Raymarine ST4000+ 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.
ST4000+ Wheel & Tiller Autopilots
Owner’s Handbook
Document number: 81131-6
Date: August 2001
ii ST4000+ Wheel & Tiller Autopilots: 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
ST4000+ autopilot system layout
Wheel drive
OR
Tiller drive
Boat's electrical
distribution panel
Fluxgate compass
ST4000+
control unit
SeaTalk instrument
Rudder position sensor
(optional fit for wheel pilot only)
NMEA
instrument
or navigator
D5332-1
iv ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
Preface v
Contents
About this handbook ...........................................................ix
Important Information .........................................................x
Warranty ......................................................................................x
Safety notices ..............................................................................x
EMC conformance .....................................................................xi
Handbook information ...............................................................xi
Chapter 1: Introduction ............................................................1
1.1 Features .....................................................................................1
1.2 Extended systems ......................................................................2
Chapter 2: Basic Operation .......................................................3
2.1 Using the control unit ................................................................4
Key functions ............................................................................ 4
Display layout ...........................................................................5
2.2 Using Auto mode ......................................................................6
Engaging the autopilot (Auto mode) .........................................6
Disengaging the autopilot (Standby mode) ..............................7
Changing course in Auto mode .................................................8
Dodging obstacles in Auto mode ..............................................8
Returning to the previous locked heading (LAST HDG) ......... 9
Automatic tack (AutoT ack) .................................................... 10
Making major course changes ................................................ 10
Gusting conditions .................................................................. 11
2.3 Adjusting autopilot performance ............................................12
Changing the response lev el (AutoSeastate) ..........................12
Changing the rudder gain ........................................................13
2.4 Autopilot alarms .....................................................................14
Responding to alarms ..............................................................14
2.5 Adjusting display and keypad lighting ...................................18
Chapter 3: Advanced Operation ............................................19
3.1 Using Track mode ...................................................................20
Selecting Track mode .............................................................20
Exiting Track mode ............................................................. ....22
Cross track error ......................................................................22
Tidal stream compensation .....................................................23
W aypoint arrival and advanc e .................................................24
Dodges in Track m ode ............................................................ 25
Safety in Track mode .............................................................. 25
vi ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
3.2 Using Wind Vane mode .......................................................... 27
Selecting Wind Vane mode ..................................................... 27
Exiting Wind Vane mode ........................................................28
Adjusting the locked wind angle .............................................28
Returning to the previous apparent wind angle
(LAST WND) .........................................................................28
Dodges in Wind Vane mode .................................................... 29
Wind shift alarm ......................................................................29
Using AutoT ack in W ind Vane mode ......................................30
Operating hints for Wind Vane mode ...................................... 30
3.3 Displaying data pages ............................................................. 31
Chapter 4: Maintenance & Fault Finding ..............................33
4.1 Fault finding ............................................................................34
4.2 General maintenance .............................................................. 36
Wheel drive ............................................................................. 36
Control unit .............................................................................38
EMC advice ............................................................................ 39
4.3 Product support ....................................................................... 40
Software version ..................................................................... 40
Chapter 5: Installing the ST4000+ ..........................................43
5.1 Planning the installation .........................................................44
Too ls required .........................................................................44
EMC installation guidelines ................................................... 46
5.2 Control unit .............................................................................48
Location ..................................................................................48
Mounting procedure ...............................................................49
Cable connectors .....................................................................51
Power supply connection ........................................................ 51
SeaTa lk connections ............................................................... 52
NMEA connections ................................................................ 53
5.3 Fluxgate compass ...................................................................55
Location ..................................................................................55
Mounting ................................................................................ 57
Connecting to the control unit ................................................. 58
5.4 Tiller drive (tiller pilots only) ..................................................59
Critical dimensions .................................................................59
Basic installation ..................................................................... 60
Installation accessories ........................................................... 61
Connecting to the control unit ................................................. 68
Preface vii
5.5 Wheel drive (wheel pilots only) ..............................................70
Installation stages ....................................................................70
Drilling the spoke clamp holes ................................................71
Securing the wheel drive to the wheel .....................................74
Attaching the pedestal bracket ................................................ 75
Connecting to the control unit .................................................79
5.6 Rudder position sensor (wheel pilot option) ...........................81
Ensuring correct alignment .....................................................81
Securing the sensor to the boat ................................................83
Attaching the sensor to the tiller arm .......................................83
Checking alignment ................................................................84
Connecting to the control unit .................................................84
Chapter 6: Setting-up the ST4000+ ........................................85
6.1 Functional test ......................................................................... 86
Switch on ................................................................................86
Autopilot steering direction ....................................................86
Checking connections .............................................................88
6.2 Check rudder sensor operation (if fitted) ................................90
6.3 Initial sea trial .......................................................................... 91
Overview ................................................................................ 91
Correcting the compass deviation ..........................................92
Adjusting the heading alignment ............................................95
Checking autopilot operation ..................................................95
Checking the rudder gain ........................................................ 96
6.4 Autopilot calibration techniques .............................................98
Step 1 - Switch on ancillary equipment ...................................98
Step 2 - Apply initial settings ..................................................98
Step 3 - Adjust the rudder damping .........................................99
Step 4 - Adjust the rudder gain ................................................99
Step 5 - Adjust the AutoTrim setting .......................................99
Step 6 - Further adjustments ....................................................99
Chapter 7: Customizing the ST4000+ ..................................101
7.1 User setup ..............................................................................102
Compass deviation correction (SWING COMPASS) .......... 102
Deviation display (DEVIA TION) ........................................102
Heading alignment (ALIGN HDG) ......................................102
Heading mode (HDG MAG/TRU) .......................................102
Bar selection (RUDD BAR/STEER BAR/NO BAR) .......... 104
Data pages 1-7 (DA T A P AGE) ..............................................104
viii ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
7.2 Dealer setup ..........................................................................106
Calibration lock (CAL LOCK) ............................................. 108
Pilot type (4000 WHL/TILL) ............................................... 108
Rudder gain (RUDD GAIN) .................................................108
Response level (RESPONSE) .............................................. 108
Turn limit (TURN RATE) ..................................................... 108
Rudder alignment (ALIGN RUD) ........................................ 108
Rudder limit (RUD LIMIT) .................................................. 109
Off course alarm (OFF COURSE) ........................................109
AutoTa ck angle (AUTOT AC K) ........................................... 109
AutoTrim (AUTOTRIM) ..................................................... 110
Drive type (DRIVE TYP) ..................................................... 110
Magnetic variation (VARIA TION) ....................................... 110
AutoAdapt (AUTOADAP T) .................................................111
Latitude (LA TITUDE) ...........................................................111
Rudder damping (RUDD DAMP) ........................................ 112
Cruise speed (CRUISE SP) .................................................. 112
Specifications .................................................................... 113
Glossary .............................................................................. 115
Index ................................................................................... 117
Preface ix
About this handbook
W elcome to the handbook for the ST4000+ wheel and tiller
autopilot systems. Thi s handbook contains two main parts:
Part 1: Using the ST4000+ Autopilot
Chapter 1: Introduction
1
Introduces the autopilot, its features and its use.
Chapter 2: Basic Operation
Covers basic autopilot operation: using Auto mode,
2
interpreting alarms, adjusting autopilot performance and
changing the control unit lighting.
Chapter 3: Advanced Operation
Explains how to use Track and Wind Vane modes, and
3
display data pages.
Chapter 4: Maintenance & Fault Finding
Provides general maintenance procedures and
4
information to help you resolve problems you may
encounter with the autopilot
page 1
page 3
page 19
page 33
Part 2: Installing the ST4000+ Autopilot
Chapter 5: Installing the ST4000+
5
Explains how to install your autopilot and its components.
Chapter 6: Setting-up the ST4000+
Covers functional testing and dockside procedures after
6
installation, and initial sea trials.
Chapter 7: Customizing the ST4000+
Provides details on adjusting the autopilot settings to suit
7
your boat.
page 43
page 85
page 101
At the end of this h andbook we have included product
specifications, a glossary and index, and templates for installing
different part s of the syst em.
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.
x ST4000+ Wheel & Tiller Autopilots: 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 stable performance for most boats. T o ensure op timum
performance on your boat, you mu st complete Chapter 6:
Setting-up the ST4000+ befor e 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 xi
• 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 position 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.
xii ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
Part 1: Using the ST4000+
Part 1: Using the ST4000+
Part 1: Using the ST4000+
Chapter 1: Introduction 1
Chapter 1: Introduction
D5460-1
1.1 Features
The Raymarine ST4000 Plus (ST4000+) is a SeaT alk® compatible
autopilot available in versions suitable for boats with either tiller or
wheel steering systems. This autopilot system will st eer your boat to
a heading automatically, accurately and reliably .
The ST4000+ has four main operating modes:
1 Introduction
1.
Standby: autopilot off (see page 7)
2.
Auto: autopilot engaged and locked onto a heading (see page 6)
Track: autopilot engaged and maintaining a track between two
3.
waypoints created using a navigation sy stem (see page 20)
4.
Wind Vane: autopilot engaged and maintaining a course relative
to an apparent wind angle (see page 27)
The ST4000+ also provides the following features:
• automatic tack facility (AutoTack) in Auto and Wind V a ne modes
• automatic compass deviation correction
• Northerly/So utherly heading compens ation
• automatic heading deadband – seastate control
• waypoint advance feature
• setup and calibration options to optimize performance on your boat
2 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
1.2 Extended systems
The ST4000+ is compatible with all other SeaT alk instruments.
Y ou can connect it to additional fixed or handheld SeaTalk autopil ot
control units located at secondary steering and control positi ons
(see page 52).
1 Introduction
Y ou can also use the ST4 000+ autopilot with any navigator
(GPS, Decca, Loran) or wind instrument that transmits data in the
internationally-accepted National Marine Electronics Association
(NMEA) 0183 format.
The ST4000+ can display SeaT alk and NMEA instrument data in a
user-defined selection of data pages. When you are usin g the
ST4000+ to repeat instrument data, i t shows a ‘pop-up’ pilot page for
5 seconds whenever you make a change in autopilot control.
The ST4000+ can share all data transmitted from SeaT alk
instruments:
• it can use wind information from a SeaT alk wind instrument for
wind trim steering in Wind Vane mode without the need for a
separate vane
• it can use track information from a SeaT alk navigation instrument
to provide waypoint control in T rack mode
• it can use boat speed from a SeaTalk speed instrument to optimize
track-keeping performance
Rudder position sensor (wheel drives only)
On wheel drive systems you can fit a rudder position sensor to
improve the wheel pilot’s performance (see page 81). This is
particularly advisable if your boat’s steering system has significant
backlash, or you require optimum performance from a mechanical or
cable steering system. By using the information from the rudder angle
sensor, the ST4000+ will also be able to show the true rudd er angle in
Standby and Auto modes.
Note: Y ou MUST add a rudder positi on sensor if fitting the ST4000+
to a hydraulic steering system.
Chapter 2: Basic Operation 3
Chapter 2: Basic Operation
The sections in this chapter explain how to use the basic functions on
your autopilot:
Using the control unit
2.1
2.2
2.3
2.4
2.5
Summarizes the key functions and screen layout on the
ST4000+ control unit.
Using Auto mode
Provides instructions for engaging/disengaging the
autopilot and using Auto mode.
Adjusting autopilot performance
Making temporary adjustments to response level and
rudder gain to enhance autopilot performance.
Autopilot alarms
Describes how to recognize and respond to the
autopilot alarms.
Adjusting display and keypad lighting
Explains how to change the lighting on the control unit
display and keypad.
page 4
page 6
page 12
page 14
page 18
2 Basic Operation
CAUTION: Important note for wheel drive systems
After each trip, flush inside the drive unit by inserting a hose pipe
in the free slot on the back cover . This will prevent any build-up of
salt on the drive ring and bearings.
4 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
2.1 Using the control unit
Key functions
• The autopilot always powers up in Stan dby mode.
• Y ou control the autopil ot by pressing the buttons on the control
unit. The control unit confirms each button press with a short
beep.
• Y ou access the main functions by pressing a sing le key:
• for example, when the autopilot is operating you can make
course changes using the
• T o access other functions you need to press two keys together:
• for example, when the autopilot is operating you make an
AutoTack to po rt by pressing the
• Y ou can return to manual steering at any t ime by pressing
standby and disengaging the autopilot (see page7).
2 Basic Operation
Press for Response level
-1 plus -10
Press together
for AutoTack
to port
-1, +1, -10 and +10 keys
-1 and -10 keys together
-1 plus +1
Press for 1 second
for Rudder Gain
+1 plus +10
Press together
for AutoTack
to starboard
DISP
Press for
Data Page
Press for 1 second
for lamp control
STANDBY
Press for
Standby mode
Press and hold for
User and Dealer
setup modes
Course change keys
Port 1˚ Starboard 1˚
Port 10˚ Starboard 10˚
STANDBY plus AUTO
Press for Wind Vane mode
Press for 1 second for Last Wind
Press again to accept Last Wind
TRACK
Press for Track
mode from Auto
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
D3447-2
Chapter 2: Basic Operation 5
Display layout
The ST4000+ autopilot display provides t he following information:
Variable text region (up to 9 characters/digits)
Heading indicators
Distance units
Response level indicator
Autopilot mode
indicators
Port and Starboard
direction-to-steer
indicators
Calibration mode
indicator
Rudder or Steer direction indicator
(bar graph in 2˚ increments)
• If the display shows no distance unit all distances are in
kilometres (Km), otherwise distances are in nautical miles (nm
or statute/land miles (SM).
• The bar graph at the bottom of the screen is normally a
direction-to-steer indicator (you can change this in User setup,
see page 104). The information displayed on the bar graph varies
according to the autopilot mode:
Autopilot mode Information displayed on bar graph
Standby Rudder bar (only if a rudder position sensor is fitted)
2 Basic Operation
D3316-2
)
Auto Heading error bar
Track Cross track error (XTE) bar, in 0.02 nm increments
Wind Vane Wind angle error bar
6 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
2.2 Using Auto mode
Engaging the autopilot (Auto mode)
1. Steady the boat on the required headi ng.
2. Wheel Pilot: Engage the wheel drive clutch by rotating the clutch
lever clockwise (so the lever engages full y onto the locating pip).
Tiller Pilot: Place the pushrod end over the tiller pin. If necessary,
extend or retract the pushrod using the
WARNING: Wheel drive clutch
Always reach AROUND (not through) the wheel to operate the
wheel drive clutch lever.
.
Wheel pilot
2 Basic Operation
-1, +1, -10 and +10 keys.
Engage the clutch
on the wheel pilot
Tiller pilot
Use these keys to
extend or retract the pushrod
a
3. Press auto:
• in Auto mode, the display shows the locked autopilot heading
b
D5341-1
D3560-2
Chapter 2: Basic Operation 7
CAUTION:
Autopilot course control makes it easier to sail a boat, but it is
NOT a substitute for good seamanship. ALW A YS maintain a
permanent watch, no matter how clear the sea appears to be.
Disengaging the autopilot (Standby mode)
1. Press standby.
• in Standby mode, the display shows the boat’s c urrent
compass heading.
D3561-2
2. Disengage the autopilot to return to hand steering:
• Wheel Pilot: Disengage the wheel drive clutch by rotating the
clutch lever anti-clockwise (so the lever engages fully onto
the locating pip).
• Tiller Pilot: Remove the drive unit from the tiller pin. If
required, retract the push rod using
3. The last heading is memorized and can be recalled (see page 9).
-1, +1, -10 and +10 keys.
2 Basic Operation
CAUTION: Wheel drive systems
On wheel drive systems, always make sure that the clutch is
FULL Y DISENGAGED befor e you leave the boat.
8 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
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° course change to port.
Port Starboard
oror
2 Basic Operation
Dodging obstacles in Auto mode
T o avoid an obstacle when your boat is under autopilot control:
1. Select a course change in the appropriate direction. For exampl e,
press
-10 three times for a 30° dodge to port.
D3320-2
Obstacle
Original
course
Dodge
2. When safely clear of the obstacle, you can either:
• reverse the previous course change (for example, press
three times), or
• return to the previous locked heading (
LAST HDG)
D3303-2
+10
Chapter 2: Basic Operation 9
Returning to the previous locked heading (LAST HDG)
If you have steered the boat away from the selected locked heading
for any reason (for example, executing a dodge maneuver or selecting
Standby), you can return to the previous l ocked heading as follows:
1. Press
Note: T he direction-to-steer indicator shows the direction t he boat
will turn.
2. T o accept the previous heading, and resume this course, press
auto for 1 second. The display shows the prev ious locked
heading (
SECOND
LAST HDG?) for 7 seconds.
auto within this 7 second period.
D3562-2
2 Basic Operation
Obstacle
Resumed
course
Dodge
Note: If you do not press
auto while the display is flashing, the
autopilot will maintain the current heading.
Original
course
D5431-1
10 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
Automatic tack (AutoTack)
The ST4000+ has a built in automatic tack facility (AutoT ack) that
turns the boat through a pre-determined angle in the required
direction. The default AutoTack angle is 100°, but you can adjust this
in Dealer setup (see page 109).
• to AutoTack to port: press the
• to AutoTack to starboard: press the
AutoTack - Port
-1 and -10 keys together
+1 and +10 keys together
AutoTack - Starboard
Wind
AutoTack
angle
AutoTack
angle
Wind
2 Basic Operation
D5399-1
Making major course changes
CAUTION:
Only make major course changes when steering MANUALL Y .
This ensures that the boat wil l safely clear any obstructions or
other boats, and you can take into account the changed wind and
sea conditions on the new heading before engaging the autopilot.
Large course changes which change the apparent wind direction can
produce large trim changes. When a sudden trim change occurs (for
example due to weather helm or sail imbalance) there will be a delay
of up to one minute before the automatic trim applies rudder to restore
the locked heading.
In these situations, the autopilot will not immediately assume the new
automatic heading, and will only settle onto course when the
automatic trim has been fully established. To eliminate this problem,
use the following procedure to make major course changes:
Chapter 2: Basic Operation 11
1. Note the required new heading.
2. Select
3. Select
standby for manual steering, so you can bring th e boat to
the new heading MANUALLY.
auto: allow the boat to settle onto course, then bring the
boat to the final course in 1° steps using the
-1 or +1 keys
Gusting conditions
In gusting conditions, the course may tend to wan der slightly ,
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 signifi cantly 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 r emove the
mainsail and sail under headsail only
2 Basic Operation
12 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
2.3 Adjusting autopilot performance
During normal autopilot operation in any mode you can make
temporary adjustments to:
• response level
• rudder gain
Note: Y ou will lose these temporary changes to response level and
rudder gain whenever the system is powered off then on again. You
can make permanent adjustments in Dealer setup ( see page 108).
Changing the response level (AutoSeastate)
The response level controls the relationship between the autopilot’s
course keeping accuracy and the amount of helm/drive activity .
• Response Level 1: AutoSeastate on ( Automatic deadband)
This setting causes the autopilot to gradually ignore repetitive
2 Basic Operation
boat movements and only react to true variations in course. This
provides the best compromise between power consumption an d
course keeping accuracy , and is the default calibration setting.
• Response Level 2: AutoSeastate off (Minimum deadband)
This setting provides the tightest course keep ing possible.
However, tighter course keeping results in increased power
consumption and drive unit activity .
To make a temporary change to the response setting:
1. Display the
RESPONSE screen by pressing the -1 and +1 keys
together momentarily .
D3310-4
Chapter 2: Basic Operation 13
Note: If you h ave set up the RESPONSE screen as a default data page
(see page 104) 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 pr evious display .
Changing the rudder gain
SECOND
To make a temporary change to the rudder gain:
1. Press the
rudder gain (
Note: If you have set up the
(see page 104) you can also access it by pressing
scrolling through the data pages .
2. Press
3. Press
Note: S ee page 96 for instructions on how to check that the rudder
gain is set correctly.
-1 and +1 keys together for 1 second to display the
RUDD GAIN) screen
-1 or +1 to change the rudder gain.
disp or wait for 5 seconds to return to the pr evious display .
Decrease
rudder gain
Increase
rudder gain
D5400-1
RUDD GAIN screen as a default data page
disp and then
2 Basic Operation
14 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
2.4 Autopilot alarms
Responding to alarms
The ST4000+ activates the alarms listed on the following pages:
• Unless otherwise stated, you should deal with alarms by pressing
standby to clear the alarm and return to hand steering.
• In some situations, the autopilot will raise more than one alarm.
When you have dealt with the first alarm, the autopilot will
display the next alarm.
SeaTalk Failure alarm (STLK FAIL)
The ST4000+ displays the SeaT alk failure message if there is a wiring
fault in the SeaTalk connection.
Off Course alarm (OFFCOURSE)
2 Basic Operation
= deviation to port
= deviation to starboard
D3315-2
The ST4000+ activates this alarm 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 alarm angle in Deal er setup
(see page 109).
1. T o cancel the off course alarm, press
standby to return to hand
steering.
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 ST4000+ also clears the alarm if the heading recover s, if
you change the course, or if you change the operating mode.
Chapter 2: Basic Operation 15
Wind Shift alarm (WINDSHIFT)
The ST4000+ activates the W indshift alarm when it detects a change
in the apparent wind angle of more than 15° (see page 29).
Large Cross Track Error alarm (LARGE XTE)
The ST4000+ activates this alarm when the cross track error exceeds
0.3 nm (see page 22).The alarm clears if the heading recovers, if you
change the course, or if you change the operating mode.
Drive Stopped alarm (DRIVESTOP)
The ST4000+ activates this alarm if:
• the rudder position sensor fails, or
• the autopilot is unable to turn the rudder (this occurs if the weather
load on helm is too high, or if the rudder position s ensor has
passed beyond the preset rudder limits or rudder end-st ops)
Data Not Received alarm (NO DATA)
The ST4000+ activates this alarm in any of the following situations:
• the compass is not connected
• the autopilot is in Wind Vane mode and it has not received wind
angle data for 30 seconds
• the autopilot is in Track mode and:
• the boat has arrived at the last waypoint in the track, or
• the autopilot is not receiving SeaT alk navigation data, or
• the position sensor (GPS, Loran, Decca) is receiving a low
strength signal – this will clear as soon as the sign al strength
improves
The autopilot stops adjusting the heading as soon as it loses data.
2 Basic Operation
Waypoint Advance alarm (NEXT WPT?)
The ST4000+ activates the W aypoint Advance alarm whenever the
target waypoint number changes. Thi s occurs when:
• you select automatic acquisition by pressing
• you request waypoint advance by pressing
Track mode (with SeaT alk navigators onl y)
track from Auto
track f or 1 second in
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