Raymarine ST600R 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.
ST600R
Autopilot
Control Unit
Owner’s
Handbook
Document number: 81134-3
Date: May 2001
Preface
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i
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track
+1
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auto
Raymarine, as part of its commitment to continuous improvement and updating, reserves
the right to make changes, without prior notice, to the equipment, equipment specifications, and the
instructions contained within this handbook.
To the best of our knowledge, the information contained within this handbook was correct
as it went to press.
A great deal of care has been taken to ensure that this handbook is as accurate as possible. However,
liability cannot be accepted for inaccuracies or omissions.
Autohelm and SeaTalk are registered trademarks of Raymarine Ltd.
WindTrim, AutoTack, AutoTrim, AutoSeastate, AutoAdapt, AutoRelease and CodeLock are
trademarks of Raymarine Ltd.
Copyright © Raymarine Ltd 2001.
ST600R Autopilot Control Unitii
Preface
Preface
iii
This handbook contains information on the operation and
installation of your new equipment. In order to obtain the best
performance from your autopilot, please read this handbook
thoroughly.
How this Handbook is Organised
This handbook is divided into the following chapters:
Chapter 1: Introduces the autopilot, its features and its use.
Chapter 2: Covers basic autopilot operation.
Chapter 3: Explains how to use Track and Vane (WindTrim)
modes and adjust autopilot performance, and summarises the
ST600R alarms.
Chapter 4: Explains how to use the CodeLock security feature.
Chapter 5: Provides details on how to make adjustments to
customise the autopilot to your particular vessel.
Chapter 6: Explains how to install the ST600R.
Chapter 7: Covers functional testing and initial calibration
procedures after installation, and intial sea trials.
Chapter 8: Provides general maintenance procedures.
Chapter 9: Provides information to help you resolve any problems
you may encounter with your autopilot.
An index is included at the end of this handbook, followed by the
necessary template(s).
Warranty
To verify the ownership of your new autopilot, please take a few
minutes to complete the warranty card. It is important that you
complete the owner information and return the card to the factory to
receive full warranty benefits.
ST600R Autopilot Control Unitiv
Safety Information
Passage making under autopilot control is an enjoyable experience
that can, if you are not careful, lead to the relaxation of the
permanent watch. A permanent watch MUST be maintained no
matter how clear the sea may appear to be.
Remember, a large ship can travel two miles in five minutes – just
the time it takes to make a cup of coffee.
The following rules should always be observed:
•Maintain a permanent watch and regularly check all around for
other vessels and obstacles to navigation – no matter how clear the
sea may appear a dangerous situation can develop rapidly.
•Maintain an accurate record of the vessel’s position either by use of
a radio navigation receiver or visual bearings.
•Maintain a continuous plot of position on a current chart. Ensure the
locked autopilot heading steers you clear of all obstacles. Make
proper allowance for Tidal Set – the autopilot cannot!
•Even when your autopilot is locked onto the desired Track using a
radio navigation receiver, always maintain a log and make regular
positional plots. Radio navigation signals can produce significant
errors under some circumstances and the autopilot cannot detect this
situation.
•Make sure that all members of crew are familiar with the procedures
to disengage the autopilot.
Your Raymarine autopilot will add a new dimension to your boating
enjoyment. However, it is the responsibility of the skipper to ensure
the safety of the vessel at all times by careful observance of these
basic rules.
EMC Conformance
All Raymarine equipment and accessories are designed to the best
industry standards for use in the leisure marine environment.
Their design and manufacture conforms to the appropriate
Electromagnetic Compatibility (EMC) standards, but good
installation is required to ensure that performance is not
compromised.
Preface
Contents
v
Chapter 1: Introduction .............................................................. 1
1.1 Overview.................................................................................1
1.2 Specification ............................................................................2
Chapter 2: Basic Operation........................................................ 3
2.1 Key Functions.......................................................................... 3
2.2 Display Layout ........................................................................4
2.3 Using Auto Mode ....................................................................5
Engaging the Autopilot (Auto)................................................5
Disengaging the Autopilot to Return to Hand Steering .............5
Changing Course in Auto Mode.............................................. 6
Dodging Obstacles in Auto Mode ........................................... 6
Returning to the Previous Locked Heading
(LAST HDG) ........................................................................7
Automatic Tack (AutoTack) ...................................................8
Off Course Alarm ..................................................................9
Operating Hints...................................................................... 9
2.4 Manual Mode ........................................................................10
2.5 Display and Keypad Illumination ............................................11
2.6 SeaTalk Data Pages ................................................................12
Changing Chapters...............................................................12
Cycling Pages ......................................................................12
SeaTalk Data Chart ..............................................................13
Chapter 3: Advanced Operation .............................................. 14
3.1 Operation in Track Mode........................................................14
Initiating Track Mode...........................................................14
Automatic Acquisition ..................................................15
Manual Acquisition ......................................................16
Cross Track Error .................................................................17
Tidal Stream Compensation..................................................18
Waypoint Arrival and Advance............................................. 18
Arrival ......................................................................... 18
Skipping a Waypoint – SeaTalk Navigators Only ...........19
Advance ...................................................................... 19
Dodges ................................................................................19
Initiating a Dodge Manoeuvre .......................................19
Cancelling a Dodge Manoeuvre ....................................19
Safety ..................................................................................19
Position Confirmation at the Start of a Passage ...............19
Verifying Computed Positions ...................................... 20
Plot Frequency ............................................................. 20
Setting Waypoints ........................................................ 20
General ........................................................................ 20
ST600R Autopilot Control Unitvi
3.2 Operation in Vane Mode (WindTrim) ..................................... 20
Selecting Vane Mode ...........................................................21
Adjusting the Locked Wind Angle ........................................21
Returning to Previous Apparent Wind Angle (LAST WND) .. 22
Dodges ................................................................................22
Wind Shift Alarm................................................................. 23
Using AutoTack in Vane Mode ............................................23
Operating Hints.................................................................... 24
3.3 Adjusting Autopilot Performance ...........................................25
Changing the Response Level (Auto Seastate) ....................... 25
Changing the Rudder Gain ...................................................26
3.4 Alarms .................................................................................. 26
SeaTalk Failure ....................................................................27
No Link ...............................................................................27
Auto Release........................................................................ 27
Off Course ...........................................................................27
Wind Shift ...........................................................................27
Large Cross Track Error .......................................................27
Drive Stopped ......................................................................28
Data Not Received ...............................................................28
Waypoint Advance ..............................................................28
Low Battery.........................................................................29
Watch Alarm .......................................................................29
Man Overboard (MOB)........................................................ 29
Chapter 4: CodeLock ............................................................... 31
4.1 CodeLock Modes................................................................... 31
4.2 Setting Up CodeLock .............................................................31
Initial Setup .........................................................................32
Changing the Code or Master Unit ........................................ 33
4.3 Entering Your Code (Manual Mode Only) ..............................3 3
4.4 Code Number Problems .........................................................34
Chapter 5: Customising the System ........................................ 35
5.1 User Setup ............................................................................. 35
Compass Deviation Correction (SWING COMPASS)...........37
Deviation Display (DEVIATION) ........................................3 7
Heading Alignment (ALIGN HDG)......................................37
Pilot Type* ..........................................................................37
Heading Mode (HDG) .........................................................37
Bar Selection (RUDD BAR).................................................38
Rudder Calibration (DOCKSIDE RUDD CAL)* ..................38
Quitting User Setup ..............................................................38
5.2 Dealer Setup: Type 100/300 Course Computer ........................ 39
Recommended Settings ........................................................41
Pilot Type (ST6000 Plus & Type 100/300) ............................42
Pilot Type (ST4000 Plus and ST5000 Plus) ...........................4 2
Preface
vii
Calibration Lock .................................................................. 42
Rudder Gain ........................................................................43
Rate Level ...........................................................................4 3
Rudder Offset ......................................................................43
Rudder Limit .......................................................................44
Turn Limit ........................................................................... 44
Cruise Speed ........................................................................44
Off Course Alarm ................................................................45
AutoTrim ............................................................................45
Power Steer .........................................................................4 6
Drive Type ..........................................................................4 6
Rudder Damping .................................................................4 7
Variation .............................................................................47
AutoAdapt...........................................................................48
Latitude ...............................................................................48
Auto Tack* ..........................................................................49
Wind Trim* .........................................................................49
Auto Release........................................................................ 49
Response .............................................................................49
Recording Calibration Settings .............................................50
Chapter 6: Installation .............................................................. 51
6.1 Planning the Installation .........................................................52
Choosing the Correct Connection Cable ................................52
Cabling Guidelines .............................................................. 52
EMC Installation Guidelines.................................................53
6.2 Connections...........................................................................54
ST1000 and ST2000 Plus Autopilot Connections ..................54
ST4000/5000/6000 Plus Connections ................................... 55
ST6000 & ST7000 Autopilot Connections ............................56
6.3 Mounting the Bulkhead Socket ...............................................56
6.4 Bulkhead Bracket Installation ................................................. 58
6.5 Functional Test (Repeater Unit) ..............................................58
Switch On............................................................................59
SeaTalk Interface .................................................................59
Chapter 7: Post Installation Procedures .................................. 61
7.1 Functional Test and Initial Calibration .....................................61
Switch On............................................................................61
Operating Sense ...................................................................62
Navigation Interface (GPS, Decca, Loran) .............................62
Wind Transducer Interface ...................................................6 3
EMC Conformance ..............................................................63
7.2 Initial Sea Trial.......................................................................64
Automatic Compass Deviation Correction ............................64
Further Heading Alignment Adjustment................................ 67
Checking Autopilot Operation ..............................................6 7
Checking the Rudder Gain....................................................68
ST600R Autopilot Control Unitviii
Chapter 8: Maintenance ........................................................... 71
General................................................................................71
Servicing and Safety............................................................. 71
Advice.................................................................................71
Chapter 9: Fault Finding........................................................... 72
Index ........................................................................................ 74
Chapter 1: Introduction
Chapter 1: Introduction
1.1 Overview
The ST600R is a SeaTalk® compatible autopilot control unit. It is
designed for use as a repeater in an autopilot system, allowing
autopilot control from a secondary location, or as the control unit for
a Type 100/300 Course Computer. It can also repeat instrument
data in an extensive set of Data Pages.
There are five operating modes:
Standby:Autopilot off
Auto:Autopilot engaged and locked onto a heading
Track:Autopilot maintains a track between two waypoints
created using a navigation system
Vane:Autopilot maintains a courserelative to an apparent
wind angle
Manual:Autopilot off during joystick control of steering
When the ST600R is being used to repeat instrument data, “pop-up
pilot” pages are displayed for 5 seconds whenever a change in
autopilot control is made.
The ST600R also provides the following:
•Setup and calibration options to suit each installation, giving
maximum performance with many types of boat and three
calibration menus (user, intermediate and dealer)
•Dockside rudder calibration feature that automatically determines
the characteristics of your installation, and adjusts for them, before
you set sail
•CodeLock security support
• Automatic tack facility that can be in used in Auto and Vane modes
• Automatic compass deviation correction
• Northerly/Southerly heading compensation
• Automatic heading deadband - seastate control
• Waypoint advance feature
1
2
ST600R Autopilot Control Unit
1.2 Specification
• Power Supply: 8.5 to 16.5V DC
• Current consumption:
Standby: 60mA (less than 200mA with full lighting)
• Operating temperature: 0°C to +70°C (32°F to 158°F)
• Nine button illuminated digital keypad
• LCD display of heading, locked course and navigational data, with
three levels of illumination
Chapter 2: Basic Operation
Chapter 2: Basic Operation
This chapter provides summary diagrams of the screen layout and
key functions. It also provides instructions for engaging the
autopilot and using Auto mode, changing the lighting and
displaying Data Pages.
2.1 Key Functions
The autopilot is controlled using simple push-button operations, all
of which are confirmed with a beep. In addition to the main single
key functions, there are several dual key functions.
3
Port and Starboard
Course Change
Keys -1 & -10 (port)
+1 & +10 (starb'd)
-1 plus -10
Press together for
AutoTack to port
STANDBY
Press for Standby
mode
Press and hold for
Setup modes
CHAPTER
Press for
Data Chapter
Press for 1 second
for lamp control
PAGE
Press to cycle
through the
SeaTalk pages.
Press for 1 second
to return to the
previous page.
--1
+1
+10
-
-10
auto
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track
TRACK
Press for Track mode
from Auto
Press to accept waypoint
advance
Press for 1 second to skip
waypoint
-1 plus +1
Press together for
Response level
Press together for 1
second for Rudder Gain
+1 plus +10
Press together for
AutoTack to starboard
AUTO
Press for Auto mode
Press for 1 second
for Last Heading
Press again to
accept Last Heading
STANDBY + AUTO
Press for Vane mode
Press for 1 second
for Last Wind
Press again to accept
Last Wind
• The autopilot always powers up in Standby mode. (If the words
CODE LOCK are displayed, enter your code as described in
Chapter 4.)
• Course changes are made using the -1, +1, -10 and +10 keys.
• Return to manual steering at any time by pressing STANDBY.
D3447-1
4 ST600R Autopilot Control Unit
2.2 Display Layout
The following illustration shows all the elements, together with a
brief description, that make up the ST600R autopilot LCD display.
Variable Text Region
(5+4 Characters/Digits Maximum)
Port and Starboard
Direction to Steer
Indicators
Calibration Indicator
Rudder or Steer Direction Indicator
D3682-1
• The bar graph at the bottom of the display is normally the rudder bar.
If it has been set as a direction-to-steer indicator (refer to User
Setup), the display depends on the current mode (see below).
Mode Bar
Standby Not used (rudder angle if feedback transducer is
connected to autopilot)
Auto Heading error bar
Track Cross track error (XTE) bar, in 0.02nm increments
Vane Wind angle error bar
• If neither distance units (nm or SM) is displayed, the distance is in
Km.
Chapter 2: Basic Operation
1. Steady the vessel on the required heading.
2. Press AUTO.
5
2.3 Using Auto Mode
Engaging the Autopilot (Auto)
auto
AUTO
DXXXX-1
• In Auto mode, the display shows the locked autopilot heading.
Caution: Passage making under autopilot control is an enjoyable
experience that can, if you are not careful, lead to the relaxation
of the permanent watch. A permanent watch MUST be
maintained no matter how clear the sea may appear to be.
Remember, a large ship can travel two miles in five minutes –
just the time it takes to make a cup of coffee.
Disengaging the Autopilot (Standby) to Return to
Hand Steering
• Press STANDBY.
stdby
STDBY
DXXXX-1
• In Standby mode, the display shows the vessel’s current compass
heading.
• The previous autopilot heading is memorised and can be recalled
(see opposite).
6 ST600R Autopilot Control Unit
Changing Course in Auto Mode
• The +1 and +10 (starboard) and –1 and –10 (port) keys are used to
change the locked heading, in increments of 1° and 10°, when the
autopilot has control.
Example: a 30° course change to port = press –10 three times.
Dodging Obstacles in Auto Mode
Select a course change in the appropriate direction, for example,
port 30° = -10 three times.
• When safely clear of the obstacle, you can reverse the previous
course change (for example, press +10 three times), or return to the
previous locked heading (LAST HDG).
Chapter 2: Basic Operation
1. Press AUTO for 1 second. The previous locked heading (LAST
Note: A direction-to-steer indicator is displayed to show you the direction
2. To accept this heading, and resume the original course, press AUTO
7
Returning to the Previous Locked Heading
(LAST HDG)
If you steer your vessel away from the selected locked heading (for
example, executing a dodge manoeuvre or selecting Standby) you
can return to the previous locked heading as follows:
HDG) is displayed for 7 seconds and the display flashes.
the vessel will turn.
once within this 7 second period.
If you do not press AUTO while the display is flashing, the current
heading will be maintained.
8 ST600R Autopilot Control Unit
Automatic Tack (AutoTack)
The autopilot has a built in automatic tack facility that turns the
vessel through a predetermined angle (the factory default, set in
Dealer calibration, is 100°) in the required direction.
AutoTack to Starboard
• Press the +1 and +10 keys together to tack to starboard.
AutoTack to Port
• Press the -1 and -10 keys together to tack to port .
Chapter 2: Basic Operation
1. To cancel the off course alarm, press STANDBY to return to hand
2. Make sure your vessel is not carrying too much sail or the sails are
9
Off Course Alarm
The off course alarm sounds if the locked autopilot heading and the
vessel’s current heading differ for more than 20 seconds, and by
more than the alarm angle set in calibration (the factory default
is 20°).
steering.
badly balanced. Significant improvements in course keeping can
usually be obtained by improving sail balance.
Operating Hints
Making Major Course Changes
• It is sound seamanship to make major course changes only when
steering manually.
• Manual course changes ensure that obstructions or other vessels are
cleared properly, and due account taken of the changed wind and sea
conditions on the new heading prior to engaging the autopilot.
Course Changes Under Autopilot Control
It is important to understand the effect of sudden trim changes on
steering performance. When a sudden trim change occurs, due, for
example, to weather helm or sail imbalance, there will be a delay
before the automatic trim applies rudder to restore the locked
heading. This correction can take up to one minute.
Large course changes, which change the apparent wind direction,
can produce large trim changes. In these situations, the autopilot will
not immediately assume the new automatic heading, and will only
settle onto course when the automatic trim has been fully
established.
10 ST600R Autopilot Control Unit
To eliminate this problem, the following procedure can be adopted
for large course changes:
1. Note the required new heading.
2. Select STANDBY and steer manually.
3. Bring the vessel onto the new heading.
4. Select AUTO and let the vessel settle onto course.
5. Bring the vessel to the final course with 1° increments.
Gusty Conditions
In gusty conditions, the course may tend to wander slightly,
particularly if the sails are badly balanced. Significant
improvements in course keeping can always be obtained by
improving sail balance. Bear in mind the following important
points:
• Do not allow the yacht to heel over excessively
• Ease the mainsheet traveller to leeward to reduce heeling and
weather helm
• If necessary, reef the mainsail a little early
It is also advisable, whenever possible, to avoid sailing with the
wind dead astern in very strong winds and large seas.
Ideally, the wind should be brought at least 30° away from a dead
run and, in severe conditions, it may be advisable to remove the
mainsail altogether and sail under headsail only.
Provided these simple precautions are taken, the autopilot will be
able to maintain competent control in gale force conditions.
2.4 Manual Mode
If your system is fitted with a joystick, the ST600R will enter
Manual mode when the joystick is in use.
The ST600R will return to Standby mode when the joystick button
is released, or if you press the STANDBY key on the ST600R.
Chapter 2: Basic Operation
LAMP
DXXXX-1
LAMP
LAMP LAMP
LAMP
STBY
• Press for 1 second, from any mode, to enter illumination
• Subsequent presses of the key cycles the possible illumination
Notes: If other SeaTalk instruments or autopilot control units are connected
11
2.5 Display and Keypad Illumination
adjustment mode and turn the lights on.
settings: L3, L2, L1, OFF, L1, L2, L3 etc. where L3 is the brightest
setting.
The display times out to normal operation after 7 seconds of keypad
inactivity.
Pressing any other key before the 7 second time-out will select the
mode assigned to that key (for example, AUTO selects Auto mode,
STANDBY selects Standby mode).
to SeaTalk, the illumination can be adjusted from these units.
Any adjustments to the illumination are lost when the unit is
switched off.
The keys are still lit at a courtesy level when the display lighting is off.
If the illumination is initially OFF, upon entry to illumination adjustment
mode the illumination is set to level 3.
12 ST600R Autopilot Control Unit
2.6 SeaTalk Data Pages
The ST600R can display 21 “pages” of SeaTalk data, grouped into 6
“chapters” (see opposite page).
Changing Chapters
The key is used to cycle through the chapters. The chapter title
(for example, SPEED) is displayed for 2 seconds, then the first page
in the chapter is displayed.
Cycling Pages
The key is used to cycle through the pages in the current chapter.
Once a Data Page is selected, this page becomes the principle
autopilot display. The autopilot mode displays (Standby, Auto,
Track, Vane and Manual) then become “pop-ups”, and are
displayed for 5 seconds when the autopilot mode is changed or a
course change is made.
• Press to display each Data Page in turn.
• To return to a previous Data Page, press for 1 second. You can
continue to move backwards through the Data Page sequence in this
way.
• If the required data for a page is not available, dashes are displayed
instead of a value.
• Most displays are repeated data and cannot be adjusted. The
exceptions are the Response and Rudder Gain pages, which can be
adjusted using the +1 and -1 keys (refer to section 3.3 for the
alternative method of adjusting the Response/Gain).
• The autopilot bar graph remains in use.
• The “direction-to-steer” arrows relate to the Data Page information.
Chapter 2: Basic Operation
13
SeaTalk Data Chart
14 ST600R Autopilot Control Unit
Chapter 3: Advanced Opera tion
This chapter provides information on:
• Operation in Track mode
• Operation in Vane mode (WindTrim)
• Adjusting response and rudder gain
• Alarms
3.1 Operation in Track Mode
Track mode is used to maintain a track between two waypoints
created on a GPS, Decca, or Loran navigation system. The autopilot
will then compute any course changes to keep your boat on track,
automatically compensating for tidal streams and leeway.
The autopilot can receive cross track error (the distance your vessel
is from a planned track) from a SeaTalk navigation instrument or
chartplotter
Track mode is selected by pressing the TRACK key, but can only be
selected in Auto mode. You can return to either Auto or Standby
from Track as follows:
• Press AUTO to leave Track mode and return to Auto mode.
• Press STANDBY to leave Track mode and return to manual
steering.
Initiating Track Mode
When initiating Track mode, the track can be acquired in one of two
ways:
• Automatic acquisition – when cross track error and bearing to
waypoint data are available
• Manual acquisition – when cross track error is the only available
data
Chapter 3: Advanced Operation
Automatic Acquisition
Automatic acquisition can only be achieved if the pilot is receiving
cross track error and bearing to waypoint information (via SeaTalk
or NMEA 0183). It is initiated as follows:
1. Bring the vessel to within 0.1nm of track
2. Press AUTO.
3. Press TRACK to enter Track mode, with the current locked heading
displayed.
After a short delay for data acquisition, the Waypoint Advance
alarm will sound, and the display will show the planned bearing to
waypoint alternating with the direction in which the boat will turn.
15
STBD
track
Note: If the vessel is further than 0.3nm from the track, the Large Cross
Track Error alarm will sound. Press STANDBY to cancel the alarm,
hand steer closer to the track, and press AUTO and TRACK again.
4. Check that it is safe to turn onto the new course.
5. Press the TRACK key. The boat will turn on to the new course and
the alarm will be cancelled.
16 ST600R Autopilot Control Unit
Previous
Heading
D3505-1
• The display shows the new bearing to waypoint.
Manual Acquisition
For manual track acquisition when cross track error is the only data
available:
1. Steer the vessel to within 0.1nm of track.
2. Bring the heading to within 5° of the bearing to the next waypoint.
3. Press AUTO.
4. Press TRACK to enter Track mode.
• The display shows the cross track error and the locked pilot heading.
Note: At low speeds, the effect of tidal streams is far more significant than it
is at higher speeds. Providing the tidal flow is less than 35% of the
vessel’s speed, no noticeable difference should occur in the
performance of Track mode. However, extra care should be taken
during manual acquisition, as follows:
• Ensure that the vessel is as close as possible to track, and the
direction made good over the ground is as close as possible to the
direction of the next waypoint, before selecting Track mode.
• Make positive positional checks at regular intervals, especially if
navigational hazards are close by.
Chapter 3: Advanced Operation
Cross Track Error
Cross track error (XTE) is the distance between the current position
and a planned route. This is displayed in nautical miles (nm), statute
miles (SM) or kilometres, and is taken directly from your navigator.
The Large Cross Track Error alarm sounds if the cross track exceeds
0.3nm.
17
LARGE
XTE
DXXXX-1
• The direction of the error is identified as “Pt” port or “Stb”
starboard.
• To cancel the alarm, press STANDBY to return to hand steering, or
AUTO to return to Auto mode.
Note: If the Large Cross Track Error alarm sounds, it is usually an indication
that the cross tide is too great for the vessel’s current speed.
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