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
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