Raymarine ST1000 Plus, ST2000 Plus User Manual
ST1000 Plus & ST2000 Plus Tiller Pilots
Owner’s Handbook
Document number: 81130-3
Date: June 2001
ii ST1000 Plus & ST2000 Plus Tiller Pilots - 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 ............................................................................2
1.3 About this handbook .................................................................3
Important Information ..............................................................3
Chapter 2: Using the Tiller Pilot ...............................................7
2.1 Overview .................................................................................. 7
2.2 Using Auto mode ......................................................................8
Engaging the autopilot (Auto mode) .........................................8
Disengaging the autopilot (Stand by mode) ..............................8
Changing course ....................................................................... 9
Displaying navigation information pages ...............................12
Automatic deadband control (Auto Seastate) ......................... 12
Operating hints – trim changes ...............................................13
2.3 Switching display illumination on and off ..............................14
2.4 Using Track mode ...................................................................15
Selecting Track mode .............................................................15
Returning to Auto from T rack mode .......................................17
Cross track error (XTE) ..........................................................17
Tidal stream compensation .....................................................18
W aypoint arrival and advanc e .................................................19
Dodges in Track m ode ............................................................ 19
Safety in Track mode .............................................................. 20
W arning messages in T rack mode ...........................................21
2.5 Using WindT rim mode ...........................................................23
Selecting WindT rim mode ......................................................23
Exiting WindT rim mode ......................................................... 24
Returning to the previous apparent wind angle .......................24
Wind shift alarm ......................................................................24
Operating hints for WindT rim mode .......................................25
Chapter 3: Maintenance & Fault Finding ..............................27
3.1 General maintenance ..............................................................27
3.2 Product support .......................................................................28
3.3 Fault finding ............................................................................28
Chapter 4: Installing the Tiller Pilot ......................................33
4.1 Planning the installation ..........................................................33
4.2 Installing the tiller pin and mounting socket ...........................36
Measuring the critical dimensions ..........................................36
iv ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Basic installation ..................................................................... 37
Installation accessories ........................................................... 38
4.3 Cabling and socket installation ............................................... 45
Mounting the socket ............................................................... 45
Power supply .......................................................................... 46
SeaTa lk cabling .......................................................................47
NMEA cabling ........................................................................49
Connecting NMEA and SeaTalk ............................................ 50
Chapter 5: Commissioning the Tiller Pilot ...........................51
5.1 Functional tests .......................................................................51
Switch on ................................................................................51
Operating sense .......................................................................51
Checking the navigation interface .......................................... 52
Checking the wind instrument interface ................................. 54
Checking the SeaT alk interface .............................................. 54
5.2 Initial sea trial .......................................................................... 55
Calibrating the compass .......................................................... 56
Autopilot operation ................................................................. 58
5.3 Adjusting autopilot performance ............................................ 58
Chapter 6: Adjusting Tiller Pilot Settings ............................61
6.1 Introduction ............................................................................ 61
Adjusting calibration values ................................................... 61
Calibration features .................................................................63
Default calibration values ....................................................... 63
6.2 Calibrating the tiller pilot ........................................................ 64
Calibration Level 1: Rudder gain ............................................64
Calibration Level 5: cruise speed ............................................64
Calibration Level 6: off course alarm a ngle ............................ 64
Calibration Level 9: magnetic variation ................................. 65
Calibration Level 10: heading error correction ....................... 65
Calibration Level 11: boat’s current latitude ........................... 66
Calibration Level 13: rudder damping ....................................66
Controlling access to calibration .............................................66
Index ..................................................................................... 69
Chapter 1: Introduction 1
Chapter 1: Introduction
1.1 Overview
Y our Raymarine tiller pilot is a totally self-contained autopilot
designed for tiller steered sailboats. The autopilot is m ounted
between the tiller and a single attachment point on the boat’s
structure. It is designed for owner installation and is ready for use
after connection to the boat’s 12V electrical system.
Operating modes
The tiller pilot has four basic operating modes:
• 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
• WindT rim mode: autopilot on and maintainin g a course re lative
1 Introduction
D5557-2
waypoints created on a navigation system
to an apparent wind angle
SeaTalk and NMEA compatibility
The tiller pilot is SeaTalk 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
• track information, from a navigator, enables the autopilot to
provide waypoint control
• boat speed from a speed instrument can provide optimum track
keeping performance
• SeaTalk compatibility also allows additional fixed and hand-held
autopilot control units to be easily connected at secondary
steering and control positions
2 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
The ST1000 Plus and ST2000 Plus tiller pilot s can also be used with
any navigator transmitting NMEA 0183 or NMEA 0180 data.
The tiller pilot can be calibrated to suit each installation to provide
maximum performance with many types of boat.
1.2 Specifications
1 Introduction
General specifications
Power supply: 10 V to 15 V DC
Drive unit thrust torque: ST1000 Plus: 57 kg (125 lb)
ST2000 Plus: 77 kg (170 lb)
Maximum boat
displacement:
Drive mechanism: ST1000 Plus: lead-screw and nut drive
Helm speed (lock to lock): ST1000 Plus: 8 seconds
Current consumption: • Standby: 40 mA (90 mA with full lighting)
Operating temperature: 0°C to +70°C (32°F to 158°F)
Main features: • 6 button digital keypad
ST1000 Plus: 3 000 kg (6 600 lb)
ST2000 Plus: 4 500 kg (10 000 lb)
ST2000 Plus: re-circulating ball drive
ST2000 Plus: 4.5 seconds
• Auto: 0.5 A to 1.5 A depending on boat trim,
helm load and sailing conditions
• Backlit LCD display of heading, locked course
and navigational information
• User calibration for optimum performance
• WindTrim control in WindTrim mode
• SeaTalk compatible
• Automatic compass deviation correction
• Northerly/Southerly heading compensation
• Automatic heading dead band – seastate control
• Automatic tack
• Built-in navigator interface (NMEA and SeaTalk)
• Waypoint advance feature
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.
Chapter 1: Introduction 3
1.3 About this handbook
Part 1: Using the Tiller Pilot
This part of the handbook explains how to use yo ur tiller pilot:
Chapter 2: Using the Tiller Pilot
2
How to use the tiller pilot.
Chapter 3: Maintenance & Fault Finding
3
Provides maintenance and fault finding information.
page 7
page 27
Part 2: Installing the Tiller Pilot
This part of the handbook explains how to install your tiller pilot:
Chapter 4: Installing the Tiller Pilot
4
How to install your tiller pilot and its components.
Chapter 5: Commissioning the Tiller Pilot
5
How to check the tiller pilot and perform an initial sea trial.
Chapter 6: Adjusting Tiller Pilot Settings
6
How to change the tiller pilot calibration settings.
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.
page 33
page 51
page 61
1 Introduction
Important Information
Warranty
T o register your new Raymarine product, please take a few min utes 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 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.
4 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
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
1 Introduction
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: 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 .
• Make sure that all crew members 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 po sition 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 significant errors under
some circumstances and the autopilot will not be able to detect
these errors.
Part 1: Using the Tiller Pilot
Part 1: Using the Tiller Pilot
Part 1: Using the Tiller Pilot
Chapter 2: Using the Tiller Pilot 7
Chapter 2: Using the Tiller 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 tiller pilot always powers up in Standby mode (indicated by a
flashing ‘
• The tiller pilot is controlled using simp le 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.
• T o select automatic steering:
• steady the boat on the required heading
• place the pushrod over the tiller pin (if necessary, extend or
• press
• T o return to manual steering at any time:
• press
• remove the pushrod from the tiller pin
• Y ou can use the
when the boat is under autopilot control.
C’ alongside the boat’s current compass heading).
retract the pushrod using the
-1, +1, -10, and +10 keys )
auto: t he display will then show an ‘A’ alongside the
current heading
standby
-1, +1, -10, and +10 keys to make course changes
2 Using the Tiller Pilot
D355-2
8 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
2.2 Using Auto mode
Engaging the autopilot (Auto mode)
1. Steady the boat on the required heading.
2. Place the pushrod over the tiller pin. If necessary, extend or retract
the pushrod using the
3. Press
2 Using the Tiller Pilot
auto: the tiller pilot will enter Auto mode and the display
will show an ‘
A’ (for auto) alongside the locked autopilot heading.
Disengaging the autopilot (Standby mode)
-1, +1, -10, and +10 keys.
D354-2
D353-2
T o return to hand steering:
1. Press
standby.
2. Remove the pushrod from the tiller pin to return to hand steering:
the display will show a flashing ‘
C’ and the boat’s current
compass heading.
3. The last heading is memorized and can be recalled (see page 1 1).
Chapter 2: Using the Tiller Pilot 9
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
oror
D3320-2
For example: press -10 three times for a 30° course change to port:
30˚ to port
Original
course
2 Using the Tiller Pilot
D3254-2
10 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Automatic tack feature (AutoTack)
The autopilot has a built-in automatic tack facility (in Auto, Track and
WindT rim modes) that turns the boat through 100°:
2 Using the Tiller Pilot
AutoTack - Port
• to AutoTack 100° to port, press
• to AutoTack 100° to starboard, press
AutoTack - Starboard
Wind
AutoTack
angle
-1 and -10 together
AutoTack
angle
+1 and +10 together
Wind
D5399-1
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.
Obstacle
30˚ dodge
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)
D3255-2
Chapter 2: Using the Tiller Pilot 11
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.
Resumed
course
auto again while the
Obstacle
Original
course
2 Using the Tiller Pilot
SECOND
Dodge
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: If the off course alarm sounds, this is usually an indication t hat
the boat is carrying too much sail, or that the sails are badly
balanced. In these conditions, you can usually obtai n significant
improvements in course keeping by improving the sail balance.
D3256-2
12 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Displaying navigation information pages
If navigation information (e.g. distance to waypoint, cross track error
and bearing to waypoint) is available, you can display it in Auto mode
or Standby mode by pressing either
momentarily . The display will then cycle through the navigation
information pages:
2 Using the Tiller Pilot
Y ou can revert to no rmal operation by pressing either -1 and +10 or
+1 and -10 together again.
-1 and +10 or +1 and -10 together
Locked heading
Distance to waypoint
(if available)
Bearing to waypoint
(if available)
Cross track error
D178-2
Automatic deadband control (Auto Seastate)
In Auto, WindTrim or Track modes, the tiller 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 variations.
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. From Auto, WindT rim or Track mode, press
switch from AutoSeastate to Fixed Minimum Deadband.
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.
-1 and +1 together to
Chapter 2: Using the Tiller Pilot 13
D360-3a
T o switch back to AutoSeastate, press -1 and +1 again.
Note: The autopilot reverts to Automatic Deadband Contr ol 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 will safely clear any obstructions or
other boats, and you can take into account t he changed wind an d
sea conditions on the new heading b efore engaging the autopilot.
2 Using the Tiller Pilot
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 aut omatic trim applies rudder to restore
the locked heading.
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
standby, remove the pushrod from the til ler pin, and steer
manually.
3. Bring boat onto the new heading and fit t he pushrod back onto the
tiller pin.
4. Press
5. Bring your boat onto the final course in 1° steps using
auto and let the boat settle on course.
-1 or +1.
14 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
Gusting conditions
In gusting conditions, the course may tend to wander s lightly ,
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, r eef the mainsail a little early.
• It is also advisable (whenever possible) to avoid sailing w ith the
wind dead astern when there are very strong winds and large seas.
• 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.
2.3 Switching display illumination on and off
2 Using the Tiller Pilot
Y ou can switch the displ ay illumination on and off when the till er
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
-1 and +1 together to switch the
L1) and off (L0)
D364-2
Note: T he tiller pilot normally powers-up wi th the illumination
switched on (
L1).
If other SeaT alk instruments or autopilot control units are connected
via SeaT alk, you can also control the tiller pilot’s illumination from
these units.
Chapter 2: Using the Tiller Pilot 15
2.4 Using Track mode
In Track mode, the tiller pilot maintains a t rack between waypoints
created on a navigation system. The tiller pilot computes any course
changes to keep your boat on track, automatically compensating fo r
tidal streams and leeway. To operate in Track mode, the tiller 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
Selecting Track mode
When you select Track mode, the tiller 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
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:
auto.
-10 and +10 together to enter T rack mo de.
• the bearing to waypoint, and
• the direction the boat will turn to take up the new track
Current
heading
Waypoint
at 058˚
2 Using the Tiller Pilot
D3277-2
16 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
5. Check that it is safe to turn the boat onto the new course.
6. Press
-10 and +10 together:
• the boat will now turn on to the new course
• the alarm will cancel
Waypoint
at 058˚
D3257-2
7. The display will continuously cycle through the followi ng
navigation information pages:
2 Using the Tiller Pilot
Locked heading
Distance to waypoint
(if available)
Bearing to waypoint
(if available)
Cross track error
D178-2
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 T rack mode:
• the autopilot will start tracking to the waypoint
• the display will alternate between cross track error and the
locked pilot heading
Chapter 2: Using the Tiller Pilot 17
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 tiller pilot’s performance 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
Returning to Auto from Track mode
To return to Auto mode from Track mode:
2 Using the Tiller Pilot
• press
• press
auto, or
-10 and +10 together .
Cross track error (XTE)
Cross track error (XTE) is the distance between your current position
and the planned route. This is displayed in nautic al miles (nm) and is
taken directly from your navigator .
Waypoint 1
Cross track error
(XTE)
Waypoint 2
D3260-2
18 ST1000 Plus & ST2000 Plus Tiller Pilots - Owner’s Handbook
The tille r pilot dis plays the cross trac k error in the follow ing ways:
On track
Off track to port
(steer to starboard)
Off track to starboard
(steer to port)
Tidal stream compensation
Under most operating conditions, T rack mode will hold the selected
track to within ±0.05 nm (300 ft) or better .
The autopilot takes account of the boat’s speed when computing
2 Using the Tiller Pilot
course changes to ensure optimum performance over a wide ran ge of
boat speeds. If speed data is available, the autopilot will use the
measured boat speed. Otherwise it will use the default cruise speed
entered in Calibration Level 5 (see page 64).
D3294-2
Boat's speed over ground
Waypoint 1
Waypoint 2
Tidal component
Boat's speed through water
D3261-2
Chapter 2: Using the Tiller Pilot 19
Waypoint arrival and advance
IMPORTANT NOTE:
Waypo int advance will only operate if the tiller pilot r eceives
valid bearing to waypoint an d waypoint name information.
The tiller pilot can only decode the first FOUR characters of a
waypoint name . It will not be ab le to decode nam es longer than
four characters, which will stop the waypoint advance featur e
from working.
If your navigator transmits valid w aypoint name and bearing to
waypoint data, you can advance from one waypoint to the next
by pressing
Arrival
As the boat passes the target waypoint, the navigator manually or
automatically selects the next target waypoint. The pilot will then:
• detect the new target waypoint name
• sound the waypoint advance alarm
• display the new bearing to waypoint and the direction the boat
will turn to acquire it
-10 and +10 together .
2 Using the Tiller Pilot
Advance
When the waypoint advance alarm is sounding, the tiller pilot will
suspend Track mode and maintain the current heading:
• check that it is safe to turn onto the new track
• press the
arrival alarm and turn the boat towards the next waypoint
Unless you accept the waypoint advance in this way, the alarm will
continue to sound and the tiller pilot will maintain the current course.
-10 and +10 keys together: this will cancel the waypoint
Dodges in Track mode
In Track mode, you still have ful l control from the keypad:
• to make a dodge maneuver: use the
• after you have avoided the hazard, reverse the course change
selected for the dodge maneuver by selecting an equal course
change in the opposite direction
• if the boat remains within 0.1 nm of track, there is no need to steer
back towards the track
-1, +1, -10 or +10 keys
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