Raymarine autopilot control unit 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.
ST7000 Plus
Autopilot
Control Unit
Owner’s
Handbook
Document number: 81118_1
Date: 20 January 1999
Preface
i
Raytheon Electronics, as part of its commitment to continuous improvement and updating, reserve
the right to make changes, without prior notice, to the equipment, equipment specifications, and the
instructions contained within this handbook.
To the best of our knowledge, the information contained within this handbook was correct
as it went to press.
A great deal of care has been taken to ensure that this handbook is as accurate as possible. However,
liability cannot be accepted for inaccuracies or omissions.
Autohelm and SeaTalk are registered trademarks of the Raytheon Marine Company
WindTrim, AutoTack, AutoSeastate, AutoAdapt, AutoRelease and AutoTrim are trademarks of
Raytheon Marine Company
Copyright © Raytheon Marine Company 1998
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ST7000 Plus Autopilot Control Unit Owner’s Handbook
Preface
Contents
iii
Preface....................................................................................xi
How this Handbook is Organised ....................................xi
Warranty........................................................................... xi
Safety Information ..........................................................xii
EMC Conformance ........................................................xiii
Chapter 1: Introduction......................................................... 1
1.1 Overview..................................................................... 1
1.2 Specification ............................................................... 2
Chapter 2: Basic Operation ................................................... 3
2.1 Key Functions ............................................................. 3
2.2 Display Layout............................................................ 4
Bar Graph .................................................................... 4
Distance Units ............................................................. 5
2.3 Start Up Conditions .................................................... 5
2.4 Using Auto Mode........................................................ 5
Safety ..................................................................... 5
Engaging the Autopilot ............................................... 5
Return to Hand Steering .............................................. 6
Changing Course ......................................................... 6
Dodging Obstacles in Auto Mode............................... 7
Returning to the Previous Locked Heading ................ 8
Automatic Tack ........................................................... 9
AutoTack to Starboard ........................................... 9
AutoTack to Port.................................................... 9
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ST7000 Plus Autopilot Control Unit Owner’s Handbook
Off Course Alarm ...................................................... 10
Operating Hints ......................................................... 10
Making Major Course Changes........................... 10
Course Changes Under Autopilot Control..... 10
Sailboats in Gusty Conditions ............................. 11
2.5 Using Manual Mode ................................................. 11
2.6 Setting Up Backlighting and Contrast ...................... 12
Backlighting .............................................................. 12
Contrast ..................................................................... 13
2.7 Data Pages................................................................. 13
Waypoint names ........................................................ 14
2.8 Remotely Controlling ST60 and ST80 Instruments . 15
Chapter 3: Advanced Operation ......................................... 17
3.1 Operating in Track Mode.......................................... 17
Initiating Track Mode................................................ 17
Automatic Acquisition ......................................... 18
Manual Acquisition ............................................. 19
Cross Track Error ...................................................... 20
Tidal Stream Compensation ......................................21
Waypoint Arrival and Advance ................................. 21
Arrival.................................................................. 21
Skipping a Waypoint ...................................... 22
Advance ............................................................... 22
Dodges ...................................................................... 22
Initiating a Dodge Manoeuvre............................. 22
Cancelling a Dodge Manoeuvre ..........................22
Preface
v
Safety......................................................................... 23
Position Confirmation at the Start of a Passage .. 23
Verifying Computed Positions............................. 23
Plot Frequency ..................................................... 23
Setting Waypoints ................................................ 23
General ................................................................ 23
3.2 Operating in Wind Mode (WindTrim) ...................... 24
Selecting Wind Mode ................................................ 24
Adjusting the Locked Wind Angle............................ 25
Returning to the Previous Apparent Wind Angle
(LAST WIND) .......................................................... 25
Dodges ...................................................................... 26
Wind Shift Alarm ...................................................... 26
Using AutoTack in Wind Mode................................. 26
Operating Hints ......................................................... 27
3.3 Adjusting Autopilot Performance ............................. 28
Changing the Response Level ................................... 28
Changing the Rudder Gain........................................ 29
3.4 Alarms ....................................................................... 29
SeaTalk Failure.......................................................... 29
No Link ..................................................................... 29
Off Course ................................................................. 30
Wind Shift ................................................................. 30
Large Cross Track Error ............................................ 30
Drive Stopped............................................................ 30
Data Not Received .................................................... 30
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ST7000 Plus Autopilot Control Unit Owner’s Handbook
Waypoint Advance .................................................... 31
Low Battery............................................................... 31
Watch Alarm .............................................................. 32
Route Completed....................................................... 32
AutoRelease .............................................................. 32
Shallow...................................................................... 33
Man Overboard (MOB) ............................................ 33
Chapter 4: Customising the System .................................. 35
Important ............................................................. 35
4.1 User Setup ................................................................. 35
Pilot Type .................................................................. 37
Compass Deviation Correction ................................. 37
Deviation Display...................................................... 37
Heading Alignment ................................................... 37
Heading Mode) ......................................................... 38
Bar Selection ............................................................. 38
Rudder Calibration .................................................... 38
Popup Timeout .......................................................... 39
Auto Tack .................................................................. 39
Data Pages ................................................................. 39
Software Version Number ......................................... 41
4.2 Dealer Setup: Type 100/300 Course Computer ........41
Recommended Settings ............................................. 42
Pilot Type ............................................................. 42
Calibration Lock .................................................. 43
Rudder Gain ........................................................ 43
Preface
vii
Rate Level ............................................................ 43
Rudder Offset ...................................................... 44
Rudder Limit ....................................................... 44
Turn Limit............................................................ 44
Cruise Speed ........................................................ 45
Off Course Alarm ................................................ 45
AutoTrim ............................................................. 46
Power Steer.......................................................... 46
Drive Type ........................................................... 47
Rudder Damping ................................................. 47
Variation .............................................................. 48
AutoAdapt ........................................................... 48
Latitude ................................................................ 49
Wind Trim............................................................ 49
AutoRelease ......................................................... 49
Response ..............................................................49
Recording Calibration Settings ........................... 50
4.3 Setting Up For ST60 and ST80 Remote Control ...... 50
Instrument Grouping ................................................. 51
Setting Up Groups ............................................... 51
Grouping Standard Instruments .......................... 52
Grouping Maxiview Instruments......................... 54
Chapter 5: Installation ........................................................ 57
5.1 Planning the Installation ........................................... 57
EMC Installation Guidelines ..................................... 57
Cabling ...................................................................... 58
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ST7000 Plus Autopilot Control Unit Owner’s Handbook
5.2 Instrument ................................................................. 58
Siting ......................................................................... 58
Mounting Procedure.................................................. 59
Power......................................................................... 60
Connections to the SeaTalk Bus ................................ 60
SeaTalk Cables .................................................... 60
Cable Types ......................................................... 60
Typical SeaTalk Cabling ...................................... 61
5.3 NMEA Interface ....................................................... 61
Cabling ...................................................................... 61
NMEA Cable Connectors ......................................... 62
NMEA Data .............................................................. 62
Transmission of NMEA Data on SeaTalk ................. 63
5.4 Functional Test (Repeater Unit) ................................ 63
Switch On .................................................................. 64
Navigation Interface (GPS, Decca, Loran) ............... 64
SeaTalk Interface ....................................................... 65
Chapter 6: Post Installation Procedures ........................... 67
6.1 Functional Test and Initial Calibration ..................... 67
Switch On .................................................................. 67
Initial Calibration ...................................................... 67
Operating Sense ........................................................ 68
Navigation Interface (GPS, Decca, Loran) ............... 68
Wind Transducer Interface ........................................ 69
SeaTalk Interface ....................................................... 69
EMC Conformance ................................................... 70
Preface
ix
6.2 Initial Sea Trial.......................................................... 70
Automatic Compass Deviation Correction ............... 71
Further Heading Alignment Adjustment ................... 74
Checking Autopilot Operation .................................. 74
Checking the Rudder Gain ........................................ 74
Chapter 7: Maintenance ...................................................... 77
General ...................................................................... 77
Servicing and Safety ................................................. 77
Product Support......................................................... 77
Chapter 8: Fault Finding ...................................................... 79
Index ...................................................................................... 81
x
ST7000 Plus Autopilot Control Unit Owner’s Handbook
Preface
Preface
This handbook contains information on the operation and installation
of your ST7000 Plus. In order to obtain the best performance, please
read this handbook thoroughly.
How this Handbook is Organised
This handbook is divided into the following chapters:
Chapter 1: Introduces the ST7000 Plus Autopilot Control Unit, its
features and use.
Chapter 2: Describes basic autopilot operation.
Chapter 3: Explains how to use Track and Wind modes and adjust
autopilot performance. Also gives a summary of the ST7000 Plus
alarms.
Chapter 4: Provides details on how to make adjustments to customise
the ST7000 Plus and associated autopilot to give optimum
performance on your vessel.
Chapter 5: Explains how to install the ST7000 Plus.
xi
Warranty
Chapter 6: Covers functional testing, initial calibration procedures
after installation, and initial sea trials.
Chapter 7: Provides general maintenance procedures.
Chapter 8: Provides information to help you resolve any problems
you may encounter with your autopilot.
An index is included at the end of this handbook, followed by a
template for the installation of the control unit.
To verify the ownership of your new autopilot control unit, please take
a few minutes to complete the warranty card. It is important that you
complete the owner information and return the card to the factory to
receive full warranty benefits.
xii
Safety Information
WARNING
Although the ST7000 Plus is designed to give accurate and reliable
performance, it should serve only as an aid to navigation and
should never lead to the erosion of good seamanship. Always
maintain a permanent watch and be aware of situations as they
develop.
The following rules should always be observed:
• Maintain a permanent watch and regularly check all around for
other vessels and obstacles to navigation – no matter how clear the
sea may appear, a dangerous situation can develop rapidly.
• Maintain an accurate record of the vessel’s position either by use of
a radio navigation receiver or visual bearings.
• Maintain a continuous plot of position on a current chart. Ensure the
locked autopilot heading steers you clear of all obstacles. Make
proper allowance for Tidal Set – the autopilot cannot!
• Even when your autopilot is locked onto the desired Track using a
radio navigation receiver, always maintain a log and make regular
positional plots. Radio navigation signals can produce significant
errors under some circumstances and the autopilot cannot detect
this situation.
• Make sure that all members of crew are familiar with the
procedures to disengage the autopilot.
• Ensure someone is present at the helm AT ALL TIMES, to take
manual control in an emergency.
• As the fluxgate compass used in the autopilot system is a type of
magnetic compass, it is susceptible to disturbances in the local
magnetic fields, in the same way that a conventional ship’s compass
would be. It is therefore important that the fluxgate compass is
installed and operated in a manner that will minimise the effects of
any such local disturbances.
ST7000 Plus Autopilot Control Unit Owner’s Handbook
Your Raytheon autopilot will add a new dimension to your boating
enjoyment. However, it is the responsibility of the skipper to ensure the
safety of the vessel at all times by careful observance of these basic
rules.
Preface
EMC Conformance
All Raytheon equipment and accessories are designed to the best
industry standards for use in the leisure marine environment.
Their design and manufacture conforms to the appropriate
Electromagnetic Compatibility (EMC) standards, but good installation
is required to ensure that performance is not compromised.
xiii
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ST7000 Plus Autopilot Control Unit Owner’s Handbook
Chapter 1: Introduction
Chapter 1: Introduction
1.1 Overview
The ST7000 Plus is a SeaTalk® compatible autopilot control unit. It
can be used either as the control unit for a Type 100/300 Course
Computer, or as a repeater, to allow control of autopilot types such as
the ST4000 Plus, from a secondary location. It can also repeat
instrument data by means of a programmable selection of Data Pages.
The autopilot system uses data transmitted from Autohelm SeaTalk
instruments:
• Wind information from a wind instrument can be used for wind
trim steering without the need to install a separate vane.
• Track information, from a navigation instrument, provides the
ability to steer from waypoint to waypoint.
• Boat speed from the Speed instrument provides optimum trackkeeping performance.
The ST7000 Plus can also be used with any navigator (GPS, Decca,
Loran) transmitting NMEA 0183 data.
1
There are five operating modes:
Standby: Autopilot disengaged.
Auto: Autopilot engaged and locked onto a heading.
Track: Autopilot maintains a track between two waypoints
created using a navigation system.
Wind: Autopilot maintains a course relative to an apparent
wind angle.
Manual: Autopilot power steers rudder using joystick control.
When the ST7000 Plus is being used to repeat instrument data, “popup pilot” pages are displayed whenever a change in autopilot control is
made. The duration of pop-up pilot pages is user-adjustable.
The ST7000 Plus also provides access to autopilot features such as:
• Automatic tack facility, which can be used in Auto and Wind
modes.
• Automatic compass deviation correction.
• Northerly/Southerly heading compensation.
• Automatic heading deadband – seastate control.
2
• Waypoint advance feature.
• User Setup and Dealer Setup functions, to enable optimum
performance to be achieved for a wide range of different types of
vessel.
1.2 Specification
• Power Supply: 10 to 15 V DC
• Current consumption:
50 mA with display lamps off.
120 mA with display lamps set at brightest level.
• Operating temperature: 0°C to +70°C (32°F to 158°F).
• Thirteen-button illuminated keypad.
• LCD display of heading, locked course, navigational, SeaTalk and
NMEA data, with three levels of illumination.
• Two connections for SeaTalk.
• Input connection for NMEA.
ST7000 Plus Autopilot Control Unit Owner’s Handbook
Chapter 2: Basic Operation
Chapter 2: Basic Operation
This chapter provides introductory operating information for your
ST7000 Plus. Summary diagrams of the control key functions and
screen layout are given, plus instructions for tasks such as engaging the
autopilot, operating in Auto mode, changing the display lighting, and
using Data Pages to display SeaTalk or NMEA data.
2.1 Key Functions
The autopilot is controlled using simple push-button operations, all of
which are confirmed with a beep. In addition to the main single key
functions, there are several dual key functions.
&
Press to adjust calibration parameters,
response and gain
disp
Press for 1 second
for lamp control
Press for next Data
Page. When Data
Page is displayed,
press for 1 second
for previous page
resp
Press to display
response level
Press for 1 second
for rudder gain
standby
track
Press for Track mode from Auto
Press to accept waypoint advance
Press for 1 second to skip waypoint
set crs
Press to set course bearing
res'm
Press to resume previous course
Note: The up arrow, down arrow,
keys can also be used to set up and control groups of Autohelm ST60
and ST80 instruments (see Section 2.8, Remotely Controlling ST60
and ST80 Instruments and Section 4.3, Setting Up For ST60 and ST80
Remote Control).
Press for Standby
mode
Press and hold for
Setup modes
Press standby and auto for Wind mode
Press standby and auto for 1 second to display
Last Wind. Press again to accept Last Wind
Course Change Keys
-1 = Port 1˚
+1 = Starboard 1˚
-10 = Port 10˚
+10 = Starboard 10˚
Press +1 and +10
together for AutoTack
to starboard
Press -1 and -10
together for AutoTack
to port
Press -1 and +1
together for response
level
Press -1 and +1
together for 1 second
for rudder gain
auto
Press for Auto mode
Press for 1 second
for Last Heading
Press again to
accept Last Heading
resp, track, set crs
and
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res’m
4
2.2 Display Layout
The following illustration shows all the elements, together with a brief
description, that make up the ST7000 Plus control unit LCD display.
Calibration
Indicator
Displayed on
calibration
pages
ST7000 Plus Autopilot Control Unit Owner’s Handbook
Bar Graph
The bar graph at the bottom of the display can be set up either as a
rudder position indicator, or as an error bar. If it has been set as an error
bar, the display depends on the current autopilot mode, as follows:
Mode Bar
Standby Rudder position indicator, in degrees.
Auto Heading error bar. Deviation from locked course, in degrees.
Track Cross track error (XTE) bar. Deviation from ground track. The
Wind Wind angle error bar. Deviation from locked apparent wind
Manual Rudder position indicator
bar scaling is in the currently-selected distance units
(displayed on pages showing distances).
angle, in degrees.
Chapter 2: Basic Operation
Distance Units
Distance units are shown as either nm (nautical miles) or SM (statute
miles). If neither nm nor SM is displayed, the displayed distance is in
kilometres.
2.3 Start Up Conditions
When the ST7000 Plus is first switched on, it is in Standby mode with
the display showing the vessel’s current compass heading.
You can return to manual steering at any time by pressing standby
momentarily, to return to Standby mode.
2.4 Using Auto Mode
Safety
Although autopilot control can considerably ease the task of
sailing a vessel, its use must never lead to the erosion of goodseamanship. ALWAYS maintain a permanent watch, no matter
how clear the sea may appear to be.
Remember, a large ship can travel two miles in five minutes - just
the time it takes to make a cup of coffee.
5
Engaging the Autopilot (AUTO)
1. Steady the vessel on the required heading.
2. Press auto.
• In Auto mode, the display shows the locked autopilot heading.
D4208-1
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ST7000 Plus Autopilot Control Unit Owner’s Handbook
Return to Hand Steering
To disengage the Autopilot and return to Standby, press standby.
• The ST7000 Plus returns to Standby mode with the display
showing the vessel’s current compass heading.
• The previous autopilot heading is memorised and can be recalled
(see Returning to Previous Locked Heading for details).
Changing Course
There are two methods for changing to a new course. You can either:
• Set a new course directly (in Auto Mode)
or
• Set up the course you want (in Auto or Standby Mode) and apply it
at a specific time (e.g. to make a course change at a predetermined
time or location), after confirming that you have set the correct
course and the direction of turn is correct.
In both cases, the +1 and +10 (starboard) and –1 and –10 (port) keys
are used to change the locked heading, in increments of 1° and 10°.
To set a new course directly, in Auto Mode, use the +1 and +10
(starboard) and –1 and –10 (port) keys as appropriate, to set the
heading you want. The autopilot will turn on to the new course
immediately it is set.
Example: a 30° course change to port = press –10 three times.
To set a new course and apply it at a predetermined time or location:
1. Press set crs. The SET COURSE screen is then displayed.
2. Use the +1 and +10 (starboard) keys or the –1 and –10 (port) keys
as appropriate to set the heading you want. The autopilot will not
accept the new heading at this stage.
Chapter 2: Basic Operation
3. If you do not want to accept the new course at this time, either
4. To accept the new course at a later time, press set crs to re-display
5. Press auto. A confirmation screen is then displayed. This shows
6. Press auto again. The new heading is then applied and the
7
press the disp key or allow the display to timeout (10 seconds), to
return to the pilot page.
the new heading.
the new heading and the direction the autopilot will steer (PORT or
STARBOARD) to achieve the new heading.
autopilot assumes the new course.
Dodging Obstacles in Auto Mode
In order to avoid an obstacle when your vessel is under autopilot
control, select a course change in the appropriate direction (for
example, port 30° = press –10 three times).
8
• When safely clear of the obstacle, you can resume the original
course by using the course change keys (for example, press
+10 three times), or by using the previous locked heading.
ST7000 Plus Autopilot Control Unit Owner’s Handbook
Returning to the Previous Locked Heading (LAST
HEADING)
Note: The previous locked heading is the most recent heading held for
20 seconds or more.
If for any reason the vessel is steered away from the selected locked
heading (for example, executing a dodge manoeuvre or selecting
Standby) you can return to the previous locked heading:
1. Press res’m. The previous locked heading is displayed for 10
seconds and an appropriate direction-to-steer indicator flashes to
show you the direction the vessel will turn if this heading is
accepted.
2. To accept the previous locked heading and resume the original
course, press auto once within this 10 second period.
Chapter 2: Basic Operation
If you do not press auto while the display is flashing, the current
heading will be maintained.
Automatic Tack (AUTOTACK)
The ST7000 Plus can access an automatic tack facility that turns the
vessel through a predetermined angle (the factory default is 100°) in
the required direction.
AutoTack to Starboard
• Press the +1 and +10 keys together to tack to starboard.
9
AutoTack to Port
• Press the -1 and -10 keys together to tack to port.
10
ST7000 Plus Autopilot Control Unit Owner’s Handbook
Off Course Alarm
The off course alarm will sound if the locked autopilot heading and the
vessel’s current heading differ for more than 20 seconds, by more than
the alarm angle set in calibration (the factory default is 20°).
D4229-1
1. To cancel the off course alarm, press standby to return to hand
steering.
2. Check whether your vessel is carrying too much sail, or whether
the sails are badly balanced. Significant improvements in course
keeping can usually be obtained by improving sail balance.
Operating Hints
Making Major Course Changes
• It is sound seamanship to make major course changes only when
steering manually.
• Manual course changes ensure that obstructions or other vessels can
be cleared properly, and due account taken of the changed wind and
sea conditions on the new heading prior to engaging the autopilot.
Course Changes Under Autopilot Control
It is important to understand the effect of sudden trim changes on
steering performance. When a sudden trim change occurs, due, for
example, to weather helm or sail imbalance, there will be a delay
before the automatic trim applies rudder to restore the locked heading.
This correction can take up to one minute.
Large course changes which change the apparent wind direction can
produce large trim changes. In these situations, the autopilot will not
Chapter 2: Basic Operation
immediately assume the new automatic heading, and will only settle
onto course when the automatic trim has been fully established.
To eliminate this problem, the following procedure can be adopted for
large course changes:
1. Note the required new heading.
2. Select standby and steer manually.
3. Bring the vessel onto the new heading.
4. Select auto and let the vessel settle onto course.
5. Bring the vessel to the final course with 1° increments.
Sailboats in Gusty Conditions
In gusty conditions, the course may tend to wander slightly,
particularly if the sails are badly balanced. A significant improvement
in course keeping can always be obtained by improving sail balance.
Bear in mind the following important points:
• Do not allow the yacht to heel over excessively.
• Ease the mainsheet traveller to leeward to reduce heeling and
• If necessary, reef the mainsail a little early.
11
weather helm.
It is also advisable, whenever possible, to avoid sailing with the wind
dead astern in very strong winds and large seas.
Ideally, the wind should be brought at least 30° away from a dead run
and, in severe conditions, it may be advisable to remove the mainsail
altogether and sail under headsail only.
Provided these simple precautions are taken, the autopilot will be able
to maintain competent control in gale force conditions.
2.5 Using Manual Mode
If your system is fitted with a joystick, the ST7000 Plus will enter
Manual mode when the joystick is used.
The ST7000 Plus will return to the previous operating mode when the
joystick button is released, or to Standby mode if you press the
standby key on the ST7000 Plus.
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ST7000 Plus Autopilot Control Unit Owner’s Handbook
2.6 Setting Up Backlighting and Contrast
Backlighting
To set the backlighting level:
1. Press disp for 1 second, from any mode, to enter illumination
adjustment mode and turn the lights on.
1
D4211-1
2. Press the disp key the necessary number of times to cycle to the
required illumination setting. The settings are LAMP 3, LAMP 2,
LAMP 1, LAMP OFF, LAMP 1, LAMP 2, LAMP 3 etc, with LAMP 3
being the brightest setting.
The display times out to normal operation after 10 seconds of keypad
inactivity.
Pressing any other key before the 10 second time-out will select the
mode assigned to that key (for example, auto selects Auto mode,
standby selects Standby mode).
Notes: If other SeaTalk instruments or autopilot control units are
connected to SeaTalk, the illumination can be adjusted from these
units.
Any illumination adjustments are lost when the unit is switched off.
The keys are still lit at a courtesy level when the display lighting is off.
Chapter 2: Basic Operation
Contrast
To set the display contrast:
1. With the autopilot in Standby mode, hold down the disp key for
2. Hold down the disp key for 1 second again, to display the
3. Use the up and down arrow keys to set the required contrast level
The display times out to normal operation after 10 seconds of keypad
inactivity.
2.7 Data Pages
The disp key is used to cycle through Data Pages of SeaTalk or
NMEA data. Once a Data Page is selected, this page becomes the
principal autopilot display. The autopilot mode displays (Standby,
Auto, Track Wind and Manual) then become “pop-ups”, and are
displayed whenever the autopilot mode is changed or a course change
is made. The duration of pop-up pages is user-adjustable, from 1 to 10
seconds. You can use Data Pages as follows:
• Press disp to display each Data Page in turn.
• When the last Data Page is cycled, the display returns to the current
• To return to a previous Data Page, press disp for 1 second within 2
13
1 second to show the illumination adjust display.
CONTRAST adjust page.
(from 1 to 15).
autopilot mode display (for example, Standby).
seconds of displaying a page. You can continue to move backwards
through the Data Page sequence in this way.
Up to 15 Data Pages are available using the disp key. The number of
pages, and the information displayed on each page, depends on the
selections made in User Setup (see Section 4.1).
The following diagram shows the default Data Page settings.
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