Raymarine autopilot 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.
ST6001+ Autopilot Control Unit
Owner’s Handbook
Document number: 81190-2
Date: May 2001
ii ST6001+ Autopilot Control Unit - 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
About this handbook ......................................................... vii
Important Information ..................................................... viii
Warranty ...................................................................................viii
Safety notices ...........................................................................viii
EMC conformance .....................................................................ix
Handbook information ...............................................................ix
Chapter 1: Introduction ............................................................1
Chapter 2: Basic Operation .......................................................3
2.1 Using the control unit ................................................................4
Start-up mode ............................................................................4
Keypad functions ......................................................................4
Display layout ...........................................................................5
2.2 Using Auto mode ......................................................................6
Engaging the autopilot (Auto mode) .........................................6
Disengaging the autopilot (Standby mode) ..............................6
Changing course in Auto mode .................................................7
Adjusting performance – T ype 150G/400G .............................7
Adjusting performance – T y pes 150/400 and 100/300 ............. 8
Off Course warning .................................................................10
Dodging obstacles and then resuming course ......................... 10
Using sail boat features ...........................................................12
2.3 Adjusting display/keypad lighting .........................................14
Chapter 3: Advanced Operation ............................................15
3.1 Using Track mode ...................................................................16
Selecting Track mode .............................................................16
Exiting Track mode ............................................................. ....17
Cross track error ......................................................................17
Tidal stream compensation .....................................................18
W aypoint arrival and advanc e .................................................19
W aypoint Advance warning – summary .................................20
Dodges in Track m ode ............................................................ 21
Safety in Track mode .............................................................. 22
3.2 Using Wind Vane mode – sail boats ........................................23
About Wind Vane mode .......................................................... 23
Selecting Wind Vane mode ..................................................... 24
Exiting Wind Vane mode ........................................................24
Adjusting the locked wind angle .............................................24
iv ST6001+ Autopilot Control Unit - Owner’s Handbook
Returning to the previous wind angle (LAST WND) ............. 25
Dodges in Wind Vane mode .................................................... 25
Wind Shift warning .................................................................26
Using AutoT ack in W ind Vane mode ......................................26
Operating hints for Wind Vane mode ...................................... 27
3.3 Adjusting the rudder gain ........................................................27
3.4 Displaying data pages ............................................................. 29
W atch timer ............................................................................. 30
W arning messages ..................................................................31
Chapter 4: Fault Finding & Maintenance ..............................33
4.1 Fault finding ............................................................................34
Common autopilot problems ..................................................34
Autopilot alarm messages ....................................................... 35
4.2 General maintenance .............................................................. 37
Routine checks ........................................................................37
Cleaning the display ................................................................37
EMC advice ............................................................................ 37
4.3 Product support ....................................................................... 38
Chapter 5: Installing the ST6001+ ..........................................43
5.1 Select the location ...................................................................44
Site requirements .................................................................... 44
5.2 Control unit installation .......................................................... 47
Surface mount control units .................................................... 47
Flush mount control units ....................................................... 48
5.3 SeaTa lk connections ............................................................... 49
5.4 NMEA connections ................................................................ 50
Receiving NMEA data ............................................................50
5.5 Functional test – repeater units only .......................................53
Chapter 6: Commissioning the Autopilot ............................55
6.1 Dockside Checks .................................................................... 56
Step 1 - Switch on ................................................................... 56
Step 2 - Check the SeaT alk and NMEA connections .............. 57
Step 3 - Check the autopilot operating sense ...........................58
Step 4 - Adjust basic autopilot settings ................................... 59
6.2 Seatrial Calibration ................................................................. 63
Calibrating the compass .......................................................... 64
Adjusting autopilot settings .................................................... 68
Preface v
Chapter 7: Adjusting Autopilot Settings ..............................75
7.1 Calibration basics ....................................................................76
Calibration groups ..................................................................76
Accessing the Calibration mode .............................................78
7.2 Display Calibration ................................................................ 79
Display Calibration screens ....................................................79
7.3 User Calibration ......................................................................83
User Calibration screens .........................................................83
7.4 Seatrial Calibration .................................................................87
7.5 Dealer Calibration ...................................................................88
Accessing Dealer Calibration .................................................88
Dealer Calibration screens and settings ..................................88
Dealer Calibration defaults: T ypes 150/150 G & 400/400G ...97
Dealer Calibration options: T ypes 150/150G & 400/400G .... 98
Appendix: Using the ST6001+
With Non-150/400 Autopilots ............................................. 99
Using the autopilot (non-150/400 systems) ............................100
Commissioning the autopilot (non-150/400 systems) ............101
Dockside Checks ..................................................................101
Seatrial Calibration ............................................................... 101
Calibration mode (non-150/400 systems) ............................... 102
Calibration groups ................................................................102
Dealer Calibration screens ....................................................104
Dealer Calibration: possible settings with T ype 10 0/300 ..... 110
Specifications .....................................................................111
ST6001+ control unit ..............................................................111
Course computer functions .....................................................111
Glossary ..............................................................................112
Index ....................................................................................115
vi ST6001+ Autopilot Control Unit - Owner’s Handbook
Preface vii
About this handbook
W elcome to the handbook for the ST6001+ autopilot control unit.
This handbook contains two main parts :
Part 1: Using the ST6001+
Chapter 1: Introduction
1
Introduces the autopilot, its features and its use.
Chapter 2: Basic Operation
Covers basic autopilot operation: using Auto mode,
2
adjusting autopilot performance, and changing the control
unit lighting.
Chapter 3: Advanced Operation
Explains how to use Track and Wind Vane modes, adjust
3
rudder gain and display data pages.
Chapter 4: Fault Finding & Maintenance
Provides general maintenance procedures and
4
trouble-shooting information (including alarm messages).
page 1
page 3
page 15
page 33
Part 2: Installing the ST6001+
Chapter 5: Installing the ST6001+
Explains how to install your ST6001+ control unit and
5
connect it to your autopilot system.
Chapter 6: Commissioning the Autopilot
Covers dockside checks after installation, and the initial
6
seatrial calibration.
Chapter 7: Adjusting Autopilot Settings
Provides details on adjusting the control unit and autopilot
7
settings in Calibration mode.
page 43
page 55
page 75
At the end of this handbook we have inclu ded an appendix, product
specifications, a glossary , an index, installation templates, and
warranty information.
Note: T his handbook contains important information about
installing, using and maintainin g your new Raymarine product. To
get the best from the product, please read this h andbook thoroughly.
viii ST6001+ Autopilot Control Unit - Owner’s Handbook
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.
Safety notices
WARNING: Product installation
This equipment must be installed and operated in accordance
with the instructions contained in this handbook. Failure to do so
could result in poor pr oduct performance, personal injury
and/or damage to your boat.
WARNING: Electrical safety
Make sure the power supply is switched off befor e you make any
electrical connections.
WARNING: Calibration
We supply th is product calibrated to default settings tha t should
provide initial stable performance for most boats. T o ensur e
optimum performance on your boat, you must complete Chapter
6: Commissioning the Autopilot before use.
WARNING: Navigation aid
Although we have designed this pr oduct to be accurate and
reliable, many factors can affect its performance. As a result, it
should only be used as an aid to n avigation and should never
replace common s ense and navigational judgement. A lways
maintain a permanent watch so you can respond t o situations as
they develop.
Y our Raymarine autopilot will add a new dim ension to your boating
enjoyment. However, it is the skipper’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 .
Preface ix
• Make sure that all members of crew know how to disengage the
autopilot.
• 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 posit ion 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.
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.
Handbook information
T o the best of our knowledge, the information in this handbook 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 improv ement may change
specifications without notice. As a result, Raymarine cannot accept
liability for any differences between the product and th e handbook.
x ST6001+ Autopilot Control Unit - Owner’s Handbook
Part 1: Using the ST6001+
Part 1: Using the ST6001+
Part 1: Using the ST6001+
Chapter 1: Introduction 1
Chapter 1: Introduction
The Raymarine ST6001 Plus (ST6001+) is a SeaT alk® compatible
autopilot control unit. It is designed as the main control uni t for
Raymarine T ype 150, 150G, 400 and 400G course computers.
The ST6001+ control unit has the following modes:
1.
Standby: autopilot off (see page 6)
2.
Auto: autopilot steers the boat to maintain a locked heading
(see page 6)
Track: autopilot steers the boat to maintain a track between two
3.
waypoints created on a navigation aid (see page 16)
4.
Wind Vane: autopilot steers the boat to maintain a course relative
to a true or apparent wind angle (see page 23)
5.
Calibration: so y ou can ad just the aut opilot to give opt imum
performance for your boat (see page 76). This includes autom atic
compass deviation correction (all autopilots) and AutoLearn
automatic steering calibration (T ype 150G/400G systems only)
1 Introduction
D5460-1
The ST6001+ also provides:
• automatic tack (AutoT ack) in Auto and W ind V ane modes
• Northerly/So utherly heading compensation
• waypoint advance feature in Track mode
2 ST6001+ Autopilot Control Unit - Owner’s Handbook
Functions with Type 150/150G and 400/400G autopilots
The functions provided with T ype 150/150G and Type 400/4000G
autopilots depend on whether the course computer contains an
internal GyroPlus yaw sensor:
Type 150G/400G (with GyroPlus) Type 150/400 (without GyroPlus)
1 Introduction
Internal GyroPlus yaw sensor provides
enhanced course keeping using AST
(Advanced Steering Technology)
Improved track-keeping Improved track-keeping
Steering to true and apparent wind in
Wind Vane mode
Improved calibration access, including
AutoLearn (self-learning calibration)
Full basic functionality: uses Raymarine
steering algorithm without AST
Steering to true and apparent wind in
Wind Vane mode
Improved calibration access, but
without AutoLearn
Extended systems
Y ou can connect the ST6001+ to other Raymarine SeaT alk
equipment so it can send and receive SeaTalk data:
• it can use wind information from a SeaTalk wind instrument for
Wind Vane steering
• it can use waypoint information from a SeaT alk navigation
instrument to provide track control
• it can use boat speed from a SeaTalk speed instrument to optimize
track-keeping performance
Y ou can also use the ST6 001+ autopilot with any navigator
(GPS, Decca, Loran) or wind instrument that transmits National
Marine Electronics Association (NMEA) 0183 data.
The ST6001+ can display SeaT alk and NMEA instrument data in a
user-defined selection of data pages. When you are usin g the
ST6001+ to repeat instrument data, i t shows a ‘pop-up’ pilot page for
5 seconds whenever you make a change in autopilot control.
Compatibility with other autopilots
The ST6001+ is also compatible with Raymarine T ype 100 and
T ype 300 course computers (see the Appendix for more details).
Y ou can also use it as an additional repeater control unit for any
SeaTalk autopilot system, allowing autopilot control from a
secondary location.
Chapter 2: Basic Operation 3
Chapter 2: Basic Operation
The sections in this chapter explain how to use the basic functions on
your ST6001+ autopilot control unit:
Using the control unit
2.1
2.2
2.3
Summarizes the key functions and screen layout on the
ST6001+ control unit.
Using Auto mode
Provides instructions for engaging/disengaging the
autopilot, using Auto mode and adjusting the
autopilot’s performance.
Adjusting display/keypad lighting
Explains how to c hange the lighting on the control unit
display and keypad.
Note: If you are using the control unit with a non-150/40 0 autopilot
system, re fer to the no tes in the A ppendix.
page 4
page 6
page 14
2 Basic Operation
4 ST6001+ Autopilot Control Unit - Owner’s Handbook
2.1 Using the control unit
Start-up mode
The autopilot always powers up in S tandby mode with the display
showing the boat’s current compass heading.
Note: Y ou can press
steering.
Keypad functions
The autopilot is controlled using si mple push-button operations, all of
which are confirmed with a short beep. In addition to the main
single-key functions, there are several dual key operations.
2 Basic Operation
-1 plus -10
Press together
for AutoTack
to port
standby at any time to return to manual
-1 plus +1
Press for Response level
Press for 1 second
for Rudder Gain
+1 plus +10
Press together
for AutoTack
to starboard
DISP
Press to display
data pages
Press for 1 second
for lamp control
STANDBY
Press for
Standby mode
Press for 2 seconds
to enter Calibration mode
Course change keys
Port 1˚ Starboard 1˚
Port 10˚ Starboard 10˚
STANDBY plus AUTO
Press for Wind Vane mode
(if a wind vane is connected)
Press for 1 second for Last Wind
Press again to accept Last Wind
TRACK
Press for Track
mode from Auto
(if a navigator is
connected)
Press to accept
waypoint advance
Press for 1 second
to skip waypoint
AUTO
Press for Auto mode
Press for 1 second
for Last Heading
Press again to
accept Last Heading
D5449-1
Chapter 2: Basic Operation 5
Display layout
The ST6001+ display screen provides the following informati on:
Variable text region (up to 9 characters/digits)
Heading indicators
Distance units:
• no units = kilometres
• nm = nautical miles
• SM = statute miles
Autopilot mode
indicators
Port and Starboard
direction-to-steer
indicators
Calibration mode
indicator (displayed on
calibration pages)
2 Basic Operation
Rudder position indicator or error bar
D5457-1
The bar graph at the bottom of the screen is normally a rudder position
indicator. This indicates the current position of the rudder , as
measured by the rudder position sensor .
Note: You can change this to a headi ng/cross track/wind error bar in
Display Calibration, seepage 79.
6 ST6001+ Autopilot Control Unit - Owner’s Handbook
2.2 Using Auto mode
CAUTION:
Before using Auto mode, make sure that the pilot has been
correctly commissioned.
Engaging the autopilot (Auto mode)
T o engage the autopilot:
1. Steady the boat on the required heading.
2. Press
2 Basic Operation
CAUTION:
Autopilot course control makes it easier to sail a boat, but it is
NOT a substitute for good seamanship. ALW A YS maintai n a
permanent watch by the helm.
auto:
• in Auto mode, the display shows the locked autopilot heading
D3560-3
Disengaging the autopilot (Standby mode)
Press standby to disengage the autopilot:
• in Standby mode, the display shows t he boat’s current compass
heading.
• the last heading is memorized and can be recalled (see page 11).
D3561-3
Chapter 2: Basic Operation 7
Changing course in Auto mode
In Auto mode, use the -1 and -10 (port) and +1 and +10 (starboard )
keys to change the locked heading in steps of 1° or 10°. For example:
press
-10 three times for a 30° co urse change to port.
Port Starboard
Adjusting performance – Type 150G/400G
The main way you can adjust the performance of T ype 150G/400G
(GyroPlus) autopilot systems is by changing the response level. Thi s
is the only user adjustment you should need to make to t he autopilot
on a regular basis.
The response level controls the relationship between the autopilot’s
course keeping accuracy and the amount of helm/drive activity.
T ype 150G and 400G autopilot systems have 9 l evels of response:
• level 1 gives the least pilot activity to conserve power, but may
compromise short-term course-keeping accuracy
• levels 4 to 6 should give good course keeping under nor mal
operating conditions – with crisp, well controlled turns but
without being over-aggressi ve
• level 9 gives the tightest course keeping and gr eatest rudder
activity , but may lead to a rough passage in open waters as the
autopilot may ‘fight’ the sea
oror
2 Basic Operation
D3320-2
When you require extra tight course keeping (e.g. for pilotage in
confined and sheltered waters), increase the setting. If you want t o
minimize drive activity and conserve battery power , decrease
the setting.
8 ST6001+ Autopilot Control Unit - Owner’s Handbook
Y ou ca n adjust the default response level in either User or Dealer
Calibration (see page 85). This determines the default power-up
response level.
However, when using your aut opilot on a day-to-day basis, you can
make temporary adjus tments to the response level. By doing this
you can match autopilot performance to different conditio ns.
Temporary changes to response – Type 150G/400G
With these points in mind, you should use the following procedure to
make temporary adjustments to the response level when required:
1. Display the
together momentarily .
2 Basic Operation
RESPONSE screen by pressing the -1 and +1 keys
Decrease
response
Increase
response
D5452-1
Note: The RESPONSE screen is set as a default data page (see
page 81) so you can also access it by pressing
disp and then scrolling
through the data pages.
2. Press
3. Press
-1 or +1 to change the response level.
disp or wait for 5 seconds to return to the previous display .
Note: Y ou will lose these temporary changes to response level
whenever the system is powered off. You can make permanent
adjustments in User or Dealer Cali bration (see page 85).
Adjusting performance – Types 150/400 and 100/300
T o adjust the performance of T ype 150/400 (non-GyroPlus) and
T ype 100/300 autopilot systems you can change the respon se level.
Chapter 2: Basic Operation 9
Response level – Types 150/400 and 100/300
The response level controls the relationship between the autopilot’s
course keeping accuracy and the amount of helm/drive activity.
Y ou can adjust the default response level in either User or Dealer
Calibration (see page 85). This determines the default power-up
response level.
However, when usi ng your autopilot on a day-to-day basis, you will
need to make temporary adjustments to the response level. By doing
this you can match autopilot performance to different conditi ons.
T ype 150/400 (without GyroPlus ) and T ype 100/300 autopilot
systems have three different response levels:
• Response Level 1: AutoSeastate on ( Automatic deadband )
This setting causes the autopilot to gradually ignore repetitive
boat movements and only react to true variations in course. This
provides the best compromise between power consumptio n and
course keeping accuracy, and is the default calibration setting.
• Response Level 2: AutoSeastate off (Minimum deadband)
This setting provides tighter course keeping. How ever, this
results in increased power consumption and drive unit activity .
• Response Level 3: AutoSeastate off + yaw damping
This setting provides the tightes t possible course keeping by
introducing counter rudder yaw damping. You can adjust the
counter rudder setting in Dealer Calibration (see page 91)
2 Basic Operation
To make a temporary change to the response setting:
1. Display the
together momentarily .
2. Press
3. Press
Note: Y ou will lose these temporary changes to response level
whenever the system is powered off. You can make permanent
adjustments in User or Dealer Calibr ation (see page 85).
RESPONSE screen by pressing the -1 and +1 keys
-1 or +1 to change the response between levels 1 to 3.
disp or wait for 5 seconds to return to the pr evious display .
10 ST6001+ Autopilot Control Unit - Owner’s Handbook
Off Course warning
= deviation to port
= deviation to starboard
D3315-2
The ST6001+ activates the OFF COURSE warning when the boat has
been off course from the locked heading by more than the specified
angle* for longer than 20seconds. It shows whether the deviation is to
port or starboard.
Note: * Y ou can adjust this specified off course angle i n Dealer
Calibration (see page 93).
2 Basic Operation
1. T o cancel the off course warning, press
steering.
standby t o return to hand
2. Check whether your boat is carrying too much sail, or whether the
sails are badly balanced. Y ou can usually signif icantly improve
course keeping by improving the sail balance.
Note: T he ST6001+ also clears the warning if the heading r ecovers,
if you change the course, or if you change the operating mode.
Dodging obstacles and then resuming course
T o avoid an obstacle when your boat is under autopilot contr ol, you
can dodge the obstacle and then resume your previous course.
Dodging an obstacle
Obstacle
Original
course
Dodge
D3303-2P
Chapter 2: Basic Operation 11
Dodging an obstacle
1. Select a course change in the appropriate direction. For example,
press
-10 three times for a 30° dodge to port.
2. When safely clear of the obstacle, you can either:
• reverse the previous course change (for example, press
+10
three times), or
• return to the previous locked heading (
LAST HDG) as described
below
Returning to the previous heading (LAST HDG?)
When the boat is in Auto mode and you have steered the boat away
from the selected locked heading for any reason (for example, to
execute a dodge maneuver), you can return to the prev ious locke d
heading (the most recent heading held for 20 seconds). To do this:
2 Basic Operation
1. Press
2. T o accept this heading, and resume this course, press
Note: If you do not press
autopilot will maintain the current heading.
Returning to last heading
1 SECOND
auto for 1 second. The display flashes and shows t he
previous locked heading (
LAST HDG?) for 10 seconds. The
direction-to-steer indicator shows the direction the boat will turn.
auto when
the display is flashing.
auto while the display is flashing, the
Resumed
course
Obstacle
Original
course
Dodge
D5499-1
12 ST6001+ Autopilot Control Unit - Owner’s Handbook
Using sail boat features
Automatic tack (AutoTack)
The ST6001+ has a built in automatic tack facility (AutoT ack) that
turns the boat through 100° in the required direction. If you have s et
the vessel type to
angle in User or Dealer calibration (see page 83).
SAIL BOAT, you can adjust the default AutoTack
• to AutoTack to port: press the
• to AutoTack to starboard: press the
-1 and -10 keys together
+1 and +10 keys together
CAUTION:
When making major course changes, the trim on the boat may
change substantially. Becau se of this, the autopilot may take
some time to settle accurately onto the new course.
AutoTack - Port
AutoTack - Starboard
2 Basic Operation
Wind
AutoTack
angle
AutoTack
angle
Wind
D5399-1
Preventing accidental gybes
Note: For the gybe inhibit feature to work, the autopilot needs
suitable wind information (see page23).
The gybe inhibit feature stops the boat from performing an AutoT ack
away from the wind – this will prevent accidental gybes. On T ype
150/150G and 400/400G autopilots, you can turn of f this feature if
required:
Chapter 2: Basic Operation 13
• with gybe inhibit on:
• you will be able to perform an AutoTack into the wind
• to prevent accidental gybes, the autopilot will prevent the bo at
from performing an AutoT ack away from the wind
• with gybe inhibit off:
• you can perform an AutoT ack into or away from the wind.
Note: Gy be inhibit is switched on as a default. On T ype 150/150G
and Type 400/400G autopilots you can swit ch it off in User or Dealer
Calibration (see page 83).
Gusty conditions
In gusty conditions, the course may tend to wander sl ightly ,
particularly if the sails are badly balanced. If you take the following
precautions, the autopilot will be able to maintain competent control
even in gale force conditions:
• Y ou can significantl y improve course keeping by improving the
sail balance:
• 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
• In very strong winds and lar ge seas, you should avoid sailing with
the wind dead astern:
• ideally, bring the wind at least 30° away from a dead run
• in severe conditions, you may also need to remove the
mainsail and sail under headsail only
2 Basic Operation
14 ST6001+ Autopilot Control Unit - Owner’s Handbook
2.3 Adjusting display/keypad lighting
Note: When the display lighting is off, the control unit illuminates the
keys at a courtesy level.
T o adjust the display and keypad lighting:
1. Press
2. Press the
.
2 Basic Operation
disp for 1 second from any mode to access the LAMP screen
and turn on the lights.
disp key to cycle through the poss ible illumination
settings:
LAMP 1, LAMP 2, LAMP 3
LAMP 3 (the brightest setting), LAMP 2, LAMP 1, OFF,
and so on:
• as you change the setting, the illumination on any other
SeaTalk instruments or con trol units will also change
SECOND
D3313-3
3. The display automatically returns to the previous mode if you do
not press a key for 10 seconds:
• if you press another mode key within 10 seconds you wil l
select the mode assigned to that key (for example:
auto
selects Auto mode, standby selects Standby mode)
Note: You can als o adjust the lighting level from any other SeaTalk
instrument or control unit .
Note: W hen you switch off the unit you lose any changes you have
made to the lighting level.
Chapter 3: Advanced Operation 15
Chapter 3: Advanced Operation
The sections in this chapter explain how to use the more advanced
functions on your autopilot:
Using Track mode
3.1
3.2
3.3
3.4
Tracking between waypoints created on navigation
equipment connected to the autopilot system.
Using Wind Vane mode – sail boats
Using the autopilot to maintain a course relative to a
true or apparent wind angle.
Adjusting the rudder gain
Explains how to adjust the rudder gain setting (mainly
applies to non-GyroPlus Type 150/400 systems).
Displaying data pages
Describes how to use d ata pages to display SeaTalk and
NMEA information on the cont rol unit. This section also
explains the Watch timer feature.
page 16
page 23
page 27
page 29
Note: If you are using the control unit with a non-150/40 0 autopilot
system, re fer to the no tes in the A ppendix.
3 Advanced Operation
16 ST6001+ Autopilot Control Unit - Owner’s Handbook
3.1 Using Track mode
Note: Y ou can only use Track mode if you have connected the
autopilot to a suitable navigation sys tem providing SeaTalk or
NMEA navigation information.
The autopilot system can receive track information from either:
• a SeaTalk navigation ins trument or chartplotter (see page 49 for
information on connecting to SeaT alk), or
• a non-SeaT alk navigation system transmitting dat a in the
NMEA 0183 format (see page 50 for information on connecting
NMEA equipment)
In Track mode, the autopilot maintains a t rack between waypoints
created on the navigation system. The autopilot makes any course
changes necessary to keep your boat on track, automatically
compensating for tidal streams and leeway.
Selecting Track mode
CAUTION:
When you enter T rack mode, the autopilot will bring the boat
onto the track in a controlled way. The closer the boat is to the
correct heading and track, the quicker the autopilot will settle the
boat onto the new course. T o avoid a n unexpected turn,
approximately ali gn the boat with the requir ed track before
entering Track mode.
3 Advanced Operation
T o select Track mode:
1. Star t with the a utopilot in Auto mo de.
2. Press
3. W ait for the W aypoint Advance warning t o sound. The display
4. Check that it is safe for the boat to turn onto the new course.
5. Press the
track to enter Track mode.
will show the bearing to the next planned waypoint and the
direction the boat will turn to reach this waypoint.
track key :
• the autopilot will turn the boat onto the new course in a
controlled way
• the display shows the heading required to achieve the
required track
Chapter 3: Advanced Operation 17
Note: T he closer the boat is to the correct heading and track when
you press
track, the quicker the autopilot will bring the boat onto the
new course. If the boat is more than 0.3 nm from the track, the Large
Cross Track Error warning will so und (see page 17).
Automatic track acquisition
From auto mode, press track to enter Track mode: Then press track again to turn boat to waypoint:
Waypoint
at 270˚
Waypoint
at 270˚
Current
heading
Exiting Track mode
Y ou can exit T rack mode and return to Auto or Standby mode by :
• pressing
• pressing
Cross track error
Cross track error (XTE) is the distance between the current position
and a planned route. The autopilot receives the cross track error
information from the navigation equipment, and displays the XTE in
nautical miles (
Previous
heading
auto to return t o Auto mode
standby to steer manually in Standby mode
nm), statute miles (SM) or kilometres.
D5414-1
3 Advanced Operation
If the cross track error is greater than 0.3 nm, the ST6001+ will sound
the Large Cross Track Error warning and show whether you are to the
port
(Pt) or starboard (Stb) of the planned track.
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