tidal streams have a far more significant effect at lower speeds than at
higher speeds.

In general terms, if the tidal flow is less than 35% of the boat’s speed,
you will not notice any difference in the wheel pilot’s perfo rmance in
Track mode. However , you should take extra care during manual
acquisition, as follows:

• before you select Track mode, make sure that the boat is as close
as possible to track, and that the direction made good over the
ground is as close as possibl e to the direction of the next waypoint

• positive checks of the boat’s position at regular intervals are vital,
especially if you are close to potential navigational hazards

20 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Returning to Auto from Track mode

T o return to Auto mode from Track mode:

• press

• press

AUTO, or

-10 and +10 together.

Cross track error (XTE)

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

Cross track error

(XTE)

2 Using the Wheel Pilot

Waypoint 2

Waypoint 1

D3260-2

The wheel pilot displays the cross track error in the following ways:

On track

Off track to port
(steer to starboard)

Off track to starboard
(steer to port)

D3294-2

Chapter 2: Using the Wheel Pilot 21

Tidal stream compensation

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

The autopilot takes account of the boat’s speed when computing
course changes to ensure optimum performance over a wide range of
boat speeds. If speed data is available, the autopilot will use the
measured boat speed. Otherwise it will use the default cruise speed
entered in Calibration Level 5 (see page 64).

Boat's speed over ground

Waypoint 1

Waypoint 2

2 Using the Wheel Pilot

Tidal component

Boat's speed through water

D3261-2

22 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Waypoint arrival and advance

IMPORTANT NOTE:

Waypoint advance will only operate if the wheel pilot receives
valid waypoint name and bearing to waypoint information.

If your navigator transmits valid waypoint name and bearing to
waypoint data, you can advance from one waypoint to the next
by pressing

Arrival

As the boat passes the target waypoint, the navigator manuall y or
automatically selects the next target waypoint. The pilot will then:

• detect the new target waypoint name

• sound the waypoint advance alarm

• display the new bearing to waypoint and the direction the boat

will turn to acquire it

-10 and +10 together.

2 Using the Wheel Pilot

When the waypoint advance alarm is sounding, the wheel pi lot will
suspend Track mode and maintain t he current heading:

• check that it is safe to turn onto the new track

• press the

arrival alarm and turn the boat towards the next waypoint

Unless you accept the waypoint advance in this way, the alarm will
continue to sound and the autopilot will maintain the current cours e.

-10 and +10 keys together: this will cancel the waypoint

Dodges in Track mode

In Track mode, you still have f ull control from the keypad:

Advance

• to make a dodge maneuver: use the

• after you have avoided the hazard, reverse the course change

selected for the dodge maneuver by selecting an equal course
change in the opposite direction

• if the boat remains within 0.1 nm of track, there is no need to steer
back towards the track

-1, +1, -10 or +10 keys

Chapter 2: Using the Wheel Pilot 23

Safety in Track mode

WARNING:

T rack mode provides accurate track keeping even in complex
navigational situations. However, it is still the skipper’s
responsibility to ensur e the safety of their boat at all times
through carefu l navigation and frequen t position checks.

Passage making in Track mo de assists precise navigation and
removes the tasks of compensating for wind and tidal drift . However,
you MUST still maintain an accurate log with regular plots:

Confirming position at the start of a journey

• At the start of a journey you must always use an easily identifiable
fixed object to confirm the fix given by the navigation system.

• Check for fixed positional errors and compensate for them.

Verifying computed positions

• Always verify the computed position with a dead reckoned
position, calculated from the average course steered and the
distance logged.

Plot frequency

• In open water , you should make plots at least every hour .

• In confined waters or when near to potential hazards, you should

make plots more frequently .

Setting waypoints

• Local variations in radio signal quality and changes in the tidal
stream can produce deviations from the desired track. When
setting waypoints, remember that deviations can 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 this zone.

• For the waypoint advance function to work, the last four
characters of adjacent waypoint names must be different.

2 Using the Wheel Pilot

24 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Warning messages in Track mode

Track data not received

The wheel pilot displays this message if you
select Track mode when the autopilot is not
receiving SeaTalk navigation data.

D5623-1

Track data error

The wheel pilot displays this message if you
select Track mode when the navigator has
lost its fix.This display will clear as soon as

D5624-1

the navigator regains its fix.

Large cross track error

This alarm sounds if cross track error
exceeds 0.3 nm.

D5625-1

2 Using the Wheel Pilot

Waypoint advance

D208-2

The waypoint advance alarm sounds whenever the target waypoint
number changes:

• the pilot continues on its current heading, and the displa y
alternates between the bearing to the next waypoint and the
direction the boat will turn to take up that bearing

• make sure that the turn will be safe and, when you are ready to
make the turn, momentarily press

-10 and +10 together .

• the pilot will turn onto the new bearing and track towards the next
waypoint

Note: Waypoint advance will only operate if your pilot receives valid
bearing to waypoint and waypoint number i nformation.

Chapter 2: Using the Wheel Pilot 25

2.5 Using Wind Vane mode

Note: Y ou can only use Wind Vane mode if the wheel pilot is
connected to a suitable wind sensor/instrument providing wind
direction data.

T o use Wind Vane mode, the wheel pilot must receive wind
information from one of the following sources:

• SeaTalk wind instrument

• NMEA wind instrument

• Raymarine pushpit wind vane (part number: Z159) connected via

the supplied SeaT alk interface

In Wind V ane mode the wheel pilot maintains a course relative to an
apparent wind angle. The pilot uses WindTrim to eliminate the effects
of turbulence and short term wind variations. This prov ides smooth
precise performance with minimum power consumption.

Wind Vane mode uses the fluxgate compass as the primary heading
reference. When changes in the apparent wind angle occur, the wheel
pilot adjusts the locked compass heading to maintain the original
apparent wind angle.

In Wind Vane mode, the wheel pilot ignores short-term changes in
wind direction, yet still tracks real wind shifts as subtle as 1°.

2 Using the Wheel Pilot

Selecting Wind Vane mode

From Standby mode or Auto mode, press STANDBY and AUTO
together to select Wind V ane mode. The wheel pilot will then
maintain the current apparent wind angle.

and

Note: The autopilot beeps once every 30 seconds in Wind Vane mode.

D5616-1

26 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Exiting Wind Vane mode

T o exit Wind Vane mode:

• press

• press

STANDBY to return to S tandby mode
AUTO to return to Auto mode

Returning to the previous apparent wind angle

If you have steered the boat away from the selected apparent wind
angle (for example, performing a dodge maneuver or selecting
Standby) you can return to the previous apparent wind angl e:

1. Press and hold

STANDBY and AUTO together for 1 second.

2. The display flashes the previous locked heading f or 10 seconds.

and

2 Using the Wheel Pilot

1 second

D5617-1

3. While the display is flashing, press STANDBY and AUTO
together to select the previous heading:

• when you select the previous heading, the ‘

W’ flashes for

10 seconds to confirm the selection

Wind shift alarm

If changes in apparent wind angle alter the original locked compass
heading by more than 15°, the wind shift alarm will sound.

The display alternates between the current Wi nd V ane heading and
the direction of wind shift.

D209-2

Chapter 2: Using the Wheel Pilot 27

T o cancel the wind shift alarm:

• check that the new course does not take the boat into danger

• press

STANDBY and AUTO together momentarily to accept the

alarm and reset the wind shift alarm value to the current compass
heading

Operating hints for Wind Vane mode

• WindT rim filters the wind vane output. Thi s provides optimum
response for offshore conditions where genuine shifts in wind
direction occur gradually .

• In gusting and unsteady inshore condi tions, it is best to sail a few
degrees further off the wind so that changes in apparent wind
directio n can be tole rated.

• It is important to minimize the amount of standi ng helm through
careful sail trimming and positioning of the mainsheet traveller .

• It is recommended that the headsail and mainsail are reefed a little
early rather than too late.

2 Using the Wheel Pilot

28 ST3000 Wheel Drive Autopilot - Owner’s Handbook

2 Using the Wheel Pilot

Chapter 3: Maintenance & Fault Finding 29

Chapter 3: Maintenance & Fault Finding

This chapter provides information about maintaining y our wheel
pilot system, obtaining pr oduct support and solving common
problems.

3.1 General maintenance

CAUTION:

The control unit does not contain any user serviceable parts.
It should be repaired only by authorized Raymarine service
representatives.

Display condensation

• 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.

Routine cabling checks

• Make sure all connections are firmly attached.

• Examine the cable for signs of wear or damage – replace any

damaged cables.

3 Maintenance & Fault Finding

Cleaning the wheel pilot

• If the wheel drive or control unit are dirty, wipe them with a clean,
damp cloth.

• Never use chemical or abrasive materials.

EMC advice

• When powered up, all electrical equipment produces
electromagnetic fields. These can cause adjacent pieces of
electrical equipment to interact with one another, with a
consequent adverse effect on operation.

• T o minimize these effects and enable you to get the best possible
performance from your Raymarine equipment, guidelines are
given in the installation instructions, to enable you to ensure
minimum interaction between different items of equipment,
i.e. ensure optimum Electromagnetic Compatibility (EMC).

30 ST3000 Wheel Drive Autopilot - Owner’s Handbook

• Always report any EMC-related problems to your n earest
Raymarine dealer. We use such information to improve our
quality standards.

• In some installations, it may not be possible to preven t the
equipment from being affected by ext ernal influences. In general
this will not damage the equipment but it can lead to spurious
resetting action, or momentarily may result in faulty operation.

3.2 Product support

Raymarine products are supported by a worldwide network of
distributors and Authorized Service Representa tives.

Before you consider returning the autopilot, make sure that the power
supply cable is sound and that all connections are tight and free fr om
corrosion. If the connections are secure, refer to the following Fault
Finding sec tion.

If you cannot trace or rectify the fault, contact either your national
distributor , service representative, or the Raymarine T echnical
Services Call Center. Refer to the back cover or the W orldwide
Distributor List for contact details.

Always quote the product serial number, which is printed on the back
of the control unit.

3.3 Fault finding

3 Maintenance & Fault Finding

All Raymarine products are designed to provide many years of
trouble-free operation. W e also put them through comprehensive
testing and quality assurance procedures befo re shipping.

In the unlikely event that a fault does occur with your autopilot, use
the following table to help identify the problem and provide a
solution. If you cannot resolve the problem yourself, contact either
your national distributor , service representative, or the Raymarine
T echnical Services Call Center.

Chapter 3: Maintenance & Fault Finding 31

SYMPTOM SOLUTION

The autopilot display is blank. No power – check the fuse/circuit breaker.

The displayed compass heading does
not agree with the boat’s compass.

Drive unit steers hard over as soon as
Auto is engaged

Boat turns slowly and takes a long
time to come on to course.

Boat overshoots wh en turning on to a
new course.

The autopilot appears to be unstable
on Northerly headings in Northern
hemisphere (or Southerly headings in
Southern hemisphere).

Display shows ‘CAL OFF’ when
entering calibration.

The autopilot will not ‘talk’ to other
SeaTalk instruments.

Position information not received. Navigator not transmitting the correct

The autopilot will not auto advance to
the next waypoint.

The autopilot will not display
Distance to Waypoint, Bearing to
Waypoint or Waypoint Number.

Drive slips under normal operating
conditions.

The compass has not been corrected for
deviation – carry out the deviation and
alignment procedures (see page 56).

Drive operating sense set incorrectly.
Refer to page 53.

Rudder gain too low (see page 59).

Rudder gain too high (see page 59).

Northerly/Southerly heading correction
not set up (see page 65).

Calibration access has been prevented
(see page 66).

Cabling problem – make s ure all the
cables are connected properly.

position data.

No bearing to waypoint information
received from the navigator.

Incorrect NMEA sentences transmitted
from position sensor. Refer to product
handbook for information about
information transmitted.

Return the drive to your nearest service
representative.

3 Maintenance & Fault Finding

32 ST3000 Wheel Drive Autopilot - Owner’s Handbook

3 Maintenance & Fault Finding

Part 2: Installing the Wheel Pilot

Part 2: Installing the Wheel Pilot

Part 2: Installing the Wheel Pilot

Chapter 4: Installing the Wheel Pilot 35

Chapter 4: Installing the Wheel Pilot

4.1 Planning the installation

Before you start installing your wheel pilot system, read thro ugh the
following information and the relevant installation sections in this
chapter.

Cabling guidelines

• consider how you will run cables to and from each component

• avoid running cables through bilges wh ere possible

• avoid running cables close to fluorescent lights , engines, radio

transmitting equipment etc.

EMC installation guidelines

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

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

Although every effort has been taken to ensure that they will perform
under all conditions, it is important to underst and what factors could
affect the operation of the product.

The guidelines given here describe the conditions for op timum EMC
performance, but it is recognized that it may not be possible to meet
all of these conditions in all situations.

T o ensure the best possible conditions for EMC performance wit hin
the constraints imposed by any location, always ensure the maximum
separation possible between different items of electrical equipment.

For optimum EMC perfo rmance, we recommend that:

• Raymarine equipment and cables connected to it are:

• At least 3 ft (1 m) from any equipment transmitting o r cables

carrying radio signals e.g. VHF radios, cables and antennas.
In the case of SSB radios, increase the distance to 7 ft (2 m).

• More than 7 ft (2 m) from the path of a radar beam. A radar
beam can normally be assumed to spread 20 degrees above
and below the radiating element.

4 Installing the Wheel Pilot

36 ST3000 Wheel Drive Autopilot - Owner’s Handbook

• The equipment is supplied from a separate battery from that used
for engine start. Voltage drops below 10 V , and starter motor
transients, can cause the equipment to reset. This will not damage
the equipment, but may cause the loss of some information and
may change the operating mode.

• Raymarine specified cables are used. Cutting and rejoining these
cables can compromise EMC performance and must be avoided
unless doing so is detailed in the installation manu al.

• If a suppression ferrite is attached to a cable, this ferrite shoul d not
be removed. If the ferrite needs to be removed d uring installation
it must be reassembled in the same position.

EMC suppression ferrites

W e supply the fluxgate compass and p ower cables with suppression
ferrites fitted. Always use these ferrites supplied by Raymarine.

D3548-2

Connections to other equipment

If your Raymarine equipment is to be connected to other equipment
using a cable not supplied by Raymarine, a suppression ferrite MUST
always be attached to the cable near to the Raymarine unit.

4 Installing the Wheel Pilot

Chapter 4: Installing the Wheel Pilot 37

4.2 Control head installation

110 mm (4.33 in)

110 mm (4.33 in)

Mounting procedure

The control unit slots into a permanently mounted socket sited in t he
cockpit. It contains a gimballed fluxgate compass and therefore has
some restrictions on mounting positio n.

The control unit should be sited

• where it can be operated easily from the steering position.

• at least 80 cm (2.5 ft) away from the main steering compass to

avoid deviation of both compasses

• as far away from other magnetic or iron devices as practical (to
avoid compass deviation)

68 mm (2.68 in)

D5628-1

4 Installing the Wheel Pilot

D5629-1

38 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Having selected the best mounting site, secure the mounting socket to
a convenient wooden or glass fibre surface using the self tapping
screws provided.

The mounting surface should not be more than 10° from vertical. This
will allow correct compass operation with the boat heeled at an angle
of up to 40°.

10˚ maximum

D5630-1

Cabling and socket installation

Both power and SeaT alk data are supplied to the control unit via a
custom waterproof plug and socket. The plug comes ready assembled
and the socket can be mounted in the cockpit area adjacent to the
autopilot. The control unit supplies power to the wheel drive unit via
a cable plugged into the underside of the control unit.

Power supply

• The wheel pilot requires its own dedicated power supply – it
cannot source its power from SeaT alk.

• The power supply should be taken directly from t he boat’s central
distribution panel and protected with a 12 A fuse or equivalent
circuit breaker.

The following table shows the minimum cable size acceptable for the
power supply:

Cable length Copper area AWG

Up to 2.5 m (8 ft) 1.5 mm

4 Installing the Wheel Pilot

Up to 4 m (13 ft) 2.5 mm

2

2

16

14

Chapter 4: Installing the Wheel Pilot 39

IMPORTANT:

Correct power cable size is critical for correct autopilot
operation. If in doubt, use a heavier gauge cable than specified.
A lighter gauge cable may cause a voltage drop between th e
supply and the autopilot. This will reduce the power at the wheel.

Front view

SeaTalk socket
(viewed from rear)

12 A

+12 V 0 V

of ST3000

Screen
(Sea Talk 0 V)

Black
(Supply 0 V)

Pin
Identification
Stripes

Red
(+12 V)

Yellow
(Sea Talk
Data)

D5631-1

SeaTalk cabling

The ST3000 control unit is SeaT alk compatible. It can receive and
transmit information to other instruments and autopilot control units
via the SeaTalk bus.

T o connect the ST3000 control unit to the SeaT alk bus you will need
a suitable SeaTalk interface cable (part numbers: D229 flat moulded
plug, D179 male round plug, D181 female round plug) o r a plugged
SeaTalk cable with one end cut of f:

• plug one end of the cable to the last instrument or cont rol unit

• connect the cores at the other end to the SeaTalk socket as shown

CAUTION:

The fuse on the control unit power supply is too large to offer safe
protection to the SeaT alk bu s. Y ou MUST protect the po wer
supply for the SeaT alk 12 V (red) line with a 5A fuse (or
equivalent circuit breaker).

4 Installing the Wheel Pilot

40 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Raymarine produce a range of SeaTalk accessory cables you can use
to connect the wheel pilot to SeaTalk instruments and control units:

• flat plugs for recent SeaT alk equipment (e.g. ST30, ST40, ST60)

• round plugs for older SeaT alk equipment (e.g. ST50)

Extension cables - flat moulded plugs at each end

Part no. Type Length
D284 Flat moulded plugs at each end 1 m (3 ft 3 in)
D285 Flat moulded plugs at each end 3 m (9 ft 10 in)
D286 Flat moulded plugs at each end 5 m (16 ft 5 in)
D287 Flat moulded plugs at each end 9 m (29 ft 6 in)
D288 Flat moulded plugs at each end 20 m (65 ft 6 in)

Conversion cables - flat moulded plug to round plug

Part no. Type Length
D187 Flat moulded plug to male round plug 0.15 m (6 in)
D188 Flat moulded plug to female round plug 0.3 m (12 in)

Extension cables - round plugs at each end

Part no. Type Length
D124 Male round plug to female round plug 1 m (3 ft 3 in)
D125 Male round plug to female round plug 3 m (9 ft 10 in)
D126 Male round plug to female round plug 6 m (19 ft 8 in)
D154 Male round plug to female round plug 9 m (29 ft 6 in)

Interface cables - flat moulded/round plug to bare ends

Part no. Type Length
D229 Flat moulded plug to bare ends 1 m (3 ft 3 in)
D179 Male round plug to bare ends 3 m (9 ft 10 in)
D181 Female round plug to bare ends 3 m (9 ft 10 in)

D5554-1

4 Installing the Wheel Pilot

Chapter 4: Installing the Wheel Pilot 41

SeaTalk
instruments

5A fuse/
breaker

SeaTalk socket

Screen
(ground)

Yellow
(data)

Connecting ST3000 control unit to ST60 instruments

SeaTalk socket

Screen
(ground)

Yellow

5 A fuse/
breaker

(data)

12A fuse/
breaker

12 A fuse/
breaker

D5656-1

Connecting ST3000 control unit to ST50 instruments

NMEA cabling

T o connect NMEA equipment, you will need to use a
SeaTal k/NMEA interface (part number: E85001) to convert the
NMEA information into SeaTalk data. You can then connect the
SeaTalk/NMEA interface to the SeaT alk socket.

D5632-1

4 Installing the Wheel Pilot

42 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Mounting the socket

T o mount t he SeaT a lk sock et:

1. Fix the template (supplied at the end of the handbook) onto the
bulkhead at the selected socket location

2. Carefully drill the 18 mm (

3

(

/32in) pilot holes, then remove the template.

3. Fit the plug cap to the socket body .

4. Locate the O-ring seal into the groove between the plug cap and
socket body .

5. Cut and strip back the power cables and SeaT alk cables (if fitted).

6. Thread both cables through the bulkhead hole and connect to the
relevant pins on the socket.

7. Attach the socket to the bulkhead using the two self tapping
screws supplied.

8. Secure the cables to the bulkhead.

23

/32in) clearance hole and 2.4 mm

To SeaTalk

To power supply

Screen
(Sea Talk 0 V)

Black
(Supply 0 V)

Pin
Identification
Stripes

Red
(+12 V)

Yellow
(Sea Talk
Data)

D5634-1

4 Installing the Wheel Pilot

Chapter 4: Installing the Wheel Pilot 43

4.3 Drive unit installation

The Raymarine 3000 wheel drive is designed to operate with steering
systems having between 1 and 3 turns lock to lock. Steering systems
with more than 3 turns lock to lock may cause impaired steering
performance due to reduced rate of rudder application.

Lost motion in the steering system must not exceed 2% of total
movement. This is equivalent to 15° of free wheel movement for a
system with 2 turns lock to lock. If lost motion exceeds this level it
must be corrected, otherwise steering performance will be impaired.

Attaching the wheel drum

The drum is clamped to the wheel spokes using the three U-bolts
provided. Y ou can use the standard wheel dr um on wheels with 3, 5
or 6 spokes:

• A holes: 3 and 6 spoke wheels

• B holes: 5 spoke wheels

• C holes: 3, 5 or 6 spoke wheels with spoke diameter o f 26 mm
(1 in) – th ese holes require special U-bolts (part number D103)

ABC

D5635-1

4 Installing the Wheel Pilot

Note: Fo r 4 spoke wheels, contact Raymarine Technical Services to
obtain a specially drilled drum.

Position

Ideally , you should fit the wheel drum behind the wheel (i.e. between
the wheel and the pedestal, as shown in the following diagram). To do
this, you will need to remove the wheel.

If there is insufficient clearance behind the wheel, you can fit the
wheel drum in front of the wheel.

44 ST3000 Wheel Drive Autopilot - Owner’s Handbook

The drum comes with three complete sets of spacers to fit differing
spoke diameters.The spoke diameter is marked alongside each
spacers – break of f the appropriate spacers for your wheel spokes.

Spoke

Spacers

Drum

2 mm maximum
run out

D5636-1

Use the U-clamps to secure the wheel drum to the wheel spokes:

• roughly position the drum on the wheel and then ligh tly tighten
the clamp nuts

• check if the drum is central by spinning the wheel

• re-position the drum until it is central – with a total run-out less

than 2 mm (

1

/16 in)

• when the drum is central on the wheel, tighten the clamp nuts

Mounting the drive unit and belt

Standard installation

The drive unit is normally mounted on the cockpit side wall. If t he
standard belt does not allow a convenient location for the mounting
clevis, you will need to purchase one of the alternative belt sizes to
increase or decrease the radial offset of the mounting pin.

Belt name Part number Radial off-set

B- D037 512 mm (20.1 in)

A- D038 546 mm (21.5 in)

Standard belt D039 (supplied) 598 mm (23.5 in)

4 Installing the Wheel Pilot

A+ D040 717 mm (28.2 in)

B+ D041 850 mm (33.5 in)

Chapter 4: Installing the Wheel Pilot 45

Radial offset

D5637-1

Attaching the mounting clevis

1. Fit the mounting clevis to the drive unit using the pin provided.
Then loop the belt drive over the drum and the drive sprocket.

2. Rotate the clutch lever fully clockwise against its stop (i.e. to the
‘tight belt’ position) and then offer the clevis against the vertical
side-wall.

3. Move the clevis down against the side wall until the belt is just
taut. Then adjust the fore-and-aft position of the clevis until the
belt lies parallel to the wheel. To help check if the belt is running
parallel, use a long straight edge such as a sail batten.

D5638-1

4 Installing the Wheel Pilot

46 ST3000 Wheel Drive Autopilot - Owner’s Handbook

4. When you have determined the correct position for the clevis,
carefully draw around its base.

D5639-1

5. Remove the drive unit and draw around the inside of the
elongated fixing holes on the clevis.

D5640-1

6. Drill two 8 mm (5/16 in) clearance holes for the clevis fixing bolts
at the lower end of each elongated hole position. This allows the
belt to be subsequently tightened if necessary .

Note: Before drilling the holes, check that you have access to the
other side of the mounting wall to att ach the nuts!

4 Installing the Wheel Pilot

D5653-1

Chapter 4: Installing the Wheel Pilot 47

7. Bolt the mounting clevis into position with the fi xing bolts

positioned mid-way in the el ongated holes. This will ensure that
the belt is taut when you rotate the clutch lever fully clockwise to
tension the belt.

D5641-1

8. Re-assemble the complete drive system and then check the clutch
operation. If necessary , reposition the clutch lever on the splined
eccentric bush to ensure that the lever can rotate 180° without
obstruction.

9. Check the belt tension:

• when the belt is tensioned by rotating the clutch lever fully

clockwise, you should be able to back-wind the drive unit by
slowly rotating the wheel. If belt slip occurs, increase belt
tension by reclamping the clevis in a slightly lower positi on.

• when the clutch lever is rotated fully anti-clockwise the wheel

drum should slip easily against the belt

• do NOT over tighten the belt

Drive unit cabling

Plug the drive unit cable into the socket on the underside of the
ST3000 control unit.

4 Installing the Wheel Pilot

48 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Alternative installations

Pedestal bracket

A special bracket is available to mount the drive unit directly onto the
wheel pedestal (part number: D044).

Attach the pedestal bracket as follows:

1. Loosely attach the mounting clevis to the pedestal bracket using
the backing plate and the two bolts provided.

2. Attach the mounting clevis to the drive unit using the pin provided
and loop the belt drive over the drum and the drive unit sprocket.

D5642-1

3. Rotate the clutch lever fully clockwise against its stop (to the
‘tight belt’ position), then offer the bracket against the pedestal.

4 Installing the Wheel Pilot

Chapter 4: Installing the Wheel Pilot 49

4. Move the bracket down against the pedestal until the belt is just
taut. The slide the pedestal bracket around the pedestal and
rotating the clevis bracket to ensure that the belt runs parallel to
the wheel.

D5643-1

4 Installing the Wheel Pilot

50 ST3000 Wheel Drive Autopilot - Owner’s Handbook

5. When you have determined the correct position for the pedest al
bracket, carefully draw around its base and inside its the
elongated fixing holes.

D5644-1

6. Tighten the clevis mounting b olts.

11

7. Drill four 4.3 mm (

/64in) pilot holes for the pedestal bracket

fixing screws at the lower end of each elongated hole position.
This allows the belt to be subsequently tightened if necessary.

4 Installing the Wheel Pilot

Chapter 4: Installing the Wheel Pilot 51

8. Screw the pedestal bracket into position with the self tapping
screws mid-way in the elongated holes. This will ensure that the
belt is taut when you rotate the clutch lever fully clockwise to
tension the belt.

D5646-1

9. Re-assemble the complete drive system and then check the clutch
operation. If necessary , reposition the clutch lever on the splined
eccentric bush to ensure that the lever can rotate 180° without
obstruction.

10. Check the belt tension:

• when the belt is tensioned by rotating the clutch lever fully

clockwise, you should be able to back-wind the drive unit by
slowly rotating the wheel. If belt slip occurs, increase belt
tension by reclamping the clevis in a slightly lower positi on.

• when the clutch lever is rotated fully anti-clockwise the wheel

drum should slip easily against the belt

• do NOT over tighten the belt

4 Installing the Wheel Pilot

52 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Mounting on transverse bulkheads

If the steering wheel is mounted on a transverse bulkhead, you will
need to make special provision to mount the drive unit. You can
obtain as L-bracket (part number: D047) from your Raymarine dealer
to mount the clevis on the bulkhead as shown.

Note: Y ou may also need to make a hardwood spacer to ensure
correct belt alignment with the wheel drum.

L-bracket

Hardwood spacer

D5647-1

Alternative drive unit mounting positions

The wheel drive unit may be positioned on either the port or starboard
side of the wheel. The fluxgate compass is calibrated to give correct
steering sense when the drive unit sprocket is facing aft. Access to the
clutch lever is also easier when the drive unit is mounted this way
round.

However, if an obstruction prevents you from mounting the drive unit
with the drive sprocket facing aft, you can mount i t with the sprocket
facing forward. In this case, you will need to re-adjust the motor drive
sense to regain correct steering – see page 53.

4 Installing the Wheel Pilot

Chapter 5: Commissioning the Wheel Pilot 53

Chapter 5: Commissioning the Wheel Pilot

This chapter explains how to commission your wheel pilot after
installation. This consists of a number of simple functional tests
followed by a short sea trial.

5.1 Functional tests

Switch on

1. Switch on the main power breaker.

2. The control unit should beep and display the pil ot type (

3. Within 2 seco nds, the display should show a flashing
by the compass heading (for example,
autopilot is active.

Note: If t he wheel pilot does not beep or display the compass
heading, please refer to the Fault Finding sect ion (see page 30).

Operating sense

The operating sense defines the direction the wheel pilot will apply
helm when a course change key is pressed or the boat goes off course.
T o check the operating sense:

C 234). This shows the

ST3000).

‘C’ followed

5 Commissioning the Wheel Pilot

1. Turn the clutch lever fully clockwise to engage th e clutch.

2. Press

3. The wheel should move to produce a turn to starboard.

+10.

+

D5648-1

4. If the wheel movement produces a turn to port, refer to the
following instructions on reversing the operat ing sense.

Note: You should only need to reverse the op erating sense if you have
installed the drive with the sprocket facing forward (see page52).

54 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Reversing the operating sense

If necessary , reverse the operating sense as follows:

1. Press

-1 and +1 together for 5 seconds.

2. The display shows the new operating sense (port or st arboard) for
5 seconds, and then the autopilot reverts to normal operation.

Checking the navigation interface

If you have connected the wheel pilot to a navigator, check the

5 Commissioning the Wheel Pilot

interface as follows:

1. Set up a track on the navigator to give a Cross T rack Error
between 0 nm and 0.3 nm.

2. Enter Auto mode by pressing

3. Enter Track mode by pressi ng

AUTO.

-10 and +10 together.

4. After 3 seconds, the pilot should automatically scrol l through the
navigation displays:

Locked heading

Distance to waypoint
(if available)

Bearing to waypoint
(if available)

Cross track error

D5622-1

Navigation error screens

If the display shows one of the following errors, the cause is either:

• a wiring error (either open circuit, short circuit or wires reversed)
or

• the navigator is not configured to transmit the required data
format (refer to the navigator handbook)

Chapter 5: Commissioning the Wheel Pilot 55

Track data not received

The wheel pilot displays this message if you
select Track mode when the autopilot is not
receiving SeaTalk navigation data.

D5623-1

Track data error

The wheel pilot displays this message if you
select Track mode when the navigator has
lost its fix.This display will clear as soon as

D5624-1

the navigator regains its fix.

Checking the wind instrument interface

If you have connected the wheel pilot to a wind instrument, check the
data link as follows:

1. Press

2. The wheel pilot should display a

STANDBY and AUTO together .

‘W’ and the locked heading.

and

5 Commissioning the Wheel Pilot

If the display continues to show a flashing ‘C’ and the current heading,
the wheel pilot is not receiving any wind data. The most likely reason
is a cabling error – either open circuit, short circuit or wires revers ed.

Checking the SeaTalk interface

If you have connected the wheel pilot to other instruments or control
units via SeaTalk, check the link as follows:

1. Press

2. Select display illumination level 0 (

3. The ST3000 control unit should immediately respo nd by

STANDBY on the ST3000 control unit.

instrument or autopilot control unit.

switching off its display illumination. If the illumination does not
switch off, there is a cabling fault between the ST300 0 and the
SeaTalk instruments.

D5616-1

LAMP 0) on any other SeaT alk

56 ST3000 Wheel Drive Autopilot - Owner’s Handbook

5.2 Initial sea trial

CAUTION:

Failure to carry out the sea trial may result in impaired autopilot
performance on some compass headings.

When you have checked that the system is operating correctly , you
must complete a short sea trial to calibrate the compass.

The wheel pilot has a built-in calibration capability so you can

5 Commissioning the Wheel Pilot

fine-tune it to suit your boat, its steering sys tem and its dynamic
steering characteristics.

As supplied from the factory , the autopilot is calibrated to provide
safe, stable control for most boats.

• Do not attempt to make any permanent changes to the
recommended calibration values until you have completed the
sea trial.

• You must carry out the initial sea trial in conditions of light wind
and calm water – so you can assess the autopilot’s performance
without the influence of strong winds or lar ge waves.

Note: At any time during the sea trial, you can disengage the
clutch lever to return to hand-steering.

Before starting the sea trial

Before carrying out the sea trial, you should:

• check the calibration settings and, if necessary, reset them to the
default values (see page 63)

• check the installation to make sure that it is not affected by radio
transmissions, engine starting, etc.

Calibrating the compass

Automatic compass deviation correction

By completing the following compass correction pro cedure, the
wheel pilot can correct its own internal fluxgate compass for most
deviating magnetic fields. Y ou MUST complete the Compass

Deviation Correction at the begi nning of your sea trial.

Chapter 5: Commissioning the Wheel Pilot 57

T o complete the compass correction:

1. Press and hold

STANDBY for 1 second – a series of dashes will

cycle around the display .

SECOND

D5649-1

Note: If you see a ‘CAL OFF’ message instead of the dashes,
calibration access has been prevented. Refer to page66 for details.

2. Keeping boat speed below 2 knots, turn the boat in slow circles.
Y ou sho uld take at least 3 minu tes to comple te each 360 °.

• boat's speed below 2 knots

• each complete circle should take 3 minutes

5 Commissioning the Wheel Pilot

D5650-1

3. Keep turning your boat until the display changes to show the
amount of deviation the autopilot has detected. The deviation
alternates with the autopilot’s current heading every second.

Current heading

Deviation

D3274-2

Note: If the deviation exceeds 15° you should re-site the control unit
to a location less affected by magnetic interference.

58 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Heading alignment

1. Steer your boat on a straight course, t hen use -1 and +1 to adjust
the displayed autopilot heading until it agrees with the boat’s
steering compass or a known transit bearing.

2. Exit compass linearization and heading alignment and store the
compass correction/alignment values as follows:

• press and hold

• or, to exit without s aving any new settings, press

momentarily

5 Commissioning the Wheel Pilot

Note: For installations where an ST50 or ST 30 Steering Compass
instrument is connected to the SeaTalk bus, and the Steering
Compass has a fluxgate transducer connected, it is only necessary to
carry out the auto deviation correction on the Steering Com pass
Instrument (refer to Steering Compas s handbook instructions).

STANDBY for 1 second until the pilot beeps

STANDBY

Further adjustments to heading alignment

If the heading alignment requires further adjustment after the initial
sea trial:

1. Enter Compass Deviation Correction by pressing
1 second.

2. Press

3. Adjust the heading as described above.

4. Press and hold

AUTO to skip Deviation Correction and proceed to Heading

Alignment.

STANDBY for 1 second to save changes and exit.

STANDBY for

Autopilot operation

Having calibrated the compass, the following procedure is
recommended to familiarize yourself with autopilot operation:

1. Steer onto a compass heading and hold the course steady.

2. Engage the wheel drive clutch by rotating the clutch lever
clockwise.

3. Press

4. Use the course change keys to alter course to port or starboard in

5. Press

AUTO to lock onto the current heading. The wheel pilot

should achieve a constant heading in calm sea conditions.

multiples of 1° and 10°.

STANDBY and disengage the clutch lever to return to hand

steering.

Chapter 5: Commissioning the Wheel Pilot 59

5.3 Adjusting autopilot performance

The factory setting for rudder gain provides st able control for initial
sea trials. However, dif ferent boats can vary widely in their response
to the helm and further adjustment to the rudder gain may improve the
autopilot’s steering characteristics.

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 mode, alter course to
starboard by 40° by pressing

• At cruising speeds, a course change of 40° should result in a

crisp turn followed by an overshoot of no more than 5°.
If this occurs the rudder gain is set correctly .

• If rudder gain is too high, the 40° course change will result in a

distinct overshoot of more than 5° (

Correct this overs teer by reducing the rudder ga in setting.

• If rudder gain is too low , the boat’s steering performance will

be sluggish – it will take a long time to make the 40° t urn and
there will be no overshoot (

Correct thi s understeer by increasi ng the rudder gain setting.

Rudder gain
too low

+10 four times.

B).

New

heading

B

Rudder gain
too high

rudder gain

A).

Correct

New

heading

A

New

heading

5 Commissioning the Wheel Pilot

D3262-2

Note: It is easier to recognize these actions in calm sea conditions
where wave action does not mask basic steering perf ormance.

60 ST3000 Wheel Drive Autopilot - Owner’s Handbook

2. Refer to the calibration menu diagram in Chapter 6: Adjusting
Wheel Pilot Settings, for instructions on how to adjust the rudder

gain setting.

3. Repeat the test until you achieve crisp course changes with no
more than 5° of overshoot.

Y ou should set the rudder gain to the lowest setting consistent with
accurate course keeping. This will minimize drive movements and
reduce power consumption and wear and tear .

5 Commissioning the Wheel Pilot

Chapter 6: Adjusting Wheel Pilot Settings 61

Chapter 6: Adjusting Wheel Pilot Settings

6.1 Introduction

The wheel pilot is calibrated at the factory to provide stable
performance for most boats. However , you can fine tune many of the
calibration features to match your personal preferences, and the type
of boat and steering system.

Note: You should carry out an initial sea trial before adjusting any of
the calibration features.

Y ou might need to adjust the wheel pilot calibration settings if:

• the pilot does not maintain a selected heading

• the rudder activity is too high or the course keeping is not t ight

enough.

• the boat appears to be unstable on Northerly headings (or
Southerly headings in the southern hemisphere)

• you operate in Track Control mode without a speed instrument

• you wish to change the Off Course alarm angl e

The calibration menu allows you to adjust the following parameters
from their factory default settings:

6 Adjusting Wheel Pilot Settings

• rudder gain

• average cruise speed

• off course alarm limit

• variation

• Northerly/Southerly turning error compensati on

• boat’s current latitude

Adjusting calibration values

The flowchart on the next page shows how to:

• enter the calibration menu

• scroll through the calibration menu

• adjust the calibration values

• quit calibration

62 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Calibration menu

SECONDS

PRESS STANDBY AGAIN FOR 5 SECONDS
WITHIN 10 SECONDS TO ENTER CALIBRATION

SECONDS

Rudder gain

ADJUSTING CALIBRATION

FEATURES

OR

Cruise speed

6 Adjusting Wheel Pilot Settings

QUITTING CALIBRATION AND

SAVING ANY CHANGES

Off course alarm angle

SECOND

Magnetic variation

QUITTING CALIBRATION

WITHOUT SAVING CHANGES

Heading error correction

Boat's latitude:
Does not appear if Level 10 is set to 0.

D5627-1

Chapter 6: Adjusting Wheel Pilot Settings 63

Calibration features

Calibration feature Value

• The number on the left identifies the calibration feature and the
number on the right the currently selected value.

• Y ou can enter the calibration menu to view the existing values
without altering them. After viewing the value, a momentary
press of

STANDBY returns the pilot to its normal operating mode

without a ffectin g the prev ious sett ings.

• If the display shows

CAL OFF when you try to enter calibration,

refer to page 66.

Default calibration values

The following table shows the default calibration values. These will
provide safe performance for initial sea trial.

No. Feature Default setting Adjusted values

1 Rudder gain 5

5Average cruise speed 8

6 Off course alarm angle 20

9 Local magnetic variation Off (– –)

10 North/South turning error

correction

11 Boat’s current latitude 0

D5626-1

6 Adjusting Wheel Pilot Settings

D214-1

Off (0)

Note: C alibration Levels 2,3,4,7 and 8 are not available. If
Calibration Level 10 is set to 0, level 11 will also be omitted.

64 ST3000 Wheel Drive Autopilot - Owner’s Handbook

6.2 Calibrating the wheel pilot

Calibration Level 1: Rudder gain

Use Calibration Level 1 to adjust the rudder gain. This must be set
when your boat is under way , as described on page 59.

Calibration Level 5: Cruise speed

Use Calibration Level 5 to set the boat’s normal cruising speed for
operation in Track mode.

When interfacing with a navigation system, the wheel pilot uses the
boat’s average cruising speed to perform track calculations.

Note: If a SeaTalk speed instrument is connected, boat speed data
will be transmitted directly to the autopilot.

Calibration Level 6: Off course alarm angle

Use Calibration Level 6 to set the off course alarm angle. This alarm
warns you if the autopilot is unable to maintain its set course.

6 Adjusting Wheel Pilot Settings

The off course alarm operates if the autopilot strays of f course, by
more than the set value, for more than 20 seconds.

Y ou can set the limit in 1° increments between 15° and 40°.

Locked heading

Boat heading

15˚ minimum

D3264-2

Chapter 6: Adjusting Wheel Pilot Settings 65

Calibration Level 9: Magnetic variation

Use Calibration Level 9 to input the level of magnetic variation
present at the boat’s current pos ition.

• -ve variation = west

• +ve variation = east

The wheel pilot transmits this value onto the SeaTalk bus, so it can be
picked up by other SeaT alk instruments.

Calibration Level 10: Heading error correction

Use Calibration Level 10 to switch on Northerly or So utherly heading
error correction:

• 0 = Off

• 1 = Northern Hemisphere, 2 = Southern Hemisphere

Y ou might notice that the autopilot tends to be a little less stable on
Northerly headings in the higher latitudes of the Northern hemi sphere
(or Southerly headings in the Southern hemisphere).

This is caused by the increasing angle of dip of the earth’s magnet ic
field at higher latitudes, which has the effect of amplifying rudder
response on Northerly (Southerly) headings. This error af fects all
magnetic compasses and gets worse further away from the equator.

With heading error correction switched on, the wheel pilot can
compensate for this error by automatically adjusting the autopilot
gain (depending on heading). This will provide precise cours e
keeping on all headings.

North

without

North

compensation

6 Adjusting Wheel Pilot Settings

with
compensation

D3263-2

66 ST3000 Wheel Drive Autopilot - Owner’s Handbook

Calibration Level 11: Boat’s current latitude

When you have switched on heading error correction (Level 10), you
need to use Calibration Level 11 to i nput the boat’s current latitude
(to the nearest degree).

Set the latitude using the

-1, +1, -10 and +10 keys.

Note: If the cor rection is switched off in Calibration Level 10 (i.e. set
to ‘

0’),Level 11 will be omitted. When you press the AUTO key in

Calibration Level 10 you will advance to Level 13.

Controlling access to calibration

Y ou can prevent unauthorized access to calibration as follows:

1. Press and hold
display shows

6 Adjusting Wheel Pilot Settings

2. T oggle the calibration access between OFF and On using the -1 and

-1 and STANDBY together for 10 seconds unt il the

CAL OFF:

D214-1

+1 keys.

3. Store the setting by pressi ng

-1 and standby for 10 seconds until

the wheel drive returns to normal operation.

SeaTalk socket template

Drill 2.5 mm (3/32 inch)
diameter hole (2 positions)

Drill 18 mm (23/32 inch)
diameter hole

D5658-1

Index 69

Index

A

Adjusting autopilot performance 59
Adjusting wheel pilot settings
Alarms and warnings

Large XTE
Off course alarm
Track data error
Track data not received
Waypoint advance
Wind shift

Auto mode

Automatic deadband
AutoTack
Changing course
Dodging obstacles
Entering Auto mode
Exiting Auto mode
Off course alarm

Return to previous heading
Auto Seastate
Automatic deviation correction

20, 24

24, 55

26

10–15

12

14

61–66

13

24, 55

22, 24

14

11

12

10

10

13

13

56

B

Boat’s current latitude 66

C

Cabling

Power

38

Calibration

Changing course
Commissioning the wheel pilot

61–66

66

Access

Default values

Level 01 - Rudder gain

Level 05 - Cruise speed

Level 06 - Off course alarm angle

Level 09 - Magnetic variation

Level 10 - Heading error

Level 11 - Boat’s current latitude

63

59, 64

64

65

11, 14

53–60

Adjusting rudder gain

Functional tests

Initial sea trial

59

53–55

56–58

65

64

66

Compass calibration

Deviation correction

Heading alignment
Cross track error
Cruise speed
Current latitude

56–58

58

20

64

66

D

Display illumination 16
Dodging obstacles

12, 22

E

EMC

Installation guidelines

Servicing and safety guidelines

F

Fault finding 30
Functional test

Navigation interface

Operating sense

SeaTalk interface

Switch on

Wind instrument interface

53

55

53

H

Heading alignment 58
Heading error correction

65

I

Illumination 16
Initial sea trial

Checking autopilot operation 58

Compass deviation correction

Heading alignment
Installation

35–52

Cabling

Power 38

EMC guidelines

58

35

L

Lighting 16

56

35

29

54

55

56

70 ST3000 Wheel Drive Autopilot - Owner’s Handbook

M

Magnetic variation 65
Maintenance

29

N

Northerly heading error correction 65

O

Off course alarm 13
Off course alarm angle
Operating modes

Auto mode
Track mode
Wind Vane mode

Operating sense, reversing

64

9–27

10–15

17–24

25–27

54

P

Power

Cabling

38

Product support

30

R

Return to previous heading 13
Rudder gain

59, 64

S

SeaTalk

Accessory cables
Servicing
Southerly heading error correction
Specifications

29

40

65

3

W

Wind Vane mode 25–27

Entering Wind Vane mode
Exiting Wind Vane mode
Return to previous wind
Wind shift alarm

26

X

XTE (Cross track error) 20

25

26

26

T

Track mode 17–24

Cross track error

Dodging obstacle s

Entering Track mode

Automati c acquisition
Manual acquisition

Exiting Track mode

23

Safety

Tidal stream compensation

Warning messages

Waypoint arrival/a dvance

20

22

17

18

19

20

21

24, 55

22

Limited Warranty Certificate

Raymarine warrants each new Light Mar ine/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 no rmal use for a period of 2 years/24 mon ths from date of sale to end user , except
as provided below.

Defects will be corrected by Raymarine or an authorized Raymarine dealer. Raymarine 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 cer tain products, travel costs (auto milea ge and tolls) up to 100 round
trip highway miles (160 kilometres) and travel time of 2 hours, will be assumed by Raymarine only
on products where proof of installation or commission by authorized serv ice agents, can be shown.

Warranty Limitations

Raymarine W arranty policy does not apply to equ ipment which has been subjected to ac cident, abuse
or misuse, shipping damage, alteration s, corrosion, incorr ect and/or non-auth orized service, or
equipment on which the serial number has been altered, m utilated or removed.
Except where Raymarine or its authorized dealer has performed the installation, it assumes no
responsibility for damage incurred during installation.
This W arranty does not cover routin e system checkouts or alignment/calibration, unless required by
replacement of part(s) in the area being aligned.
A suitable proof of pu rchase, showing d ate, place, and serial number must be made available to
Raymarine or authorized service agent at the time of request for W arranty service.
Consumable items, (such as: Char t paper, lamps, fus es, batteries, styli, stylus/drive belts, radar mixer
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specifically excluded from this Warranty .

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of sale. These items must be returned to a Raymarine facility.

All costs associated with transducer replacement, other than the cost of the transducer itself, are
specifically excluded from this Warranty .

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all products. T ravel costs which are exc luded from the coverage of this W arranty in clude but are no t
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charges etc. T ravel cost s, mileage and time, in excess to that allo wed must have prior appr oval in
writing.

TO THE EXTENT CONSISTENT WITH ST ATE AND FEDERAL LAW:
(1) THIS W ARRANTY IS STRICTLY LIMITED TO THE TERMS INDICA TED HEREIN, AND
NO OTHER WARRANTIES OR REMEDIES S HALL BE BIND ING ON RA YM ARINE
INCLUDING W ITHOUT LIMI T A TI ON ANY WARRANTIES OF MER CHANT ABL E OR
FITNESS FOR A P ARTICULAR PURPOSE.
(2) Raymarine shall not be liable for any incidental, consequential or special (including punitive or
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responsibility of the user to exercise discretion and proper navigational skill independent of any
Raymarine equipment.

Document number: 84064-8

April 2001

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Stick barcode label here

Purchased f rom Purchase date

Dealer address

Installed by Installation date

Commissioned by

Commissioning date

Owner’s name

Mailing address

This portion should be comple ted and retained by the owner.