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 Technology), AutoAdapt, AutoLearn, AutoRelease, AutoSeastate, AutoTack, AutoTrim, FastTrim, GyroPlus, RayGyro, RayPilot and WindTrim 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
	ST4000+
Fluxgate compass	control unit
	Rudder position sensor
	(optional fit for wheel pilot only)
SeaTalk instrument
	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 (AutoTack) ....................................................	10
	Making major course changes ................................................	10
	Gusting conditions ..................................................................	11
2.3	Adjusting autopilot performance ............................................	12
	Changing the response level (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
	Waypoint arrival and advance .................................................	24
	Dodges in Track mode ............................................................	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 AutoTack in Wind 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
	Tools required .........................................................................	44
	EMC installation guidelines ...................................................	46
5.2	Control unit .............................................................................	48
	Location ..................................................................................	48
	Mounting procedure ...............................................................	49
	Cable connectors .....................................................................	51
	Power supply connection ........................................................	51
	SeaTalk 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 (DEVIATION) ........................................	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 (DATA PAGE) ..............................................	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
	AutoTack angle (AUTOTACK) ...........................................	109
	AutoTrim (AUTOTRIM) .....................................................	110
	Drive type (DRIVE TYP) .....................................................	110
	Magnetic variation (VARIATION) .......................................	110
	AutoAdapt (AUTOADAPT) .................................................	111
	Latitude (LATITUDE) ...........................................................	111
	Rudder damping (RUDD DAMP) ........................................	112
	Cruise speed (CRUISE SP) ..................................................	112
	Specifications ....................................................................	113
	Glossary ..............................................................................	115
	Index ...................................................................................	117

Preface

ix

About this handbook

Welcome to the handbook for the ST4000+ wheel and tiller autopilot systems. This handbook contains two main parts:

Part 1: Using the ST4000+ Autopilot

	1	Chapter 1: Introduction	page 1
		Introduces the autopilot, its features and its use.
		Chapter 2: Basic Operation
	2	Covers basic autopilot operation: using Auto mode,	page 3
		interpreting alarms, adjusting autopilot performance and
		changing the control unit lighting.
	3	Chapter 3: Advanced Operation
		Explains how to use Track and Wind Vane modes, and	page 19
		display data pages.
		Chapter 4: Maintenance & Fault Finding
	4	Provides general maintenance procedures and	page 33
		information to help you resolve problems you may
		encounter with the autopilot
	Part 2: Installing the ST4000+ Autopilot
	5	Chapter 5: Installing the ST4000+	page 43
		Explains how to install your autopilot and its components.
	6	Chapter 6: Setting-up the ST4000+
		Covers functional testing and dockside procedures after	page 85
		installation, and initial sea trials.
	7	Chapter 7: Customizing the ST4000+
		Provides details on adjusting the autopilot settings to suit	page 101
		your boat.

At the end of this handbook we have included product specifications, a glossary and index, and templates for installing different parts of the system.

Note: This handbook contains important information about installing, using and maintaining your new Raymarine product. To get the best from the product, please read this handbook thoroughly.

x	ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook

Important Information

Warranty

To 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 product performance, personal injury and/or damage to your boat.

WARNING: Electrical safety

Make sure the power supply is switched off before you make any electrical connections.

WARNING: Calibration

We supply this product calibrated to default settings that should provide stable performance for most boats. To ensure optimum performance on your boat, you must complete Chapter 6:

Setting-up the ST4000+ before use.

WARNING: Navigation aid

Although we have designed this product to be accurate and reliable, many factors can affect its performance. As a result, it should only be used as an aid to navigation and should never replace common sense and navigational judgement. Always maintain a permanent watch so you can respond to situations as they develop.

Your Raymarine autopilot will add a new dimension 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 AT 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 significant 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

To 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 improvement may change specifications without notice. As a result, Raymarine cannot accept liability for any differences between the product and the handbook.

xii	ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook

Part 1:

Using the

ST4000+

ST4000+ the Using 1: Part

Part 1: Using the ST4000+

Chapter 1: Introduction

1

Chapter 1: Introduction

Introduction 1

-1 D5460

1.1 Features

The Raymarine ST4000 Plus (ST4000+) is a SeaTalk® compatible autopilot available in versions suitable for boats with either tiller or wheel steering systems. This autopilot system will steer your boat to a heading automatically, accurately and reliably.

The ST4000+ has four main operating modes:

1.Standby: autopilot off (see page 7)

2.Auto: autopilot engaged and locked onto a heading (see page 6)

3.Track: autopilot engaged and maintaining a track between two waypoints created using a navigation system (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 Vane modes

•automatic compass deviation correction

•Northerly/Southerly heading compensation

•automatic heading deadband – seastate control

•waypoint advance feature

•setup and calibration options to optimize performance on your boat

1 Introduction

2	ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook

1.2 Extended systems

The ST4000+ is compatible with all other SeaTalk instruments. You can connect it to additional fixed or handheld SeaTalk autopilot control units located at secondary steering and control positions (see page 52).

You can also use the ST4000+ 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 SeaTalk and NMEA instrument data in a user-defined selection of data pages. When you are using the ST4000+ to repeat instrument data, it 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 SeaTalk instruments:

•it can use wind information from a SeaTalk wind instrument for wind trim steering in Wind Vane mode without the need for a separate vane

•it can use track information from a SeaTalk navigation instrument to provide waypoint control in Track 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 rudder angle in Standby and Auto modes.

Note: You MUST add a rudder position 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:

2.1	Using the control unit
	Summarizes the key functions and screen layout on the	page 4
	ST4000+ control unit.
2.2	Using Auto mode
	Provides instructions for engaging/disengaging the	page 6
	autopilot and using Auto mode.
				2
	Adjusting autopilot performance
2.3				Basic
	Making temporary adjustments to response level and	page 12
	rudder gain to enhance autopilot performance.			Operation
2.4	Describes how to recognize and respond to the	page 14
	Autopilot alarms
	autopilot alarms.
2.5	Adjusting display and keypad lighting
	Explains how to change the lighting on the control unit	page 18
	display and keypad.

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 Standby mode.
		• You control the autopilot by pressing the buttons on the control
		unit. The control unit confirms each button press with a short
		beep.
		• You access the main functions by pressing a single key:
		• for example, when the autopilot is operating you can make
		course changes using the -1, +1, -10 and +10 keys
		• To access other functions you need to press two keys together:
	Operation	• for example, when the autopilot is operating you make an
		AutoTack to port by pressing the -1 and -10 keys together
		• You can return to manual steering at any time by pressing
	2 Basic	standby and disengaging the autopilot (see page 7).
			-1 plus +1
			Press for Response level
		-1 plus -10	Press for 1 second	+1 plus +10
		Press together	for Rudder Gain	Press together
		for AutoTack		for AutoTack
		to port		to starboard
		DISP		TRACK
		Press for		Press for Track
		Data Page		mode from Auto
		Press for 1 second		Press to accept
		for lamp control		waypoint advance

Press for 1 second to skip waypoint

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

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 the 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)

D3316-2

•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)
Auto	Heading error bar
Track	Cross track error (XTE) bar, in 0.02 nm increments
Wind Vane	Wind angle error bar

Operation Basic 2

2 Basic Operation

6	ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook

2.2Using Auto mode

Engaging the autopilot (Auto mode)

1.Steady the boat on the required heading.

2.Wheel Pilot: Engage the wheel drive clutch by rotating the clutch lever clockwise (so the lever engages fully onto the locating pip). Tiller Pilot: Place the pushrod end over the tiller pin. If necessary, extend or retract the pushrod using the -1, +1, -10 and +10 keys.

WARNING: Wheel drive clutch

Always reach AROUND (not through) the wheel to operate the wheel drive clutch lever.

.

Wheel pilot

Engage the clutch on the wheel pilot

Tiller pilot

a

b

Use these keys to
extend or retract the pushrod	D5341-1

3.Press auto:

• in Auto mode, the display shows the locked autopilot heading

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. ALWAYS 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 current 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 -1, +1, -10 and +10 keys.

3.The last heading is memorized and can be recalled (see page 9).

CAUTION: Wheel drive systems

On wheel drive systems, always make sure that the clutch is

FULLY DISENGAGED before you leave the boat.

Operation Basic 2

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.

2 Basic Operation

Port	Starboard
or	or

D3320-2

Dodging obstacles in Auto mode

To avoid an obstacle when your boat is under autopilot control:

1.Select a course change in the appropriate direction. For example, press -10 three times for a 30° dodge to port.

Obstacle

Original

course

Dodge

D3303-2

2.When safely clear of the obstacle, you can either:

•reverse the previous course change (for example, press +10 three times), or

•return to the previous locked heading (LAST HDG)

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 locked heading as follows:

1.Press auto for 1 second. The display shows the previous locked heading (LAST HDG?) for 7 seconds.

SECOND

D3562-2

Note: The direction-to-steer indicator shows the direction the boat will turn.

2.To accept the previous heading, and resume this course, press auto within this 7 second period.

Obstacle

Resumed

course

Original

course

Dodge

D5431-1

Operation Basic 2

Note: If you do not press auto while the display is flashing, the autopilot will maintain the current heading.

2 Basic Operation

10	ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook

Automatic tack (AutoTack)

The ST4000+ has a built in automatic tack facility (AutoTack) 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 -1 and -10 keys together

•to AutoTack to starboard: press the +1 and +10 keys together

AutoTack - Port		AutoTack - Starboard
	Wind	Wind

AutoTack	AutoTack
angle	angle

D5399-1

Making major course changes

CAUTION:

Only make major course changes when steering MANUALLY. This ensures that the boat will 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 standby for manual steering, so you can bring the boat to the new heading MANUALLY.

3.Select 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 wander 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:

•You can significantly 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 large seas, you should avoid sailing with the wind dead astern:

•ideally, bring the wind at least 30° away from a dead run

•in severe conditions, you may also need to remove the mainsail and sail under headsail only

Operation Basic 2

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: You 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 boat movements and only react to true variations in course. This provides the best compromise between power consumption and course keeping accuracy, and is the default calibration setting.

•Response Level 2: AutoSeastate off (Minimum deadband)

This setting provides the tightest course keeping 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 have 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 -1 or +1 to change the response level.

3.Press disp or wait for 5 seconds to return to the previous display.

Changing the rudder gain

Decrease	Increase
rudder gain	rudder gain

SECOND

D5400-1

To make a temporary change to the rudder gain:

1.Press the -1 and +1 keys together for 1 second to display the rudder gain (RUDD GAIN) screen

Note: If you have set up the RUDD GAIN 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 -1 or +1 to change the rudder gain.

3.Press disp or wait for 5 seconds to return to the previous display.

Note: See page 96 for instructions on how to check that the rudder gain is set correctly.

Operation Basic 2

2 Basic Operation

14	ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook

2.4Autopilot 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 SeaTalk failure message if there is a wiring fault in the SeaTalk connection.

Off Course alarm (OFFCOURSE)

= 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: * You can adjust this specified alarm angle in Dealer setup (see page 109).

1.To 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. You can usually significantly improve course keeping by improving the sail balance.

Note: The ST4000+ also clears the alarm if the heading recovers, 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 Windshift 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 sensor has passed beyond the preset rudder limits or rudder end-stops)

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 SeaTalk navigation data, or

•the position sensor (GPS, Loran, Decca) is receiving a low strength signal – this will clear as soon as the signal strength improves

The autopilot stops adjusting the heading as soon as it loses data.

Waypoint Advance alarm (NEXT WPT?)

The ST4000+ activates the Waypoint Advance alarm whenever the target waypoint number changes. This occurs when:

•you select automatic acquisition by pressing track from Auto

•you request waypoint advance by pressing track for 1 second in Track mode (with SeaTalk navigators only)

Operation Basic 2