Raymarine ST7001+ Handbook

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.

ST7001+ Autopilot Control Unit

Owner’s Handbook

Document number: 81191-2
Date: May 2001

ii ST7001+ Autopilot Control Unit - Owner’s Handbook

Autohelm, HSB (High Speed Bus), SailPilot, SeaTalk and SportPilot
are registered trademarks of Raymarine Ltd.

Raymarine, AST (Advanced Steering T echnology), AutoAdapt,
AutoLearn, AutoRelease, AutoSeastate, AutoTack, AutoTrim,
FastTrim, GyroPl us, RayGyro, RayPilot and W indTrim are
trademarks of Raymarine Ltd.

Handbook contents © Raymarine Ltd 2001.

Preface iii

Contents

About this handbook ......................................................... vii

Important Information ..................................................... viii

Warranty ...................................................................................viii

Safety notices ...........................................................................viii

EMC conformance .....................................................................ix

Handbook information ...............................................................ix

Chapter 1: Introduction ............................................................1

Chapter 2: Basic Operation .......................................................3

2.1 Using the control unit ................................................................4

Start-up mode ............................................................................4

Keypad functions ......................................................................4

Display layout ...........................................................................5

2.2 Using Auto mode ......................................................................6

Engaging the autopilot (Auto mode) .........................................6

Disengaging the autopilot (Standby mode) ..............................6

Changing course in Auto mode .................................................7

Adjusting performance – T ype 150G/400G .............................7

Adjusting performance – T y pes 150/400 and 100/300 ............. 9

Off Course warning .................................................................10

Dodging obstacles and then resuming course ......................... 10

Using the set course feature ....................................................12

Using sail boat features ...........................................................12

2.3 Adjusting display/keypad lighting and contrast .....................15

Lighting ...................................................................................15

Contrast ...................................................................................16

Chapter 3: Advanced Operation ............................................17

3.1 Using Track mode ...................................................................18

Selecting Track mode .............................................................18

Exiting Track mode ............................................................. ....19

Cross track error ......................................................................19

Tidal stream compensation .....................................................20

W aypoint arrival and advanc e .................................................21

W aypoint Advance warning – summary .................................22

Dodges in Track m ode ............................................................ 23

Safety in Track mode .............................................................. 24

3.2 Using Wind Vane mode – sail boats ........................................25

About Wind Vane mode .......................................................... 25

iv ST7001+ Autopilot Control Unit - Owner’s Handbook

Selecting Wind Vane mode ..................................................... 26

Exiting Wind Vane mode ........................................................26

Adjusting the locked wind angle .............................................26

Returning to the previous wind angle (LAST WND) ............. 27

Dodges in Wind Vane mode .................................................... 27

Wind Shift warning .................................................................28

Using AutoT ack in W ind Vane mode ......................................28

Operating hints for Wind Vane mode ...................................... 29

3.3 Adjusting the rudder gain ........................................................29

3.4 Displaying data pages ............................................................. 31

W aypoint names ..................................................................... 32

W atch timer ............................................................................. 32

W arning messages ..................................................................33

3.5 Remotely controlling ST60 and ST80 instruments ................34

Chapter 4: Fault Finding & Maintenance ..............................35

4.1 Fault finding ............................................................................36

Common autopilot problems ..................................................36

Autopilot alarm messages ....................................................... 37

4.2 General maintenance .............................................................. 39

Routine checks ........................................................................39

Cleaning the display ................................................................39

EMC advice ............................................................................ 39

4.3 Product support ....................................................................... 40

Chapter 5: Installing the ST7001+ ..........................................45

5.1 Select the location ...................................................................46

Site requirements .................................................................... 46

5.2 Control unit installation .......................................................... 49

5.3 SeaTa lk connections ............................................................... 50

5.4 NMEA connections ................................................................ 51

Receiving NMEA data ............................................................51

5.5 Functional test – repeater units only .......................................54

Chapter 6: Commissioning the Autopilot ............................55

6.1 Dockside Checks .................................................................... 56

Step 1 - Switch on ................................................................... 56

Step 2 - Check the SeaT alk and NMEA connections .............. 57

Step 3 - Check the autopilot operating sense ...........................58

Step 4 - Adjust basic autopilot settings ................................... 59

6.2 Seatrial Calibration ................................................................. 63

Calibrating the compass .......................................................... 64

Adjusting autopilot settings .................................................... 68

Preface v

Chapter 7: Adjusting Autopilot Settings ..............................75

7.1 Calibration basics ....................................................................76

Calibration groups ..................................................................76

Accessing the Calibration mode .............................................78

7.2 Display Calibration ................................................................ 79

Display Calibration screens ....................................................79

7.3 User Calibration ......................................................................87

User Calibration screens .........................................................87

7.4 Seatrial Calibration .................................................................91

7.5 Dealer Calibration ...................................................................92

Accessing Dealer Calibration .................................................92

Dealer Calibration screens and settings ..................................92

Dealer Calibration defaults: T ypes 150/150 G & 400/400G .101
Dealer Calibration options: T ypes 150/150 G & 400/400G ..102

Appendix: Using the ST7001+

With Non-150/400 Autopilots ........................................... 103

Using the autopilot (non-150/400 systems) ............................104

Commissioning the autopilot (non-150/400 systems) ............105

Dockside Checks ..................................................................105

Seatrial Calibration ............................................................... 105

Calibration mode (non-150/400 systems) ............................... 106

Calibration groups ................................................................106

Dealer Calibration screens ....................................................108

Dealer Calibration: possible settings with T ype 10 0/300 ..... 114

Specifications .....................................................................115

ST7001+ control unit ..............................................................115

Course computer functions .....................................................115

Glossary ..............................................................................116

Index ....................................................................................119

vi ST7001+ Autopilot Control Unit - Owner’s Handbook

Preface vii

About this handbook

W elcome to the handbook for the ST7001+ autopilot control unit.
This handbook contains two main parts :

Part 1: Using the ST7001+

Chapter 1: Introduction

1

Introduces the autopilot, its features and its use.

Chapter 2: Basic Operation

Covers basic autopilot operation: using Auto mode,

2

adjusting autopilot performance, and changing the control
unit lighting.

Chapter 3: Advanced Operation

Explains how to use Track and Wind Vane modes, adjust

3

rudder gain and display data pages.

Chapter 4: Fault Finding & Maintenance

Provides general maintenance procedures and

4

trouble-shooting information (including alarm messages).

page 1

page 3

page 17

page 35

Part 2: Installing the ST7001+

Chapter 5: Installing the ST7001+

Explains how to install your ST7001+ control unit and

5

connect it to your autopilot system.

Chapter 6: Commissioning the Autopilot

Covers dockside checks after installation, and the initial

6

seatrial calibration.

Chapter 7: Adjusting Autopilot Settings

Provides details on adjusting the control unit and autopilot

7

settings in Calibration mode.

page 45

page 55

page 75

At the end of this handbook we have inclu ded an appendix, product
specifications, a glossary , an index, installation template, and
warranty information.

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.

viii ST7001+ Autopilot Control Unit - 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 initial stable performance for most boats. T o ensur e
optimum performance on your boat, you must complete Chapter
6: Commissioning the Autopilot before 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 ix

• 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 posit ion 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.

x ST7001+ Autopilot Control Unit - Owner’s Handbook

Part 1: Using the ST7001+

Part 1: Using the ST7001+

Part 1: Using the ST7001+

Chapter 1: Introduction 1

Chapter 1: Introduction

The Raymarine ST7001 Plus (ST7001+) is a SeaT alk® compatible
autopilot control unit. It is designed as the main control uni t for
Raymarine T ype 150, 150G, 400 and 400G course computers.

The ST7001+control unit has the following modes:

1.

Standby: autopilot off (see page 6)
Auto: autopilot steers the boat to maintain a locked heading

2.
(see page 6)

3.

Track: autopilot steers the boat to maintain a track between two

waypoints created on a navigation aid (see page 18)

4.

Wind Vane: autopilot steers the boat to maintain a course relative

to a true or apparent wind angle (see page 25)

Calibration: so y ou can ad just the aut opilot to give opt imum

5.
performance for your boat (see page 76). This includes autom atic
compass deviation correction (all autopilots) and AutoLearn
automatic steering calibration (T ype 150G/400G systems only)

The ST7001+ also provides:

• automatic tack (AutoT ack) in Auto and W ind V ane modes

• Northerly/So utherly heading compensation

• waypoint advance feature in Track mode

1 Introduction

D5461-1

2 ST7001+ Autopilot Control Unit - Owner’s Handbook

Functions with Type 150/150G and 400/400G autopilots

The functions provided with T ype 150/150G and Type 400/4000G
autopilots depend on whether the course computer contains an
internal GyroPlus yaw sensor:

Type 150G/400G (with GyroPlus) Type 150/400 (without GyroPlus)

1 Introduction

Internal GyroPlus yaw sensor provides
enhanced course keeping using AST
(Advanced Steering Technology)

Improved track-keeping Improved track-keeping

Steering to true and apparent wind in
Wind Vane mode

Improved calibration access, including
AutoLearn (self-learning calibration)

Full basic functionality: uses Raymarine
steering algorithm without AST

Steering to true and apparent wind in
Wind Vane mode

Improved calibration access, but
without AutoLearn

Extended systems

Y ou can connect the ST7001+ to other Raymarine SeaT alk
equipment so it can send and receive SeaTalk data:

• it can use wind information from a SeaTalk wind instrument for
Wind Vane steering

• it can use waypoint information from a SeaT alk navigation
instrument to provide track control

• it can use boat speed from a SeaTalk speed instrument to optimize
track-keeping performance

Y ou can also use the ST7 001+ autopilot with any navigator
(GPS, Decca, Loran) or wind instrument that transmits National
Marine Electronics Association (NMEA) 0183 data.

The ST7001+ can display SeaT alk and NMEA instrument data in a
user-defined selection of data pages. When you are usin g the
ST7001+ to repeat instrument data, i t shows a ‘pop-up’ pilot page for
5 seconds whenever you make a change in autopilot control.

Compatibility with other autopilots

The ST7001+ is also compatible with Raymarine T ype 100 and
T ype 300 course computers (see the Appendix for more details).
Y ou can also use it as an additional repeater control unit for any
SeaTalk autopilot system, allowing autopilot control from a
secondary location.

Chapter 2: Basic Operation 3

Chapter 2: Basic Operation

The sections in this chapter explain how to use the basic functions on
your ST7001+ autopilot control unit:

Using the control unit

2.1

2.2

2.3

Summarizes the key functions and screen layout on the
ST7001+ control unit.

Using Auto mode

Provides instructions for engaging/disengaging the
autopilot, using Auto mode and adjusting the
autopilot’s performance.

Adjusting display/keypad lighting and
contrast

Explains how to change the lighting and contrast on
the control unit display and keypad.

Note: If you are using the control unit with a non-150/40 0 autopilot
system, re fer to the no tes in the A ppendix.

page 4

page 6

page 15

2 Basic Operation

4 ST7001+ Autopilot Control Unit - Owner’s Handbook

2.1 Using the control unit

Start-up mode

The autopilot always powers up in S tandby mode with the display
showing the boat’s current compass heading.

Keypad functions

&

Press to adjust calibration parameters,
response and gain

disp

2 Basic Operation

Press to display
data pages

Press for 1 second
for lamp control

resp

Press to display
response level

Press for 1 second
for rudder gain

Note: Y ou can press
steering.

The autopilot is controlled using si mple push-button operations, all of
which are confirmed with a short beep. In addition to the main
single-key functions, there are several dual key operations.

standby at any time to return to manual

course change keys

-1 = Port 1˚

-10 = Port 10˚
+1 = Starboard 1˚
+10 = Starboard 10˚

-1 plus -10

Press together for
AutoTack to port

+1 plus +10
Press together for
AutoTack to starboard

-1 plus +1
Press together for
response level

-1 plus +1
Press for 1 second
for rudder gain

track

Press for Track mode from Auto mode
(if a navigator is connected)

Press to accept waypoint advance
Press for 1 second to skip waypoint

set crs

Press to set course bearing

res'm

Press to resume previous course

standby

Press for Standby
mode

Press for 2 seconds
to enter Calibration
mode

standby plus auto

Press for Wind Vane mode (if a wind vane is connected)

Press for 1 second to display 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

D5448-1

Chapter 2: Basic Operation 5

Display layout

The ST7001+ display screen provides the following informati on:

Autopilot mode indicators

GyroPlus indicator (appears if a
yaw sensor is connected to the autopilot)

Variable text area (up to 9 characters)

Distance units:

• no units = kilometres

• nm = nautical miles

• SM = statute miles

Heading indicators

Port and Starboard
direction-to-steer
indicators

Calibration mode indicator
(displayed on calibration pages)

2 Basic Operation

Rudder position indicator or error bar

D5458-1

The bar graph at the bottom of the screen is normally a rudder position
indicator. This indicates the current position of the rudder , as
measured by the rudder position sensor .

Note: You can change this to a headi ng/cross track/wind error bar in
Display Calibration, seepage 79.

6 ST7001+ Autopilot Control Unit - Owner’s Handbook

2.2 Using Auto mode

CAUTION:

Before using Auto mode, make sure that the pilot has been
correctly commissioned.

Engaging the autopilot (Auto mode)

T o engage the autopilot:

1. Steady t he boat on the required heading.

2. Press

2 Basic Operation

CAUTION:

Autopilot course control makes it easier to sail a boat, but it is
NOT a substitute for good seamanship. ALW A YS maintai n a
permanent watch by the helm.

auto:

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

D5515-1

Disengaging the autopilot (Standby mode)

Press standby to disengage the autopilot:

• in Standby mode, the display shows t he boat’s current compass
heading.

• the last heading is memorized and can be recalled (see page 11).

D4209-2

Chapter 2: Basic Operation 7

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° co urse change to port.

Port Starboard

Adjusting performance – Type 150G/400G

The main way you can adjust the performance of T ype 150G/400G
(GyroPlus) autopilot systems is by changing the response level. Thi s
is the only user adjustment you should need to make to t he autopilot
on a regular basis.

The response level controls the relationship between the autopilot’s
course keeping accuracy and the amount of helm/drive activity.

T ype 150G and 400G autopilot systems have 9 l evels of response:

• level 1 gives the least pilot activity to conserve power, but may
compromise short-term course-keeping accuracy

• levels 4 to 6 should give good course keeping under nor mal
operating conditions – with crisp, well controlled turns but
without being over-aggressi ve

• level 9 gives the tightest course keeping and gr eatest rudder
activity , but may lead to a rough passage in open waters as the
autopilot may ‘fight’ the sea

oror

2 Basic Operation

D3320-2

When you require extra tight course keeping (e.g. for pilotage in
confined and sheltered waters), increase the setting. If you want t o
minimize drive activity and conserve battery power , decrease
the setting.

8 ST7001+ Autopilot Control Unit - Owner’s Handbook

Y ou ca n adjust the default response level in either User or Dealer
Calibration (see page 89). This determines the default power-up
response level.

However, when using your aut opilot on a day-to-day basis, you can
make temporary adjus tments to the response level. By doing this
you can match autopilot performance to different conditio ns.

Temporary changes to response – Type 150G/400G

With these points in mind, you should use the following procedure to
make temporary adjustments to the response level when required:

1. Display the
the

-1 and +1 keys together momentarily .

2 Basic Operation

RESPONSE screen by pressing either the resp key or

OR

Increase

response

OR

and

Decrease
response

OR

Note: The RESPONSE screen is set as a default data page (see
page 81) so you can also access it by pressing

disp and then scrolling

through the data pages.

2. Press

-1 or +1 or th e up arrow or down arrow keys to change the

response level.

3. Press

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

Note: Y ou will lose these temporary changes to response level
whenever the system is powered off. You can make permanent
adjustments in User or Dealer Cali bration (see page 89).

D5453-1

Chapter 2: Basic Operation 9

Adjusting performance – Types 150/400 and 100/300

T o adjust the performance of T ype 150/400 (non-GyroPl us) and
T ype 100/300 autopilot systems you can change the response l evel.

Response level – Types 150/400 and 100/300

The response level controls the relationship between the autopilot’s
course keeping accuracy and the amount of helm/drive activity.

Y ou can adjust the default response level in either User or Dealer
Calibration (see page 89). This determines the default power-up
response level.

However, when usi ng your autopilot on a day-to-day basis, you will
need to make temporary adjustments to the response level. By doing
this you can match autopilot performance to different conditi ons.

T ype 150/400 (without GyroPlus ) and T ype 100/300 autopilot
systems have three different response levels:

• 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 consumptio n and
course keeping accuracy, and is the default calibration setting.

• Response Level 2: AutoSeastate off (Minimum deadband)

This setting provides tighter course keeping. How ever, this
results in increased power consumption and drive unit activity .

• Response Level 3: AutoSeastate off + yaw damping

This setting provides the tightes t possible course keeping by
introducing counter rudder yaw damping. You can adjust the
counter rudder setting in Dealer Calibration (see page 95)

To make a temporary change to the response setting:

1. Display the
the

-1 and +1 keys together momentarily .

2. Press
response between levels 1 to 3.

3. Press

RESPONSE screen by pressing either the resp key or

-1 or +1 or the up arrow or down arrow keys to change the

disp or wait for 5 seconds to return to the pr evious display .

2 Basic Operation

Note: Y ou will lose these temporary changes to response level
whenever the system is powered off. You can make permanent
adjustments in User or Dealer Calibr ation (see page 89).

10 ST7001+ Autopilot Control Unit - Owner’s Handbook

Off Course warning

= deviation to port
= deviation to starboard

D4229-2

The ST7001+ activates the OFF COURSE warning 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 off course angle i n Dealer
Calibration (see page 97).

2 Basic Operation

1. T o cancel the off course warning, press

standby t o return to hand

steering.

2. Check whether your boat is carryi ng 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 ST7001+ also clears the warning if the heading r ecovers,
if you change the course, or if you change the operating mode.

Dodging obstacles and then resuming course

T o avoid an obstacle when your boat is under autopilot contr ol, you
can dodge the obstacle and then resume your previous course.

Dodging an obstacle

Obstacle

Original
course

Dodge

D3303-2P

Chapter 2: Basic Operation 11

Dodging an obstacle

1. Select a course change in the appropriate direction. For example,
press

-10 three times for a 30° dodge to port.

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 HEADING) as

described below

Returning to the previous heading (LAST HEADING)

When the boat is in Auto mode and you have steered the boat away
from the selected locked heading for any reason (for example, to
execute a dodge maneuver), you can return to the prev ious locke d
heading (the most recent heading held for 20 seconds). To do this:

2 Basic Operation

1. Press

2. T o accept this heading, and resume this course, press

Note: If you do not press
autopilot will maintain the current heading.

Returning to last heading

res’m. The display flashes and shows the previous locked

heading (

LAST HEADING) for 10 seconds. The direction-to-steer

indicator shows the direction the boat will turn.

the display is flashing.

auto while the display is flashing, the

Resumed
course

Obstacle

Dodge

auto when

Original

course

D5498-1

12 ST7001+ Autopilot Control Unit - Owner’s Handbook

Using the set course feature

The ST7001+ has a set course feature that allows you to set up a
course and then apply it at a specific time (e.g. to make a course
change at a pre-determined time or location).

To set up a course:

1. Press t he
with a flashing heading.

2. Use the
autopilot will not accept the new heading at this stage.

3. If you do not want to accept the new course at this time, return to
the previous autopilot mode by either pressing the
waiting 10 seconds for the screen to time-out.

T o accept the heading you have set on the

1. Press

2. Press

2 Basic Operation

direction the autopilot will steer (

3. Press
then turn the boat onto the set course.

set crs key . Y ou will then see the SETCOURSE screen

-1, +1, -10 and +10 keys to set the heading you want. The

disp key or

SETCOURSE screen:

set crs to show the SETCOURSE screen.
auto: the control unit will sound an alarm and show the

PORT or STARBOARD).

auto again to accept the new heading. The autopilot will

Using sail boat features

Automatic tack (AutoTack)

The ST7001+ has a built in automatic tack facility (AutoT ack) that
turns the boat through 100° in the required direction. If you have s et
the vessel type to
angle in User or Dealer calibration (see page 87).

• to AutoTack to port: press the

• to AutoTack to starboard: press the

SAIL BOAT, you can adjust the default AutoTack

-1 and -10 keys together
+1 and +10 keys together

CAUTION:

When making major course changes, the trim on the boat may
change substantially. Becau se of this, the autopilot may take
some time to settle accurately onto the new course.

Chapter 2: Basic Operation 13

AutoTack - Port

AutoTack - Starboard

Wind

AutoTack

angle

AutoTack

angle

Wind

D5399-1

Preventing accidental gybes

Note: Fo r the gybe inhibit feature to work, the autopilot needs
suitable wind information (see page 25).

The gybe inhibit feature stops the boat from performing an AutoT ack
away from the wind – this will prevent accidental gybes. On T ype
150/150G and 400/400G autopilots, you can turn of f this feature if
required:

• with gybe inhibit on:

• you will be able to perform an AutoTack into the wind

• to prevent accidental gybes, the autopilot will prevent the bo at

from performing an AutoT ack away from the wind

• with gybe inhibit off:

• you can perform an AutoT ack into or away from the wind.

Note: Gy be inhibit is switched on as a default. On T ype 150/150G
and Type 400/400G autopilots you can swit ch it off in User or Dealer
Calibration (see page 87).

2 Basic Operation

Gusty conditions

In gusty conditions, the course may tend to wander sl ightly ,
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:

14 ST7001+ Autopilot Control Unit - Owner’s Handbook

• Y ou 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 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 remove the

mainsail and sail under headsail only

2 Basic Operation

Chapter 2: Basic Operation 15

2.3 Adjusting display/keypad lighting and contrast

Lighting

Note: When the display lighting is off, the contr ol unit illuminates the
keys at a courtesy level.

T o adjust the display and keypad lighting:

1. Press

disp for 1 second from any mode to access the LAMP screen

and turn on the lights.

2. Press the
settings:

LAMP 1, LAMP 2, LAMP 3

disp key to cycle thro ugh the possible illumination

LAMP 3 (the brightest setting), LAMP 2, LAMP 1, OFF,

and so on:

• as you change the setting, the illumination on any other

SeaT alk instruments or control units wil l also change

SECOND

D5517-1

3. The display automatically returns to the previous mode if you do
not press a key for 10 seconds:

• if you press another mode key within 10 seconds you will

select the mode assigned to that key (for example:

auto

selects Auto mode, standby selects Standby mode)

Note: You can also adjust the lighting level from any other SeaTalk
instrument or control unit.

Note: W hen you switch off the unit you lose any changes you have
made to the lighting level.

2 Basic Operation

16 ST7001+ Autopilot Control Unit - Owner’s Handbook

Contrast

T o set the contrast level for the ST7001+ display:

1. W ith the autopilot in Standby mode, press the
second to access the

2. Press t he
screen.

3. Use the
(from

4. The display automatically returns to the previous mode if you do
not press a key for 10 seconds:

• if you press another mode key within 10 seconds you wil l

2 Basic Operation

disp key for one second again, to display the CONTRAST

up and down arrow keys to set the required contrast level

1 to 15).

select the mode assigned to that key (for example:
selects Auto mode, standby selects Standby mode)

LAMP screen.

disp key for one

auto

Chapter 3: Advanced Operation 17

Chapter 3: Advanced Operation

The sections in this chapter explain how to use the more advanced
functions on your autopilot:

Using Track mode

3.1

3.2

3.3

3.4

3.5

Tracking between waypoints created on navigation
equipment connected to the autopilot system.

Using Wind Vane mode – sail boats

Using the autopilot to maintain a course relative to a
true or apparent wind angle.

Adjusting the rudder gain

Explains how to adjust the rudder gain setting (mainly
applies to non-GyroPlus Type 150/400 systems).

Displaying data pages

Describes how to use d ata pages to display SeaTalk and
NMEA information on the cont rol unit. This section also
explains the Watch timer feature.

Remotely controlling ST60 and ST80
instruments

Describes how to use the ST7001+ as a remote control
keypad for ST60 and ST80 instruments.

page 18

page 25

page 29

page 31

page 34

3 Advanced Operation

Note: If you are using the control unit with a non-150/40 0 autopilot
system, re fer to the no tes in the A ppendix.

18 ST7001+ Autopilot Control Unit - Owner’s Handbook

3.1 Using Track mode

Note: Y ou can only use Track mode if you have connected the
autopilot to a suitable navigation sys tem providing SeaTalk or
NMEA navigation information.

The autopilot system can receive track information from either:

• a SeaTalk navigation ins trument or chartplotter (see page 50 for
information on connecting to SeaT alk), or

• a non-SeaT alk navigation system transmitting dat a in the
NMEA 0183 format (see page 51 for information on connecting
NMEA equipment)

In Track mode, the autopilot maintains a t rack between waypoints
created on the navigation system. The autopilot makes any course
changes necessary to keep your boat on track, automatically
compensating for tidal streams and leeway.

Selecting Track mode

CAUTION:

When you enter T rack mode, the autopilot will bring the boat
onto the track in a controlled way. The closer the boat is to the
correct heading and track, the quicker the autopilot will settle the
boat onto the new course. T o avoid a n unexpected turn,
approximately ali gn the boat with the requir ed track before
entering Track mode.

3 Advanced Operation

T o select Track mode:

1. S tart with the autop ilot in Au to mode.

2. Press

3. W ait for the W aypoint Advance warning to sound. The display

4. Check that it is safe for the boat to turn onto the new course.

5. Press t he

track to enter Track mode.

will show the bearing to the next planned waypoint and the
direction the boat will turn to reach this waypoint.

track key :

• the autopilot will turn the boat onto the new course in a

controlled way

• the display shows the heading required to achieve the

required track

Chapter 3: Advanced Operation 19

Note: T he closer the boat is to the correct heading and track when
you press

track, the quicker the autopilot will bring the boat onto the

new course. If the boat is more than 0.3 nm from the track, the Large
Cross Track Error warning will so und (see page 19).

Automatic track acquisition

From auto mode, press track to enter Track mode: Then press track again to turn boat to waypoint:

Waypoint at 270˚

Waypoint at 270˚

Current

heading

Exiting Track mode

Y ou can exit T rack mode and return to Auto or Standby mode by :

• pressing

• pressing

Cross track error

Cross track error (XTE) is the distance between the current position
and a planned route. The autopilot receives the cross track error
information from the navigation equipment, and displays the XTE in
nautical miles (

Previous
heading

auto to return t o Auto mode
standby to steer manually in Standby mode

nm), statute miles (SM) or kilometres.

D5445-1P

3 Advanced Operation

If the cross track error is greater than 0.3 nm, the ST7001+ will sound
the Large Cross Track Error warning and show whether you are to the
port

(Pt) or starboard (Stb) of the planned track.

20 ST7001+ Autopilot Control Unit - Owner’s Handbook

Cross track error (XTE)

more than 0.3 nm

Actual route

Planned route

Waypoint 1

Waypoint 2

D4231-2P

Tidal stream compensation

Under most conditions, the autopilot will hold the selected track to
within ±0.05 nm (300 ft) or better. The autopilot takes account o f the
boat’s speed when computing course changes to ensure optimum
performance over a wide range of boat speeds.

3 Advanced Operation

Boat's speed over ground

Waypoint 1

Waypoint 2

Tidal component

Boat's speed through water

D3261-2

Chapter 3: Advanced Operation 21

In order of preference, the autopilot uses:

• measured boat speed (speed through water)

• if this is not available, it uses the speed over ground (SOG)

• if this is not available, it uses the cruise speed specified in Dealer

Calibration (see page 99)

Waypoint arrival and advance

Note: W aypoint advance only operates if the ST7001+ is receiving
valid bearing to waypoint and waypoint nam e information.

Arrival

As the boat arrives at the target waypoint the navigation aid will select
the next target waypoint and transmit this to the autopilot. The
autopilot will then detect the new target waypoint name, sound the
W aypoint Advance warning and display the W a ypoint Advance
(

NEXT WPT) screen. This shows the new bearing to the next waypoint

and the direction the boat will turn to acquire the new track.

Waypoint arrival and advance

Waypoint arrival Waypoint advance

Next target

waypoint at 270˚

New target

waypoint at 270˚

3 Advanced Operation

Target

waypoint

Old target

waypoint

D5446-1P

22 ST7001+ Autopilot Control Unit - Owner’s Handbook

Advance

When the ST7001+ sounds the W a ypoint Advance warning, it
suspends Track mode and maintains t he current boat heading.T o
advance to the next waypoint:

1. Check that it is safe to turn onto the new track.

2. Press t he
warning and turn the boat towards the next waypoint.

track key . This wi ll cancel the W aypoint Advance

3 Advanced Operation

Note: If you do not press
autopilot will maintain the current headi ng and continue sounding
the warning.

track to accept the Waypoint Advance, the

Skipping a waypoint – SeaTalk navigators only

If you want to advance to the next waypoint before you have arrived
at the target waypoint, you can skip a waypoi nt by pressing
1 second. The display will then show the W aypoint Advance screen
for the ne xt waypoint. C heck it is saf e to turn, the n press
the boat towards the next waypoint.

WARNING:

Skipping a waypoint will take you stra ight to the next waypoint.
Check your navigation before maki ng the turn.

Route Completed warning

The ST7001+ displays the ROUTE COMPLETED warning when you
have reached the last waypoint on a route in Track mode.

T o respond to this message:

• press

• or press

auto to conti nue on the same heading

standby to return to hand steering

Waypoint Advance warning – summary

track for

track to turn

The ST7001+ activates the W aypoint Advance warning (NEXT WPT?)
in Track mode whenever the target waypoint name changes. This
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 for 1 second in

Chapter 3: Advanced Operation 23

• the boat arrives at the target waypoint and the navigator accepts
the next waypoint

• you activate the Man Overboard (MOB) function in Track mode

When the warning sounds, the pilot continues on its current heading
but displays:

• the bearing to the next waypoint

• the direction the boat will turn to take up that bearing

Responding to a Waypoint Advance warning

T o respond to a W aypoint Advance warning:

• check that it is safe to turn onto the new track, then press
accept the waypoint advance

• alternatively, yo u can cancel the warning without accepting the
waypoint advance by pressing:

standby to ret urn to hand steering

•

• or

auto to return to Auto mode

Dodges in Track mode

When the autopilot is in Track mode you still have full control from
the keypad.

Initiating a dodge maneuver

In Track mode, you can make a dodge maneuver by u sing the course
change keys (

Cancelling a dodge maneuver

After you have avoided the hazard, you can cancel the dodge course
change by making an equal course change in the opposite direction.

-1, +1, -10 or +10) to select the desired course change.

track to

3 Advanced Operation

24 ST7001+ Autopilot Control Unit - Owner’s Handbook

Safety in Track mode

CAUTION:

T rack mode provides accurate track keeping even in complex

navigational situations. However, it is still the skipper’s
responsibility to ensur e the safety of their boat at all times
through careful navigation and frequent position checks.

Sailing in Track mode assists preci se navigation and removes the
tasks of compensating for wind and tidal dri ft. However, you MUST
still maintain an accurate log with regular plots.

Confirming position at the start of a journey

At the start of a journey you must always use an easily identifiable
fixed object to confirm the fix given by the navigation system. Check
for fixed positional errors and compensate for them.

Verifying computed positions

Always verify the computed position with a dead reckoned positio n,
calculated from the average course steered and the distance logged.

3 Advanced Operation

Plot frequency

• In open water, you sh ould make plots at least every hour .

• In confined waters or when near to potential hazards, you should

make plots more frequently .

Chapter 3: Advanced Operation 25

3.2 Using Wind Vane mode – sail boats

Note: Y ou can only select Wind Vane mode if the autopilot i s
receiving suitable SeaTalk or NMEA wind direct ion information.

About Wind Vane mode

When the autopilot is in Wind V ane mode it uses the fluxgate
compass as the primary heading reference. As changes in the true or
apparent wind angle occur, the autopilot adjusts the locked compass
heading to maintain the orig inal wind a ngle.

Wind information

T o use Wind V ane mode, the autopilot must receive wind information
from one of the following sources:

• SeaTalk wind instrument connected to the autopilot via SeaT alk

• NMEA wind instrument

• Raymarine pushpit wind vane connected via a SeaTalk interface

True and apparent wind

T ype 150/150G and 400/400G autopilots can mainta in a course
relative to either an apparent or true wind angle in W ind V ane mode:

• steering to apparent w ind, the autopilot maintains the apparent
wind angle

• steering to true wind, the autopilot maintains the true wind angle

Note: T he default setting is apparent wind. On T y pe 150/150G and

400/400G autopilots you can change thi s to true wind in User or
Dealer Calibration (see page 89). Type 100/300 autopilots can only
maintain a course relative to apparent wind.

3 Advanced Operation

WindTrim

In Wind Vane mode the autopilot uses Wi ndTrim to eliminate the
effects of turbulence and short term wind variations. This pr ovides
smooth and precise performance with minimal power consumpti on.
Y ou can adjust the wind response (WindT rim) level in User or Dealer
Calibration (see page 89) to control how quickly the autopilot
responds to changes in the wind direction. Higher wind trim settings
will result in a pilot that is more responsive to wind changes.

26 ST7001+ Autopilot Control Unit - Owner’s Handbook

Selecting Wind Vane mode

Y ou can select W ind V ane mo de from either Standby or Auto mode:

1. Steady t he boat onto the required wind angle.

2. Press

standby and auto together to select Wind V ane mode and

lock the current wind angle:

• the display shows the locked heading (e.g.
angle (e.g.

WIND 145P indicates an wind angle of 145° to port)

128°) and the wind

• if the autopilot does not enter Wind V ane mode, it is not
receiving wind data - check the instrument and connections

D4214-2

The autopilot will then adjust the boat’s heading to maintain the
locked wind angle.

Exiting Wind Vane mode

3 Advanced Operation

Y ou can exit W ind V a ne mode by:

• pressing

• pressing

auto to ret urn to Auto mode
standby to steer manually in S tandby mode

Adjusting the locked wind angle

Y ou can adjust the locked wind angle by using the -1, +1, -10 and +10
keys to change course. For example, to bear away by 10° when th e
boat is o n a star board ta ck:

• press

• the autopilot will then adjust the locked heading as required to

Note: Becaus e turning the boat affects the relationship between the
true and apparent wind angles, you shoul d only use this method to
make minor adj ustments to the wind angle. For major changes,
return to Standby mode, steer onto the new heading, then re select
Wind Vane mode.

-10 to turn the boat 10° to port – the locked wind angle and

locked heading will both change by 10°

maintain the new wind angle

Chapter 3: Advanced Operation 27

Returning to the previous wind angle (LAST WND)

If you have steered the boat away from the selected wind angle for
any reason (such as a dodge maneuver or selecting Standby mod e),
you can return to the previous locked wind angle:

1. Press

2. Check that it is safe to turn onto this course.

3. T o accept this wind angle, press

Note: If you do not accept the previous wind angle within 10 seconds,
the autopilot will lock onto the current wind angle.

res’m to display the previous wind angle (LAST WIND):

LAST WIND text alternates with the previous wind angle

• the
and direction. The display shows the previous locked heading
and an indication of which direction the boat will turn

standby and auto together

within 10 se conds.

D4233-2

3 Advanced Operation

Dodges in Wind Vane mode

When the autopilot is in Wi nd V ane mode you s till have full control
from the keypad.

Initiating a dodge maneuver

In Wind Vane mode, you can make a dodge maneuver by using the
course change keys (
change. The autopilot will adjust both the locked heading and locked
wind angle.

Cancelling a dodge maneuver

After you have avoided the hazard, you can reverse the previous
course change, or return to the previous wind angle (

-1, +1, -10 or +10) to select the desired course

LAST WIND).

28 ST7001+ Autopilot Control Unit - Owner’s Handbook

Wind Shift warning

If the autopilot detects a wind shift of more than 15° it will sound the
wind shift warning and display the

WIND SHIFT message:

• T o cancel the warning, and retain the existing wind angle and new
heading, press

standby and auto together.

• Alternatively, to cancel the warning and return to the previous
heading, either:

• adjust the locked wind angle using the

-1, +1, -10 and

+10 keys,

or

• press

standby to return to hand steering, st eer onto the

required heading, and press

standby and auto together to

return to Wind Vane mode with the new wind angle

Using AutoTack in Wind Vane mode

Note: If you us e the AutoTack function in Wind Vane mode, make
sure the wind vane has been centered accurately.

The ST7001+ has a built in automatic tack facility (AutoT ack) that
turns the boat through 100° in the required direction:

3 Advanced Operation

AutoTack - Port

• to AutoTack to port: press the

• to AutoTack to starboard: press the

Wind

AutoTack

angle

-1 and -10 keys together
+1 and +10 keys together

AutoTack - Starboard

Wind

AutoTack

angle

D5399-1

Note: If you ha ve set the vessel type to SAIL BOAT, you can adjust the
default AutoTack angle in User or Dealer calibrat ion (see page 87).

Chapter 3: Advanced Operation 29

When you AutoT ack in Wind Vane mode, the boat turns through the
AutoTack angle. The autopilot will then trim the heading to mirror the
locked wind angle from the previous tack.

Operating hints for Wind Vane mode

• Always trim your sails carefully to minimize the amount of
standing helm.

• Reef the headsail and mainsail a little early rather than too late.

• In Wind Vane mode the pilot will react to long-term wind shifts,

but will not correct for short-term changes such as gust s.

• In gusty and unsteady inshore conditions, i t is best to sail a few
degrees further off the wind so that changes in wind direction can
be tolerated.

3.3 Adjusting the rudder gain

Note: Al though this feature is available on all systems, you should
not need to adjust the rudder gain s etting on Type 150G/400G
autopilot systems after completing the AutoLearn (see page 68).

SECOND

OR

and

1 second

Decrease

rudder gain

OR

OR

Increase

rudder gain

D5454-1

On T ype 150/400 (non-GyroPlus) and T ype 10 0/300 systems, you
can make temporary adjustments to rudder gain to change the
autopilot’s steering characteristics. Rudder gain is a measure of how
much helm the autopilot will apply to correct course errors:

• if rudder g ain is adju sted correctly, the course changes should
result in a crisp turn followed by an overshoot of no more than 5°

3 Advanced Operation

30 ST7001+ Autopilot Control Unit - Owner’s Handbook

• if rudder gain is too high, courses change will result in a distinct

overshoot (

A)

• if rudder gain is too low, the boat will feel sluggish – it wi ll take a

long time to make the turn and there will be no overshoot (

New

heading

Rudder gain
too low

Rudder gain
too high

B

rudder gain

Correct

New

heading

A

B)

New

heading

D3262-2

Note: See pag e 71 for a full explanation of rudder gain and how to
adjust it correctly.

If necessary , you can make a temporary change to rudder gain
as follows:

3 Advanced Operation

1. Press t he
display the rudder gain (

• if you have set up the

resp key or the -1 and +1 keys together for 1 second to

RUDD GAIN) screen:

RUDD GAIN screen as a default data page

(see page 81) you can also access it by pressing

disp and then

scrolling through the data pages.

2. Press

3. Press

-1 or +1 or up/ down arrow keys t o change the rudder gain.
disp or wait for 5 seconds to return to the previous display .

Note: Y ou will lose these temporary changes to rudder gain
whenever the system is powered off. You can make permanent
adjustments in User or Dealer Cali bration (see page 95).

WARNINGS:

1. Y ou must set rudder gain correctly on planing craft. Incorrect

rudder gain will lead to poor steering performance and can be
dangerous at hig h speeds.

2. If you increase the rudder gain setting on a T ype 150G/400G

autopilot, you must also increase the counter rudder setting.

Chapter 3: Advanced Operation 31

3.4 Displaying data pages

Use the disp key to show ‘data pages’ of SeaT alk or NMEA data:

1. Press

2. Select the data page you want to use as the main dis play:

Notes: 1. If the aut opilot system cannot obtain the required
information, the data page will sh ow dashes instead of a value.

2. The direction-to-steer arro ws relate to the data page information.

3. Most data pages show repeated data so you cannot adjust them: the
exceptions are the
you can adjust using the

t

Default data pages

disp to access the first data page, and press it again to cycle

through each data page in turn:

• to return to a previous data page, press

disp for 1 second

within 2 seconds of displaying a page

• when you cycle past the last data page, the display returns to
the current autopilot mode screen (for example, Auto)

• 4 data pages are set in the factory as a default (see diagram):
within User setup you can select up to 15 pages and control the
information they display (see page 81)

• the current autopilot mode is shown at the left of the display
and the autopilot bar graph remains in use

• if you then select a new mode or make a course change, the
autopilot mode screen appears as a ‘pop-up’ for 5 seconds
(you can adjust the ‘pop-up’ time as described on page 81)

RESPONSE and RUDDER GAIN data pages, which

-1 and +1 or up/down arrow keys

3 Advanced Operation

Data page 4

Data page 3

Autopilot mode

Press for 1 sec to

return to previous

data page

Data page 1

Data page 2

D5456-1

32 ST7001+ Autopilot Control Unit - Owner’s Handbook

Waypoint names

If waypoint names have been allocated, the ST7001+ will display
them on the Cross Track Error (
Distance To Waypoint (

• waypoint names of five characters or less are displayed to gether
with the page name (as shown by screen A below)

• waypoint names of more than five characters alternate with
the page name (as shown by screen B below)

• if the waypoint name has more than nine characters, the display
only shows the first nine characters

A

XTE), Bearing T o W aypoint (BTW) and

DTW) data pages:

3 Advanced Operation

Watch timer

The ST7001+ has a W atch timer controlled by the WATCH data page.
This timer sounds a warning every 4 minutes, requirin g a keypad
press on the autopilot.

Setting the Watch timer

T o set the Watch timer:

1. First, you must con figure the
pages for display (see page 81).

2. When you have done this sel ect Auto, Track or W ind V ane mo de.

3. Press t he

• the watch timer will start counting

• when the timer reaches 3 minutes, the

• when the timer reaches 4 minutes, the ST7001+ activates the

B

WATCH screen as one of the data

disp key until you see t he WATCH data page:

WATCH text starts

flashing to indicate that the timer is in the last minute

audible W atch warning

D4326-2

Chapter 3: Advanced Operation 33

Responding to a Watch warning

T o respond to a W atch warning:

• press

• press any other key to silence the warning, reset the timer and

Note: You cannot engage Auto mode directly when the
is displayed – pressing
want to enter Auto mode, you must first exit the
(see below).

Exiting the Watch screen

T o exit the Watch screen:

• press

• press

auto to silence the warning and reset the timer to 4 minutes

or

perform that key’s normal function

disp to displa y a different data page

or

standby

Warning messages

Shallow warning (SHALLOW)

The ST7001+ shows the Shallow warning if it receives a shallow
depth message from an instrument on the SeaT alk system. Press

standby or disp to cancel the warning.

WATCH screen

auto will only reset the Watch timer. If you

WATCH screen

3 Advanced Operation

Man Overboard warning (MOB)

The ST7001+ activates the Man Overboard warning if it receives a
man overboard (MOB) message from another instrument on the
SeaTalk system. It displays the text
number for the

XTE, DTW and BTW data pages.

MOB instead of the waypoint

34 ST7001+ Autopilot Control Unit - Owner’s Handbook

3.5 Remotely controlling ST60 and ST80 instruments

Y ou can use the ST7000+ to remotely control ST60 or ST80
instruments (both standard 1 10 mm and Maxiview instruments).

Note: Bef ore attempting to remotely control ST60 or ST 80
instruments, you first need to define the i nstrument grouping and
allocate the ST7001+ to the required group (see pa ge 83).

T o operate ST60 or ST80 instruments from the ST7001+ control unit :

1. Select either:

• the

INST REM data page (to control standard instruments), or

• the

MAXI REM data page (to control ST80 Maxiviews).

2. Carry out the required instrument control functions from your
ST7001+ (using the keys shown in the following i llustration).

Note: The currently-selected instrument is indicated as follows:

• on ST80 instruments, the characters are displayed as white

characters on a black backgrou nd (instead of black on white)

• on ST60 digital instruments, you will see a

• on ST60 analogue instruments, you will see a flashing

and/or

TRUE/APP message

Select instrument

All instrument types

REMOTE message

TRUE/MAG

Controlling a standard instrument Controlling a Maxiview instrument

3 Advanced Operation

Replicates the key-layout of the selected instrument.

For example: if you press resp, the selected instrument

responds as though its far left key has been pressed.

Chapter

select

Page
select

D4325-2

Chapter 4: Fault Finding & Maintenance 35

Chapter 4: Fault Finding & Maintenance

All Raymarine products are designed to provide many years of
trouble-free operation. W e also put them through comprehens ive
testing and quality assurance procedures before shipping.

This chapter provides information about identif ying common
problems, interpreting alarm messages, maintaining y our autopilot
system and obtaining product support.

If a fault occurs with your autopilot, use the fault finding t ables in this
section to help identify the problem and provide a solution.If you
cannot resolve the problem yourself, refer to the product support
information.

Fault finding

4.1

4.2

4.3

This section provides information to help you identify
and resolve common autopilot problems and error
messages.

General maintenance

This section explains how to maintain your autopilot
system.

Product support

This section outlines the product support available
from Raymarine worldwide.

page 36

page 39

page 40

4 Fault Finding & Maintenance

36 ST7001+ Autopilot Control Unit - Owner’s Handbook

4.1 Fault finding

Common autopilot problems

SYMPTOM CAUSE and SOLUTION

Display is blank No power – check the power and SeaTalk fuses

on course computer, then check main
fuse/circuit breaker.

Display shows stationary dashes The control unit is not receiving data – check

Display shows rotating dashes Compass correction in progress (see page 64).

Displayed compass heading does
not agree with the boat’s compass

No display bar on the display Rudder bar switched off in Display Calibration

Rudder bar display moves in
opposite direction to rudder

Boat turns slowly and takes a long
time to come onto course

Boat overshoots when turning onto
a new course

The autopilot appears to be
unstable in Track mode, or
track-holding is slow

The autopilot appears to be
unstable on Northerly headings in
the Northern hemisphere (or
Southerly headings in the Southern
hemisphere)

You cannot enter Seatrial
Calibration

The autopilot will not ‘talk’ to other
SeaTalk instruments

Position information not received Navigator not transmi tting the correct position

The autopilot will not auto advance
to the next waypoint

4 Fault Finding & Maintenance

cabling.

You have not cali brated the compass. Carry out
the deviation and alignment procedures (see
page 64).

– select RUDD BAR or STEER BAR

Reverse the red and green rudder position
sensor connections at the course computer

Rudder gain too low (see page 71). Complete
AutoLearn or increase setting.

Rudder gain too high (see page 71). Complete
AutoLearn or decrease setting,

If tide speed exceeds 35% of boat speed, and
boat speed is not available via SeaTalk, change
the Cruise Speed setting in Dealer Calibration
to the boat’s cruising speed (see page 99).

Northerly/Southerly heading correction
(AutoAdapt) is not set up (see page 99). [Does
not apply to 150G/400G systems.]

Seatrial calibration lock is on – turn off the
calibration protection feature in Dealer
Calibration (see page 92).

Cabling problem – make sure all the cables are
connected properly.

data.

No bearing to waypoint information received
from the navigator.

Chapter 4: Fault Finding & Maintenance 37

Autopilot alarm messages

When the autopilot detects a fault or failure on the system, it will
activate one of the alarm messages listed in the following table.

• Unless otherwise stated, you should respond to the alarm by
pressing
before you attempt to resolve the problem.

• 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.

ALARM MESSAGE CAUSE and SOLUTION

AUTO RELEASE Possible fault with rudder position sensor – check connections.

CURRENT and LIMIT Serious drive failure – the drive is taking too much current due

DRIVE and STOPPED The autopilot is unable to turn the rudder (this occurs if the

LOW and BATTERY Supply voltage has dropped below acceptable limits.

LRN FAIL 1, 2 or 4 AutoLearn not completed successfully.

MOT POW and SWAPPED Motor cables are connected to power terminals (and power

[Table continues over page]

standby to clear the alarm and return to hand steering,

OR
Stern (I/O) drives only – you have taken manual control of
steering with AutoRelease on. The alarm cancels automatically
after 10 seconds.

to short-circuit or jamming. Check the drive unit.

weather load on helm is too high, or if the rudder position
sensor has passed beyond the preset rudder limits or rudder
end-stops).
Check drive and rudder position sensor.

To respond to a Low Battery alarm:

• press standby to clear the alarm and return to hand steering

• start the engine to recharge the battery

Failure codes:
1 = AutoLearn has not been carried out (default setting)
2 = AutoLearn failed, usually due to manual interruption
4 = AutoLearn failed, probably due to drive or compass failure
Repeat the AutoLearn procedure.

cables are connected to motor terminals) at course computer.
Turn off power and swap over connections.

4 Fault Finding & Maintenance

38 ST7001+ Autopilot Control Unit - Owner’s Handbook

ALARM MESSAGE CAUSE and SOLUTION

NO DATA Ca use d by an y of the fol low ing sit uat ion s:

• 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 autopilot is not receiving SeaTalk navigation data, or

• the position sensor (GPS, Loran, Decca) is receiving a low

strength signal – this will clear when the signal improves
Check the conne ctions to the compass and/or w ind instrument
and/or navigator.
Note: The autopilot stops adjusting the heading as soon as it
loses data.

NO PILOT The control unit is not re ceiving data from the course c omputer.

RG FAIL GyroPlus yaw sensor has failed:

SEATALK and FAIL 1 or 2 SeaTalk data problem on one of the SeaTalk lines – check

SEATALK and FAIL The control unit cannot transmit data to the SeaTalk system.

Check connections and check co urse computer is switched on.

• If you have a Type 150G/40 0G course computer with internal

GyroPlus sensor – call a Raymarine service agent.

• If you ha ve a Type 1 50/40 0 co urs e co mpu ter with exter nal

GyroPlus yaw sensor – check the sensor and connections,
then call a Raymarine service agent.

connections.

Make sure all SeaTalk cables are connected properly.

4 Fault Finding & Maintenance

Chapter 4: Fault Finding & Maintenance 39

4.2 General maintenance

Routine checks

CAUTION:

The control unit does not contain any user serviceable parts.
It should be serviced only by authorized Raymarine servi ce
technicians.

The control unit is a sealed unit. As a result, user maintenance is
limited to the following checks:

• make sure all cable connectors are firmly attached

• examine the cables for signs of wear or damage – replace any

damaged cables

Cleaning the display

CAUTION:

T ake care when cleaning the display. A void wiping the display
screen with a dry cloth as this could scratch the screen coating.
If necessary, only use a mild detergent.

• Never use chemical or abrasive materials to clean the control unit.

If it is dirty, wipe it with a clean, damp cloth.

• In certain conditions, condensation may appear inside the display
screen. This will not harm the unit, and you can clear it by
switching on the illumination for a short time.

EMC advice

• When powered up, all electrical equipment produces
electromagnetic fields. These can cause adjacent pieces of
electrical equipment to interact with one another, with a
consequent adverse effect on operation.

• T o minimize these effects and enable you to get the best poss ible
performance from your Raymarine equipment, guidelines are
given in the installation instructions, to enable you to ensure
minimum interaction between different items of equipment, i.e.
ensure optimum Electromagnetic Compatibility (EMC).

4 Fault Finding & Maintenance

40 ST7001+ Autopilot Control Unit - Owner’s Handbook

• Always report any EMC-related problems to your ne arest
Raymarine dealer. We use such information to improve our
quality standards.

• In some installations, it may not be possible to preven t the
equipment from being affected by ext ernal influences. In general
this will not damage the equipment but it can lead to spurious
resetting action, or momentarily may result in faulty operation.

4.3 Product support

Raymarine products are supported by a worldwide network of
distributors and Authorized Service Representa tives. If you
encounter any difficulties with thi s product, please contact either
your national distributor , service representative, or the Raymarine
T echnical Services Call Center. Refer to the back cover or the
W orldwide Distributor List for contact details.

Before you consider returning the autopilot, make sure that the power
supply cable is sound and that all connections are tight and free fr om
corrosion. If the connections are secure, refer to the Fault Finding
section in this chapter (see page 36).

If you cannot trace or rectify the fault, contact your nearest
Raymarine dealer or Service Center, specifying:

• the control unit and course computer serial numbers:

• the control unit serial number is printed on its rear cover

• the course computer serial number is printed under its

connector cover

• the control unit and course computer software version numbers

The following illustration shows how to display the software
information:

• press and hold

• after 2 seconds you will see the

• then after another 2 seconds you see control unit software

version

• press

• press

4 Fault Finding & Maintenance

disp to display the course computer software version

disp again to display the total number of hours the autopilot

has been used in Auto mode (Note: T ype 100/300 systems do not
display hours used.)

standby for 4 seconds:

DISPLAY CAL screen

Chapter 4: Fault Finding & Maintenance 41

Software Information

4 seconds

1 second1 second

Course computer

software version

D5494-1

Time autopilot
used in Auto

Control unit

software version

1 second

Product details table

For future reference, you may want to use this table to record serial
and software information for your autopilot sys tem:

Serial number Software version

Control unit

Course computer

Hours used hours

4 Fault Finding & Maintenance

42 ST7001+ Autopilot Control Unit - Owner’s Handbook

4 Fault Finding & Maintenance

Part 2: Installing the ST7001+

Part 2: Installing the ST7001+

Part 2: Installing the ST7001+

Chapter 5: Installing the ST7001+ 45

Chapter 5: Installing the ST7001+

The sections in this chapter explain how to install the ST7001+
control unit and connect it to an autopilot system:

Select the location

5.1

5.2

5.3

5.4

5.5

Tools required

T o install the ST7001+ control unit you will need the following items:

How to select a suitable location for the ST7001+
control unit.

Control unit installation

How to install the ST7001+control unit.

SeaTalk connections

How to connect the control unit to SeaTalk (for power
supply and SeaTalk data exchange).

NMEA connections

How to connect NMEA equipment to the control unit.

Functional test – repeater units only

How to check an ST70 01+ connected as a repeater unit
on an existing autopilot system.

5 Installing the ST7001+

page 46

page 49

page 50

page 51

page 54

• tape measure (metric/imperial)

• pencil and center punch

• pliers

• sandpaper/file to smooth cut edges

• additional SeaT alk cables (if required – see page 51)

• 90 mm hole cutter (for the control unit aperture)

5

• drill and 5 mm (

/32 in) drill bit

Parts supplied

• control unit and sun cover

• fixing studs (x4) and thumb nuts (x4)

• self-adhesive gasket

• 9 m (29 ft 6 in) SeaT alk cable

46 ST7001+ Autopilot Control Unit - Owner’s Handbook

5.1 Select the location

5 Installing the ST7001+

90 mm (3.55 in)

115 mm (4.5 in)

175 mm (6.9 in)

Site requirements

Locate the ST7001+ control unit so it is:

• within easy reach from the steering position

• viewable straight on, or with a maximum viewing angle of 30°

• protected from physical damage

• at least 230 mm (9 in) from any compass

• at least 1 m (3 ft) from any radio or radar receivers or transmitters

The selected location should also:

• be clean, smooth and flat

• be accessible from behind (so you can secure and run cables)

• have sufficient space to accommodate the rear of the control unit

and connectors

• allow at least 6 mm (
units/instruments so you can fit t heir sun covers

• meet the cabling and EMC installation guidelines detailed below

CAUTION:

The ST7001+ front cover is waterproof when instal led according
to the following instructions. However , you must protect the rear
of the control unit from water in a ventilated and drained area .

24 mm
(0.9 in)

1

/4in) between adjacent control

17 mm
(0.7 in)

D4219-2

Chapter 5: Installing the ST7001+ 47

Any moisture or water vapor in this area could cau se damage by
coming into contact with electrical connections, or condensation
by entering the control unit through its breathing hole.

Cabling guidelines

• consider how you will run cables to and from the control unit

• avoid running cables through bilges where p ossible

• avoid running cables close to fluorescent lights, engi nes, radio

transmitting equipment etc.

EMC installation guidelines

All Raymarine equipment and accessories are designed to the best
industry standards for use in the recreational marine environment.

Their design and manufacture conforms to the appropriate
Electromagnetic Compatibility (EMC) standards, but correct
installation is required to ensure that performance is not
compromised.

Although every effort has been taken to ensure that they will perform
under all conditions, it is important to underst and what factors could
affect the operation of the product.

5 Installing the ST7001+

The guidelines given here describe the conditions for op timum EMC
performance, but it is recognized that it may not be possible to meet
all of these conditions in all situations. To ensure the best possible
conditions for EMC performance within the constraints imposed by
any location, always ensure the maximum separation possibl e
between different items of electrical equipment.

For optimum EMC perfo rmance, it is recommended that wherever
possible:

• Raymarine equipment and cables connected to it are:

• At least 3 ft (1 m) from any equipment transmitting or cab les

carrying radio signals e.g. VHF radios, cables and antennas.
In the case of SSB radios, the distance should be increased to
7ft (2m).

• More than 7 ft (2 m) from the path of a radar beam. A radar
beam can normally be assumed to spread 20 degrees above
and below the radiating element.

• The equipment is supplied from a separate battery from that used
for engine start. Voltage drops below 10 V , and s tarter motor

48 ST7001+ Autopilot Control Unit - Owner’s Handbook

transients, can cause the equipment to reset. This will not damage
the equipment, but may cause the loss of some information and
may change the operating mode.

• Raymarine specified cables are used. Cutting and rejoining these
cables can compromise EMC performance and must be avoided
unless doing so is detailed in the installation manu al.

• If a suppression ferrite is attached to a cable, this ferrite should no t
be removed. If the ferrite needs to be removed d uring installation

5 Installing the ST7001+

it must be reassembled in the same position.

EMC suppression ferrites

The following illustration shows typical cable suppressi on ferrites
used with Raymarine equipment. Always use th e ferrites supplied by
Raymarine.

D3548-2

Connections to other equipment

If your Raymarine equipment is to be connected to other equipment
using a cable not supplied by Raymarine, a suppression ferrite MUST
always be attached to the cable near to the Raymarine unit.

Chapter 5: Installing the ST7001+ 49

5.2 Control unit installation

T o fit the control unit:

1. Apply the template (suppl ied at the back of this handbook) to the
selected bulkhead.

2. Mark the centers of the four fixing holes and the cable bo ss.

3. Drill four 5 mm (

4. Use a 90 mm (3.55 in) diameter cutter to drill the hole for the
cable boss.

5. Peel the protective sheets from the self-adhesive gasket, then stick
the gasket into position on the rear of the control unit.

6. Screw the four fixing studs into the threaded sockets on the rear of
the control unit.

7. Pass the SeaT alk/NMEA cables through the bu lkhead and
connect them to the appropriate terminals (as described later in
this chapter).

8. Assemble the control unit to the bulkhead.

9. Secure the control unit with the thumb nu ts provided.
Hand-tighten the thumb nuts – do NOT use a wrench.

Self-adhesive gasket

Cable boss

3

/16in) diameter holes for the fixing studs.

5 Installing the ST7001+

Fixing stud Thumb nut

D4226-2

50 ST7001+ Autopilot Control Unit - Owner’s Handbook

5.3 SeaTalk connections

The SeaT alk connections on the ST7001+ provide it with its 12 V DC
power supply and allow it to share data with SeaT alk equipment.

Connecting to a course computer

If you are using the ST7001+ as the main control unit for a course
computer autopilot system, connect it directly to the course computer

5 Installing the ST7001+

SeaT alk t erminals. To do this:

• cut off the moulded plug at one end of the SeaT alk cable

• strip 5 mm (

1

/2 in) of insulation from each wire

• then connect to the course computer terminals as shown

Connecting to course computer as main control unit

ST7001+ or ST6001+

control unit (rear)

Type 150/400 course computer terminals

Red

Screen

Yellow

Note: If you are connecting the ST7001+ to a course computer
autopilot system that includes other control un its, refer to the
information contained in the Autopilot System Installation Guide.

Connecting to SeaTalk

If you are using the ST7001+ as an additional control unit, u se a
SeaT alk cable to connect it to another SeaT alk unit as shown.

Connecting to SeaTalk as additional control unit

ST7001+ or ST6001+

control unit (rear)

SeaTalk

unit (rear)

To SeaTalk

power supply

D5500-1

D5501-1

Chapter 5: Installing the ST7001+ 51

W e supply the ST7001+ with a 9 m (29 ft 6 in) SeaTalk cable as
standard. Depending on your installation, you may n eed to obtain
alternative or additional SeaT alk cables (as shown in the following
illustration).

Flat moulded plugs at each end

Part no. Type Length
D284 Flat moulded plugs at each end 1 m (3 ft 3 in)
D285 Flat moulded plugs at each end 3 m (9 ft 10 in)
D286 Flat moulded plugs at each end 5 m (16 ft 5 in)
D287 Flat moulded plugs at each end 9 m (29 ft 6 in)
D288 Flat moulded plugs at each end 20 m (65 ft 6 in)

Flat moulded plug to round plug

Part no. Type Length
D187 Flat moulded plug to male round plug 0.15 m (6 in)
D188 Flat moulded plug to female round plug 0.3 m (12 in)

D5417-1

5.4 NMEA connections

5 Installing the ST7001+

The ST7001+ has a set of NMEA inputs so it can receive data in
NMEA 0183 format from navigation or wind instruments. It can use
this data to operate in Track or W ind Vane modes.

Note: If your ST7001+ control unit is part of a course computer
system, you can connect additional NMEA equipment to other parts
of the system. To decode the maximum amount of NMEA data (so it
can be transmitted onto SeaTalk), connect the navigator to the course
computer NMEA terminals. Re fer to the Autopi lot System Installa tion
Guide for more information.

Receiving NMEA data

NMEA data formats

The ST7001+ can decode the following NMEA 0183 navigation and
wind data received:

52 ST7001+ Autopilot Control Unit - Owner’s Handbook

Information NMEA 0183 data

Latitude and Longitude GLL, RMC, RMA, GLP, GOP, GXP, GGA, GDP

Course Over Ground VTG, RMC, RMA

Speed Over Ground VTG, RMC, RMA

Cross Track Error APB, APA, RMB, XTE

Bearing to Waypoint APB, BWR, BWC, RMB

5 Installing the ST7001+

Distance to Waypoint BWR, BWC, RMB

Waypoint Number APB, APA, BWR, BWC, RMB

Apparent Wind Speed VWR, MWV

Apparent Wind Angle VWR, MWV

Speed Through Water VHW

Depth DBT

Water Temperature MTW

Note: The ST7001+ only decodes t he last four characters of waypoint names.
This means that the last four characters of long waypoint names must be
unique for the waypoint advance function to work.

NMEA cabling

Connect the NMEA navigator or wind instrument to the NMEA IN
terminals on the rear of the ST7001+ control unit. You can only
connect a single piece of NMEA equipment to these terminals.

Navigator or

wind instrument

with NMEA output

Data

out (-ve)

Data
out (+ve)

Red

(data in +ve)

Control unit

(rear)

Blue
(data in -ve)

D3442-2

Chapter 5: Installing the ST7001+ 53

NMEA cable connectors

NMEA connections are made using spade connectors. When fitting
the spade connectors, make sure the connector fits securely over the
blade and not between the connector and its plastic insulating cover.
Incorrect fitting will give intermittent contact which will lead to
faulty autopilot operation.

D3286-2

Transmitting NMEA data

Transmitting NMEA data on SeaTalk

If the ST7001+ receives any of the NMEA data shown above, and the
equivalent data is not present on SeaT alk, it will transmit the data onto
SeaTalk to make it available to other SeaT alk instruments:

• the ST7001+ transmits depth information in the uni ts defined by
the first page in the data page rollover

• the ST7001+ always transmits water temperature in °C

5 Installing the ST7001+

Transmitting NMEA data to other NMEA equipment

If you want to transmit NMEA information to non -SeaT alk
equipment you can either:

• connect the NMEA equipment to the NMEA outputs on the
course computer (if your system includes a course computer)
or

• use a SeaT alk/NMEA Interface (part number: E85001) to convert
SeaT alk data to NMEA data (if your system does not include a
course computer)

54 ST7001+ Autopilot Control Unit - Owner’s Handbook

5.5 Functional test – repeater units only

If you have installed the ST7001+ as an additional control unit for an
existing autopilot system, complete the following checks to make
sure you have installed the control unit correctly .

Note: If you have connected the ST7001+ as part of a new a utopilot
installation, you MUST calibrate the autopilot as described in
Chapter 6: Commissioning the Autopilot.

5 Installing the ST7001+

Switch on

1. When you have installed the ST7001+ control unit, switch on the
main power breaker.

2. If the control unit is active and the system operating, the control
unit will beep and display the control unit type (
2 seconds.

3. After 2 seconds, the control unit will display the

SeaTalk and NMEA connections

If you have connected the ST7001+ to other SeaT alk instruments or
control units, check the links as follows:

ST7001) for

STANDBY screen.

1. Select display lighti ng level 3 (
SeaT alk instruments or control units.

2. The ST7001+ should i mmediately switch on its display lighting:

• if the lighting does not switch on, there is a fault in the SeaTalk

cabling between the ST7001+ and the other units

3. If you have connected an NMEA navigator to th e control unit
NMEA inputs, check the connections as described on page 57.

LAMP 3) on one of the other

Troubleshooting

• If the head does not beep, check the fuse/circuit breaker.

• If the display shows the

message, check the SeaTalk connections.

SEATALK FAILURE or NO DATA alarm

Chapter 6: Commissioning the Autopilot 55

Chapter 6: Commissioning the Autopilot

WARNING:

All new autopilot system installations MUST be calibrated.

If you have connected the ST7001+ to a newly installed T ype
150/150G or T ype 400/400G course computer autopilot system, you
must commission the system This involves a series of dockside
checks and then the seatrial calibration:

Dockside Checks

6.1

6.2

With the boat safely tied up, you need check the
autopilot system and adjust some key autopilot
settings.

Seatrial Calibration

The purpose of this seatrial is to calibrate the compass
and optimize the autopilot set-up for your boat.

Note: If you have connected the ST 7001+ to a non-150/400 autopilot
system re fer to the no tes in theAppendix.

page 56

page 63

6 Commissioning the Autopilot

56 ST7001+ Autopilot Control Unit - Owner’s Handbook

6.1 Dockside Checks

With the boat safely tied up, complete the following dockside checks:

1. Switch on.

2. Check the SeaT alk and NMEA connections .

3. Check the autopilot o perating sense.

4. Set the basic autopilot parameters.

WARNING:

For safe control of your boat, you MUST complete the dockside
checks before starting the initial seatrial.

Step 1 - Switch on

1. When you have installed th e ST7001+ control unit and the rest of
the autopilot system, switch on the main power breaker.

2. If the control unit and sy stem are active, the control unit will beep
and display the control unit type (

3. You will then see a

6 Commissioning the Autopilot

if either: the vessel type is not selected (see page 59), or the
compass is not calibrated (see page 64).

CALIBRATE REQUIRED message for 4 seconds

4. The control unit will then display the

5. Check that the

STANDBY screen displays a live compass heading

and a rudder angle.

ST7001) for 2 seconds.

STANDBY screen.

Troubleshooting

• If the head does not beep or the display is blank, check the
fuse/circuit breaker and the SeaTalk fuse in the course computer .

• If the display shows the

SEATALK FAILURE or NO DATA alarm

message, check the SeaTalk connections.

• If the

STANDBY screen does not display a live compass heading or

a rudder angle, check the sensor connections.

D4236-2

Chapter 6: Commissioning the Autopilot 57

Step 2 - Check the SeaTalk and NMEA connections

SeaTalk connections

If you have connected the ST7001+ to other SeaT alk instruments or
control units, check the links as follows:

1. Select display l ighting level 3 (
instruments or control units.

2. The ST7001+ should i mmediately switch on its display lighting:

• if the lighting does not switch on, there is a fault in the SeaTalk

cabling between the ST7001+ and the other units

NMEA navigator connections

If you have connected the ST7001+ to an NMEA navigator, check the
links by displaying the default navigati on data pages (

LAMP 3) on one of the SeaT alk

XTE/BTW/DTW):

6 Commissioning the Autopilot

• press

disp to display t he first data page, and check that this page

shows the expected data

• press

disp again to check each successive data page

If the display shows dashes instead of data values, the cause could be
one or more of the following:

• navigator not switched on or not transmitting an active waypoi nt

• cabling error: check for open circuit, short circuit, reversed wires

• navigator is not configured to transmit the required data format

Wind instrument connections

If you have connected the autopilot to an NMEA or SeaT alk wind
instrument, check the links by pressing

standby and auto together:

• the ST7001+ should display the Wind V ane mode screen, with the
locked wind angle and locked heading:

D4214-2

• if nothing happens when you press standby and auto together,
the ST7001+ is not receiving wind data: check the wind
instrument and connections

58 ST7001+ Autopilot Control Unit - Owner’s Handbook

Step 3 - Check the autopilot operating sense

Check the rudder position sensor

1. T urn the wheel manually to starboard.

2. Check that the rudder bar o n the display moves to starboard.
If the rudder bar display moves the wrong way:

• turn off the power

• reverse the red and green wires connected to the

inputs on the course computer

• switch on the power and re-check

Check the autopilot steering sense

1. Manually center the wheel, then press t he auto key so the
autopilot is in Auto mode. Check that the display shows

Be ready to pr ess

2. Press t he

+10 key once. Check that the rudder moves to starboard

standby if the rudder moves hardover.

a few degrees and then stops.

6 Commissioning the Autopilot

• if the rudder drives hardover , immediat ely press

prevent further rudder movement

RUDDER

standby to

AUTO.

D3568-2

If the rudder moves to port or the rudder drives hardover:

• press

standby

• turn off the power

• reverse the motor wires connected to the course computer

• switch on the power and re-check

Note: If the rudder overshoots and h as to drive back or starts to hunt
back and forth, you will need to incr ease the rudder damping level as
described in Step 3 (see page 62).

Chapter 6: Commissioning the Autopilot 59

Step 4 - Adjust basic autopilot settings

Note: Fo r more information about these cali bration settings refer to
the following pages: vessel type (page 94), drive type (page 94),
rudder sensor alignment (page 94), rudder limits (page 95).

The autopilot system has four main calibration groupings, as
illustrated on the following page (for more information about these
groupings see Chapter 7: Adjusting Autopilot Settings).

The next step in the dockside set-up is to enter Dealer Calibration
mode so you can adjust some basic autopilot settings.

Enter Dealer Calibration mode

1. Start with the autopilot in Standby mode.

2. Enter

DEALER CAL as follows:

• press and hold the

standby key for two seconds to enter the

Calibration mode

• when the screen shows

DISPLAY CAL, press the disp key or

up/down arrow keys until you see the DEALER CAL screen

• press the

auto key: the display will change to CAL

• press the -1 and +1 keys together to enter De aler Calibration
(

DEALER CAL)

6 Commissioning the Autopilot

Set the vessel type

1. Use the disp key to page through the Dealer Calibration screens
until you reach the

2. Use the

-1 or +1 keys to select a vessel type suitable for your boat :

• Displacement:

• Semi Displacement:

• Planing:

• Stern (I/O) Drive:

• Work Boat:

• Sail Boat:

VESSEL TYPE screen.

DISPLACE

SEMI DISPLACE

PLANING

STERN DRV

WORK BOAT

SAIL BOAT

Note: When you s elect the vessel type, the autopilot will select
appropriate defaults for various other calibration settings.

60 ST7001+ Autopilot Control Unit - Owner’s Handbook

Calibration Mode Overview

2 seconds

or

Calibration Mode

or

2 seconds

(saves changes)

or

1 second

auto

standby

Display bar selection

Heading type

Pop-up pilot time-out

auto

standby

6 Commissioning the Autopilot

Off course alarm angle

AutoRelease (stern drive)

Wind response (WindTrim)*

-1 and +1

Calibration lock

Vessel type

Drive type

Align rudder

Rudder limit
Rudder gain

Counter rudder

Rudder damping

AutoTrim

Response level

Turn rate limit

AutoTack angle*

Gybe inhibit*

Wind type*

Cruise speed

AutoAdapt

Latitude

Magnetic variation

Autopilot reset

or

or

1 second

Data pages 1 to 15

auto

standby

Swing compass

Compass deviation

Align heading

Align rudder

AutoLearn start

AutoLearn pass/fail

or

1 second

auto

standby

AutoTack angle*

Gybe inhibit*

Wind type*

Wind response (WindTrim)*

Response level

Magnetic variation

or

1 second

or

Within DISPLAY CAL, USER CAL, SEATRIAL CAL and DEALER CAL:

-- press disp or to move forwards through items (*sail boats only)

-- press disp for 1 second or to move backwards

-- use -1, +1, -10, +10 to adjust settings

-- press standby for 2 seconds to save changes

D5487-1

Chapter 6: Commissioning the Autopilot 61

Set the drive type

1. W ith the autopilot still in Dealer Calibration, use the disp key to
page through the calibration screens until you reach the Drive
T ype screen (

2. Use the

DRIVE TYP).

-1 or +1 keys to select the appropriate drive type:

• 3 = Linear drive, rotary drive or I/O (stern) drive

• 4 = Hydraulic pump or hydraulic linear drive

• 5 = Constant running hydraulic pump so lenoids

Align the rudder position sensor

1. W ith the a utopilot still in Dealer Cali bration, pres s the disp key to
page through the calibration screens until you reach the

ALIGN RUDDER screen.

2. Use the wheel to manually center the rudder.

3. Use the

-1 and +1 keys to adjust the displayed rudder b ar so its

offset is zero:

• you can only use this screen to adjust offsets within ±7°: if the

offset is beyond these limits, you will need to physically
adjust the sensor’s alignment (as descri bed in the Autopilot
System Installation Guide)

Note: Al ternatively, you can zero the rudder bar wit h the boat
underway during the initial seatrial, by m anually steering a straight
course then accessing the

ALIGN RUDDER screen i n Seatrial

Calibration to adjust the offset.

Set the rudder limits

1. W ith the autopilot still in Dealer Calibration press the disp key to
page through the Dealer Calibration screens until you reach the

RUDDER LIMIT screen

2. T urn the wheel to move the rudder:

• to the port end stop and note the angle

• to the starboard end stop and note the angle

3. Use the

-1, +1, -10 and +10 keys to set the rudder limit to 5° less

than the lowest angle you have noted.

6 Commissioning the Autopilot

62 ST7001+ Autopilot Control Unit - Owner’s Handbook

Adjust the rudder damping

Note: Y ou only need to adjust the rudder damping value if the
autopilot ‘hunts’ when trying t o position the rudder. Increasing the
rudder damping value reduces hunting.

T o adjust the rudder damping:

1. Use the
until you reach the

2. Use the

disp key to page through the Dealer Calibration screens

RUDD DAMP screen.

-1 or +1 keys to adjust the rudder damping:

• increase the damping one level at a time until the autopilot

stops hunting, and always use the lowest acceptable value

Save the new settings

When you have adjusted these basic settings in Dealer Calibration:

• press and hold

• the screen will show

6 Commissioning the Autopilot

standby f or two seconds to store the changes

DEALER CAL then the STANDBY screen

Chapter 6: Commissioning the Autopilot 63

6.2 Seatrial Calibration

When you have completed the dockside calibration, you must
complete the setup by taking the boat on a short seatrial to:

1. Calibrate the compass:

• complete the automatic deviation correction

• align the compass heading

2. Adjust the autopilo t settings to suit your boat:

• automatically on T ype 150G/400G autopilot systems

• manually on T ype 150/400 (non-GyroPlus) and T ype 100/300

autopilot systems

Seatrial safety

Note: Yo u can return to hand steering at any time during the
seatrial by pressing

You should only perform the initial seatrial:

• when you have successfully completed the dockside calibration

• in conditions of light wind and calm water , so you can assess

autopilot performance without the influence of strong winds or
large waves

• in waters that are clear of any obstructions, so the boat has plenty
of clear space to maneuver

standby.

6 Commissioning the Autopilot

Note: Before you start your seatrial, m ake sure you have switched on
any ancillary equipment – such as a GPS (providing course over
ground (COG), speed over ground (SOG) and latitude (LAT) data) or
a speed log (providing speed through t he water). This information
will help the autopilot achieve its best performance.

CAUTION: EMC conformance

Always check the installation befor e going to sea to make sure
that it is not affected by radio transmissions , engine starting etc.

64 ST7001+ Autopilot Control Unit - Owner’s Handbook

Calibrating the compass

Note: T his section does not apply if you have connected an NMEA
compass to your autopilot system. Refer to t he handbook supplied
with the NMEA compass for information a bout calibration.

Depending on your boat type, deviating magnetic fields can cause
significant compass errors. The correction procedure reduces these
errors to a few degrees, so you MUST perform this procedure as the
first item in your initial seatrial. The autopilot will then automatically
correct the fluxgate compass.

CAUTION:

If you fail to complete the deviation corr ection, your autopilot’s
performance will be impair ed on some compass headings.

The deviation correction procedure (swinging the compass) involves
turning your boat in slow circles so the autopilot can determine the
deviation and calculate any correction required. Y ou must carry out
this procedure in calm conditions and preferably on flat water .

6 Commissioning the Autopilot

Automatic compass deviation correction

1. W ith the pilot in Standby mode, enter Seatrial Calibrati on as
follows (see the following illustration):

• press and hold the

Calibration mode

• when you see the

up/down arrow keys until you see the SEATRIAL CAL screen

• press the

Note: If you cannot access SeaTrial Calibration, you need to turn off
the calibration lock in Dealer Setup (see page 92).

2. You should see the
Seatrial Calibration. (If not, use the
Seatrial Calibration items until you see

3. When you are ready to start, press the

SWING COMPASS On. Y ou will then see the TURN BOAT screen.

auto key to enter Seatrial Calibration

standby key for two seconds to enter

DISPLAY CAL screen, press the disp key or

SWING COMPASS screen when you first enter

disp key to page through the

SWING COMPASS)

+1 key to select

Chapter 6: Commissioning the Autopilot 65

Compass calibration

1

Enter Seatrial Calibration

2 sec

2

Compass deviation correction

x2

Start turning boat

(see below)

Turn boat in slow circles so:

• boat's speed stays below 2 knots

• each circle takes at least 2 minutes

Minimum of

2 circles

Autopilot heading

Keep turning the boat until

you see the DEVIATION screen

3

Compass heading alignment

Coarse adjustment: If COG is available from GPS, press to set autopilot heading to COG value,

a

Fine adjustment: If COG is not available (or after setting heading to COG), align autopilot heading manually:

b

then fine tune manually (see below).

Autopilot heading

or

Steering compass

6 Commissioning the Autopilot

or

Adjust the autopilot heading so it shows the

same value as the boat's steering compass

4

Save changes

2 sec

To:

• save deviation correction

• save heading alignment

• return to STANDBY mode

Known

heading

D5477-1

66 ST7001+ Autopilot Control Unit - Owner’s Handbook

4. Start turning the boat in slow circles (with the boat’s speed below
2 knots). Y ou will need to comple te at least two circles, taking at
least 2 minutes to complete each 360°:

• the display will show a

too quickly for the course computer to correct the compass –
if you see this message apply less helm to turn in a larger circle

Note: If necessary, you can q uit the correction process by pressing
the

standby or disp. If you then want to repeat the deviation

correction, return to the

5. Continue slowly t urning the boat until the control unit beeps and
displays the
completed the deviation correction.
This screen shows the maximum deviation encountered over
360° (not as an east/west value).

Note: If the deviation figure exceeds 15° or the displ ay shows no
deviation value, the compass is being affected by ferrous objects on
your boat. You should move the compass to a better location. Higher
deviation figures are acceptable on steel boats.

6 Commissioning the Autopilot

DEVIATION screen to indicate that the autopilot has

TOO FAST message if you turn the boat

SWING COMPASS screen.

Aligning the compass heading

1. Once the deviation is di splayed, press the disp key to move onto
the Heading Alignment screen (

2. Manually steer the boat on a steady co urse at a speed which
enables you to hold that course.

3. If you have a GPS connected to your aut opilot:

• increase the boat speed to more than 3 knots

• press the

agree with the COG (course over ground) heading received
from the GPS

• because many factors can cause a difference between heading

and COG (such as tides and leeway affecting the boat) you
must then fine-tune the heading alignment so it matches the
boat’s steering compass or a known transit bearing

4. Use

5. Press and hold

-1, +1, -10 and +10 to adjust the displa yed head ing until i t

matches boat’s steering compass or a known transit bearing.

and save the new compass settings.

auto key: the autopilot will then set the heading to

standby fo r 2 seconds to exit Seatrial Calibration

ALIGN HDG).

Chapter 6: Commissioning the Autopilot 67

Adjusting the heading alignment

If you experience difficulties with compass alignment, you can check
the compass alignment after completing the deviation correction
procedure (swinging the compass). After completing the initi al
compass calibration, you can make further adjustments to the
alignment without swinging the compass again.

Although the compass calibration removes most of the alignment
error, small errors (of t he order of a few degrees) will probably
remain. These will vary depending on the heading.

Ideally , you should check the heading reading against a number of
known headings, plot a deviation curve, and determine the heading
alignment value that will give the lowest average alignment error .
Y ou can then enter this value on the Heading Alignment screen, as
described above.

If the average heading error is more than 5°, you should perform the
compass deviation correction procedure again, circling more slowly
and in more favorable conditions.

6 Commissioning the Autopilot

68 ST7001+ Autopilot Control Unit - Owner’s Handbook

Adjusting autopilot settings

The next stage of the seatrial is to set key autopilot parameters that
affect the autopilot’s steering characteristics. Y ou can do this in one of
two ways:

• using AutoLearn: T ype 150G and T ype 400G autopilot systems
use AutoLearn – a self-learning calibration feature that
automatically adjusts rudder gain, counter rudder and AutoT rim
to suit your boat

• manual set-up: i f you have a T ype 150/400 (non-GyroPlus) or
T ype 100/300 autopilot you will need to adjust these settings

manually – as described on page71

Note: For a full explanation of the parameters set during t he

AutoLearn, and how to adjust them manu ally, refer to the manual
set-up section.

AutoLearn: Type 150G/400G systems

WARNING:

6 Commissioning the Autopilot

The AutoLearn process r equires a significant amount of CLEAR
SEA SP ACE in front of the boat. The autopilot will take the boat
through a nu mber of zig- zag maneuvers until it has ac quired
enough data. If you need to cancel the AutoLe arn at any time,
press the

AutoLearn maneuvers

standby key to gain manual control of the bo at.

Wind

of clear sea space

At least 0.04 nm (100 m)

At least 0.25 nm (500 m) of clear sea space

MINUTE

(approximately)

D5495-1

Chapter 6: Commissioning the Autopilot 69

AutoLearn calibration

1

Enter Seatrial Calibration

2 sec

2

Start the AutoLearn

To prepare for the AutoLearn:

• steer straight ahead at cruising speed
(planing boats – off the plane)

• head into wind and waves

x4

3

Boat completes AutoLearn

x2

Check you have sufficient

clear sea space before proceeding

AutoLearn successful

After

7 to 27

steps

Note: If you see a
LRN FAIL message,
press disp to return to
the AUTOLEARN screen
then repeat from Step 2

6 Commissioning the Autopilot

AutoLearn in progress

If you need to cancel the AutoLearn, press or

!

4

Save new settings

2 sec

To:

• save AutoLearn calibration settings

• return to STANDBY mode

D5480-1

70 ST7001+ Autopilot Control Unit - Owner’s Handbook

1. Access the AUTOLEARN screen in Seatrial Calibration:

• from Standby mode, press

twice to see the

• then press

until you see the

SEATRIAL CAL screen

auto to enter Seatrial Calibration, and disp 4 times

AUTOLEARN screen

standby for 2 seconds, then disp

2. Prepare to start the AutoLearn:

• power boats: steer straight ahead (with the rudder centered),

and set the boat’s speed at 8 to 15 knots – plan ing boats should
be off the plane

• sail boats: with th e sails down, steer straight ahead (with the

rudder centered) and motor the boat at typical cruising speed

• if conditions are not calm, head into the wind and waves

3. When you are ready to start th e AutoLearn, press the
select

AUTOLEARN On.

4. The screen will then show the
Press the

auto key to start the AutoLearn process:

CLEAR TO MANEUVER message.

+1 key to

• the boat will start its AutoLearn maneuvers and the display

will show a

LEARNING message, with a number that increases

to show that the AutoLearn is in progress

6 Commissioning the Autopilot

• the number will increase as the autopilot steps through the

various maneuvers

• typically, the AutoLearn will be complete within 7 to 27 steps

(depending on boat characteristics and sea conditions)

Note: If you need to cancel the AutoLearn for any reason, press the

standby or disp key.

5. When the autopilot has fi nished learning, the control unit will
beep and the display will change to

LRN PASS = AutoLearn completed successfully

•

•

LRN FAIL = AutoLearn was not successful and should be

LRN PASS or LRN FAIL:

repeated again. Failure codes:

•

LRN FAIL 1 = AutoLearn has not been carried out
LRN FAIL 2 = AutoLearn failed, due to manual interruption

•

•

LRN FAIL 4 = AutoLearn failed, probably due to drive or

compass failure

6. Press and hold the

standby key for two seconds to store the new

calibration settings.

The pilot is now fully calibrated and ready for use. The only
setting you should now ne ed to adjust is the responselevel
(see page 7).

Chapter 6: Commissioning the Autopilot 71

Manual set-up: Type 150/400 & Type 100/300

If you have a T ype 150/400 (non-GyroPlus) or T ype 100/300
autopilot system you need to manually adjust the rudder gain,
counter rudder and AutoTrim settings, based on your observations
of the boat’s performance under autopi lot control.

Adjust these settings when motoring your boat at cruising speed.
On sail boats, repeat if necessary under sail to optimize the pilot.

Checking autopilot operation

Before manually adjusting any of these settings, familiarize yourself
with basic autopilot operation:

1. Steer onto a compass heading and h old the course steady .
If necessary , control the boat manually for a while to check how
the boat steers.

2. Press

3. Use the

4. Press

Adjusting the rudder gain

Boats can vary widely in their response to helm, and by adjusting the
rudder gain you can change the autopilot’s steering characteristics.
Rudder gain is a measure of how much helm the autopilot applies to
correct course errors – higher settings mean more rudder is appl ied.

auto to lock onto the current heading. The autopilot should

hold a constant heading in calm sea conditions.

-1, +1, -10 and +10 keys to check how the autopilot alters

the course to port and starboard in multiples of 1° and 10°.

standby to return to hand steering.

6 Commissioning the Autopilot

Complete the following test to determine whether the rudder gain is
set correctly:

1. Set

RESPONSE to level 2:

• press the

then press

2. Sail your boat at cruising speed in clear water:

• you will find it easiest to recognize the steering response in

calm sea conditions where wave action does not mask basic
steering performance

3. Press

• if the rudder gain is adjusted correctly, the 40° course change

should result in a crisp turn followed by an ov ershoot of no
more than 5°

resp key, use the -1 or +1 key to a djust the setting,

disp

auto to ente r Auto mode, then alter course by 4 0°:

72 ST7001+ Autopilot Control Unit - Owner’s Handbook

• if the rudder gain setting is too high, the 40° course change

will result in a distinct overshoot of more than 5° and there
may be a distinct ‘S’ in the course (

A)

Correct this oversteer by reducing the rudder gain setting.

• if the rudder gain is too low , the boat’s performance will be

sluggish – it will take a long time to make the 40° turn and
there will be no overshoot (

B)

Correct this understeer by increasing the rudder gain setting.

New

heading

Rudder gain
too low

Rudder gain
too high

B

rudder gain

Correct

New

heading

A

6 Commissioning the Autopilot

T o adjust the rudder gain:

New

heading

D3262-2

1. Access the

2. Use the

3. Press and hol d

4. Press

RUDD GAIN screen in Dealer Calibration.

-1 or +1 keys to adjust the rudder gain.
standby for 2 seconds to save the changes.

auto to check the autopilot performance in Auto mode.

Adjusting the counter rudder

If you intend to use RESPONSE level 3 on a T ype 150/400
(non-GyroPlus) or T ype 100/300 autopilot system, you will need to
adjust the counter rudder . Counter rudder is the amount of rudder the
autopilot applies to try to prevent the boat from yawing of f course.
Higher counter rudder settings result in more rudder being app lied.

T o check the counter rudder setting

1. Set

RESPONSE to level 3.

2. Sail your boat at cruising s peed in clear water

3. Press

auto to switch the autopilot to Auto mode, then make a

90° course change:

Chapter 6: Commissioning the Autopilot 73

• when gain and counter rudder are both set correctly , the boat
performs a smooth continuous turn with mini mal overshoot

• if the counter rudder is too low , the boat will still overshoot

• if counter rudder is too high, the boat will ‘fight’ the turn and

make a series of short, sharp turns: this results in a very
‘mechanical’ feel as the boat changes course

T o adjust the counter rudder:

1. Access the

2. Use the

3. Press and hold

4. Press

COUNT RUD screen in Dealer Calibration.

-1 or +1 keys to adjust the counter rudder .
standby for 2 seconds to save the changes.

auto to check the autopilot performance in Auto mode.

The pilot is now calibrated and ready for use.

Further adjustments (Type 150/400 and Type 100/300)

Over time you may need to repeat these adjustments over a range of
sea conditions and headings to achieve good overall performance.

Y ou may also need to adjust the AutoTrim setting. AutoTrim
determines how quickly the autopilot applies ‘standing helm’ to
correct for trim changes (caused, for example, by changes in the
wind load on the sails or superstructure, or an imbalance of engines).

Gain experience with your autopilot before attempting to adjust t he
AutoTrim setting. On sail bo ats you can only evaluate the effect of
AutoTrim while under sail.

Increasing the AutoTrim level reduces the time the autopilot takes to
get back onto the correct course, but makes the boat less stable:

• if the autopilot gives unstable course keeping and the boat

‘snakes’ around the desired course, decrease the AutoTrim level

• if the autopilot hangs off course for excessive periods of time,

increase the AutoT rim lev el

6 Commissioning the Autopilot

If you need to adjust AutoTrim, go up o ne level at a time and use the
lowest acceptable value. The possible settings range from
trim correction) to

1. Access the

2. Use the

3. Press and hold

4. Press

auto to check the autopilot performance in Auto mode.

4 (fastest trim correction). T o adjust the AutoTrim:

AUTOTRIM screen in Dealer Calibration.

-1 or +1 keys to adjust the AutoTrim level.
standby for 2 seconds to save the changes.

OFF (no

74 ST7001+ Autopilot Control Unit - Owner’s Handbook

6 Commissioning the Autopilot

Chapter 7: Adjusting Autopilot Settings 75

Chapter 7: Adjusting Autopilot Settings

This chapter explains all of the calibration settings you can adjust on
the autopilot system. You will have adjusted many of these settings
when commissioning the system (see Chapter 6), and they should not
require further adjustment.

Note: C omplete the procedures described in Chapter 6 before
adjusting any calibration settings.

The sections in this chapter provide explain the Calibration mode and
the settings in the 4 calibration groupings:

Calibration basics

7.1

7.2

7.3

7.4

7.5

This explains the structur e of the Calibration mode, and
how to access the four calibration groupings.

Display Calibration

The Display Calibration grouping allows you to control
the ST7001+ display features (bar graph type and data
page information). This section also explains how to
use data pages to set up the control unit as a remote
control for ST60/ST80 instruments.

User Calibration

The User Calibration grouping includes autopilot
settings that you may need to adjust in response to
changing sea conditions.

Seatrial Calibration

The Seatrial Calibration grouping is used specifically for
the initial autopilot seatrial (see Chapter 6 for full
details).

Dealer Calibration

The Dealer Calibration grouping controls the main
autopilot settings and also the calibration lock.

page 76

page 79

page 87

page 91

page 92

7 Adjusting Autopilot Settings

Note: If you are connecting the ST7001+ to a non-150/400 autopilot
system, the calibration groups are different. Refer to the Appendix for
more infor mation.

76 ST7001+ Autopilot Control Unit - Owner’s Handbook

7.1 Calibration basics

Calibration groups

Note: If you are connecting the ST7001+ to a non-150/400 autopilot
system, the calibration groups are d ifferent. Refer to the Appendix for
full details.

The Calibration mode has 4 main calibration groups:

Display Calibration (DISPLAY CAL)

The items in Display Calibration only affect the individual control
unit. They are stored in the control unit and do not af fect any other
control units connected through SeaT alk.

Y ou can adjust the Display Calibration settings as often as necessary
– for example, to add or change information displayed on d ata pages

User Calibration (USER CAL)

The items in User Calibration vary according to the Vessel T ype you
have selected in Dealer Calibration.

Y ou will probably need to access User Calibration on a fair ly regular
basis to adjust the autopilot settings i n response to changing
conditions.

Seatrial Calibration (SEATRIAL CAL)

The Seatrial Calibration group is specifically designed for use during
the initial autopilot seatrial (see page 63 of Chapter 6 for full details).

Y ou should not need to access Seatrial Calibration during normal

7 Adjusting Autopilot Settings

autopilot operation.

Dealer Calibration (DEALER CAL)

The Dealer Calibration group includes items that have a significant
impact on autopilot operation and can affect your boat ’s safety .

After you have completed the initial installation and seatrial, you
should not normally need to alter the Dealer Calibration values. The
items in Dealer Calibration vary according to the V essel T ype you
have selected.

Chapter 7: Adjusting Autopilot Settings 77

Calibration Mode Overview

Calibration Mode

auto

standby

Off course alarm angle

AutoRelease (stern drive)

Wind response (WindTrim)*

-1 and +1

Calibration lock

Vessel type

Drive type

Align rudder

Rudder limit
Rudder gain

Counter rudder

Rudder damping

AutoTrim

Response level

Turn rate limit

AutoTack angle*

Gybe inhibit*

Wind type*

Cruise speed

AutoAdapt

Latitude

Magnetic variation

Autopilot reset

2 seconds

(saves changes)

2 seconds

or

or

1 second

auto

standby

Display bar selection

Heading type

Pop-up pilot time-out

Data pages 1 to 15

Wind response (WindTrim)*

auto

standby

or

or

1 second

Swing compass

Compass deviation

Align heading

Align rudder

AutoLearn start

AutoLearn pass/fail

Within DISPLAY CAL, USER CAL, SEATRIAL CAL and DEALER CAL:

-- press disp or to move forwards through items (*sail boats only)

-- press disp for 1 second or to move backwards

-- use -1, +1, -10, +10 to adjust settings

-- press standby for 2 seconds to save changes

or

or

1 second

auto

standby

AutoTack angle*

Gybe inhibit*

Wind type*

Response level

Magnetic variation

or

1 second

or

7 Adjusting Autopilot Settings

D5487-1

78 ST7001+ Autopilot Control Unit - Owner’s Handbook

Accessing the Calibration mode

Y ou can only access Calibration mo de from Standby mode:

1. W ith the autopilot in Standby mode, press and hold the
key for 2 seconds. The display will change to show

2. Press the
4 calibration groupings:

• Display Calibration

• User Calibration

• Seatrial Calibration

• Dealer Calibration

Note: Y ou can go backwards through the groups by pres sing and
holding the

3. When you reach the Calibration group you want to access, press
the

T o prevent accidental access, we have made entry to Dealer
Calibration more difficult than the other grou ps. After pressing
the
the

4. When you have entered one of the Cal ibration groupings, press

disp key or down arrow key to scroll down through the items

within that grouping:

Note: You can go backwards through the list by pr essing and holding
the

disp key for one second or by using the up arrow key.

disp key or down arrow key to scroll down through the

(DISPLAY CAL)

(USER CAL)

(SEATRIAL CAL)

(DEALER CAL)

disp key for one second or by using the up arrow key.

auto key to enter that group:

auto key , the display will show CAL. When you see this, press

-1 and +1 keys together to enter Dealer Calibration.

standby

DISPLAY CAL.

5. When you reach an item yo u wish to adjust, use the

+10 keys (as appropriate) to change the value.

6. If you then want to adj ust settings in another Calibration group,

7 Adjusting Autopilot Settings

press the

7. When you have made all the changes you want to make, press and
hold the
and save changes.

standby key and then repeat steps 2 to 5 as necessary .

standby key for two seconds to exit Calibration mode

-1, +1, -10 and

Chapter 7: Adjusting Autopilot Settings 79

7.2 Display Calibration

Display Calibration allows you to select the type of bar graph an d
heading shown on the ST7001+ display , and con trol the information
shown on the data pages.

Display Calibration screens

Display bar selection

This screen allows you to select the type of bar graph shown at the
bottom of the ST7001+ display .

Options

RUDD BAR Rudder position bar

This is the default setting. It uses the bar graph to show the
true rudder angle. Requires rudder position sensor for
accurate rudder information.

STEER BAR

BAR OFF

Steer/error bar

This setting uses the bar graph to indicate different
information in different operating modes:

• Standby: rudder position bar

• Auto: heading error bar (in 2° increments)

• Track: cross track error (XTE) bar (in 0.02 nm increments)

• Wind Vane: wind angle error bar (in 2° increments)

No bar displayed.

7 Adjusting Autopilot Settings

Heading selection

This screen allows you to display any heading as either a magnetic or
true value. During normal autopilot operation t he screen will indicate

MAG for magnetic headings and TRUE for true headings.

Options

HDG MAG Magnetic heading.

HDG TRUE True heading.

80 ST7001+ Autopilot Control Unit - Owner’s Handbook

Accessing Display Calibration

2 seconds

or

1 sec

oror

or

1 sec

oror

(saves changes)

Calibration Mode

2 seconds

or

1 sec

or

1 sec

Display Calibration

oror

or

1 second

or

1 second

To adjust values use

or

Data
pages 1-15

Press disp for

7 Adjusting Autopilot Settings

next page

or

To exit and

save changes

2 seconds

or

1 second

or

or

1 second

or

D5488-1

Chapter 7: Adjusting Autopilot Settings 81

Pop-up pilot time-out

During normal autopilot operation, you can set the control uni t so it
has a data page as the main display (see page 31). Whenever you
select a new autopilot mode or make a course change, the autopilot
mode screen will ‘pop-up’. After a short period, the display will
revert to the selected data page. The default pop-up time is 5 seconds.
Y ou can use this Displ ay Calibration screen to adjust the pop-up pi lot
display time-out.

Screen text Options

POPUP TIMEOUT 1 seconds to 10 seconds;

Default = 5 seconds

Data pages 1-15

The next 15 screens allow you to modify the settings fo r the data
pages. These define the SeaTalk/NMEA data pages that will be
available during normal operation (see page 31). Each data page
setup screen initially shows the title
After 1 second, the text changes to the title of the data currently set for
that page.

The default settings are:

DATA PAGE and the page number.

7 Adjusting Autopilot Settings

Data page Default setting

1 XTE (Cross Track Error)

2 BTW* (Bearing to Waypoint)

3 DTW* (Distance to Waypoint)

4 RESPONSE

5 -15 NOT USED (These pages are not displayed when you scroll

*N ote : It is goo d pr act ice to ke ep t he BTW and DTW pag es f or d ispla y. If the
autopilot receives a man overboard (MOB) message, these data pages will
show the bearing and distance to the MOB location.

through the data pages during normal operation)

T o change the data displayed on a data page:

• Press

• Use the

disp to move to the appropriate data page setup screen.

-1 and +1 keys to scroll forwards o r backwards through

the available data pages (see following table).

• Then press
change, or press and hold

disp to move to the next data page you want to

standby for 2 seconds to save changes.

82 ST7001+ Autopilot Control Unit - Owner’s Handbook

Available data pages Displayed as

Speed Knots SPEED KTS

Log LOG XXXX.X

Trip TRIP XXX.X

Average Speed, Knots AV. SPD KTS

Wind Direction e.g. WIND PORT

Wind Speed WIND KTS

Depth Metres* DEPTH M

Depth Feet* DEPTH FT

Depth Fathoms* DEPTH FA

Heading HEADING

Water Temperature, Degrees C* WATER °C

Water Temperature, Degrees F* WATER °F

Course Over Ground COG

Speed Over Ground, Knots SOG KTS

Cross Track Error XTE

Distance to Waypoint DTW

Bearing to Waypoint BTW

Rudder Gain RUDD GAIN

Response RESPONSE

Watch WATCH - used to control the Watch

timer (see page 32)

Universal Time Coordinated UTC

Remote Control for Standard

7 Adjusting Autopilot Settings

ST60/80 Instruments

Remote Control for
Maxiview Instruments

NOT USED Page not displayed

*NOTE: There are 3 depth pages (meters, feet and fathoms) and 2 water
temperature pages (°C and °F). The ST7001+ will display the water
temperature or depth data in the units defined by data page you select.

INST REM

MAXI REM

(A ny d ata pag e set t o NOT USE D is not
displayed when you scroll through the
data pages during normal operation)

Chapter 7: Adjusting Autopilot Settings 83

Using data pages to set up ST60 and ST80 remote control

Where the ST7001+ is used in conjunction with ST60 or S T80
instrumentation, you can use the ST7001+ to control the ST60 or
ST80 instruments by duplicating the functions of the Remot e
Keypads used by these instruments. This means you can operate your
autopilot and ST60/ST80 instruments from the same location.

By using th e
ST7001+ as a remote keypad to control any ST60 or ST80
instruments connected to it:

• the
ST60/ST80 instrument group

•

the MAXI REM data page can control an ST80 Maxiview

instrument group

Each ST7001+ can control one group of up to eight standard
instruments and another group of up to eight Maxivi ew instruments.

Before you can use an ST7001+ to remotely control other
instruments, you must define the instrument g rouping and then
allocate the ST7001+ to the required group.

Instrument grouping

Grouping allows you to create up to eight standard instrument and
eight Maxiview instrument groups:

• each group can have up to eight instruments

• each group must have one or more remote keypads or an

ST7001+ grouped to it

• each ST7001+ can be grouped with one ST80 Maxiview group
and one ST80/ST60 standard instrument group

• each instrument in a group has a unique alphanumeric identity
(e.g.
number within the group):

• standard ST60 or ST80 instruments are assi gned group letters

• maxiview instruments are assigned group letters from J to Q

• ungrouped instruments have a dash (-) in place of a group

• The instrument sequence number range is from 1 to 8.

INST REM and MAXI REM data pages, you can use

INST REM data page can control a standard (110 mm)

A1, where A defi nes the group and 1 the instrument sequence

from A to H

letter

7 Adjusting Autopilot Settings

84 ST7001+ Autopilot Control Unit - Owner’s Handbook

When you set up ST60 and ST80 instr ument groups you will need to
use the following ST7001+ keys.

Standard instruments

Press to select the required standard instrument.

Press for 4 sec to enter Group Setup mode.

Toggle to select either:

• group letter
or

• sequence number

Maxiview instruments

Press to set the identification you want:

• A to H for group identity

• 1 to 8 for instrument sequence, within group

Press to select the required Maxiview instrument.

Press for 4 sec to enter Group Setup mode.

7 Adjusting Autopilot Settings

Toggle to select either:

• group letter
or

• sequence number

Press to set the identification you want:

• A to H for group identity

• 1 to 8 for instrument sequence, within group

D5447-1

Chapter 7: Adjusting Autopilot Settings 85

Setting up an instrument group

1. At the ST7001+:

• select the

• select the

INST REM data page to group standard instruments

MAXI REM

data page to group Maxiview instruments

2. At the ST7001+, use the arrow keys t o select an instrument.

Note: The currently-selected instrument is indicated as follows:

• on ST80 instruments (including M axiview), the characters are
displayed as white characters on a black backgr ound (instead of
the standard bl ack on white)

• on ST60 digital instrument s, you will see a

• on ST60 analogue instruments, you will see the

REMOTE message

TRUE/MAG and/or

TRUE/APP message flashing

3. Press both t he up and down arrow keys on the ST7001+ for
4 seconds, to put the instruments and the ST7001+ into
Group Setup mode.

When you enter Group Setup mode:

• one instrument will be selected with a flashing cursor (and

inverse characters on ST80 instruments, includin g Maxiview)

• the ST7001+ screen text will alternate between:

•

INST REM and DSP SETUP for standard instruments
MAXI REM and DSP SETUP for Maxiview instruments

•

4. At the ST7001+, use the up or d own arrow key to select an
instrument to be the first in the group, i.e. so the required
instrument shows it has been selected (as described above).

Standard instruments: group setup mode

7 Adjusting Autopilot Settings

Selected instrument

D5520-1

5. Use the ST7001+ to allocate a group letter and sequence number
to the selected instrument. To do this:

• Standard instruments: use the

group letter and sequence number, an d the

track key to toggle between

set crs key to set

the identifying character.

86 ST7001+ Autopilot Control Unit - Owner’s Handbook

• Maxiview instruments: use the resp key to toggle between
group letter and sequence number , and the

track key to set the

identify ing char acter .

When you have identified the instrument, it should dis play its
group letter and sequence number, e.g.

A2.

Note: Y ou can select all instruments in Group Setup mode.

6. Press either the up arrow or down arrow key to select another
instrument and repeat the procedure in step 5.

7. Repeat steps 5 and 6 until all you have identified all instruments in
the group.

Note: If you have more than eight ST60 or ST80 inst ruments, you
must create a second group with a sep arate identification code (for
example

B1, B2 etc.), operated by another remote keypad.

8. Use the arrow keys to select an inst rument in the group to which
you want to allocate the ST7001+ as a keypad.

9. Press the up and dow n arrow keys together for 1 second. The
ST7001+ screen text will alternate between:

•

INST REM and KPD SETUP for standard instruments
MAXI REM and KPD SETUP for Maxiview instruments

•

Each instruments in the selected group will display

PRESS KEY.

10. To allocate the ST7001+ to the selected group of instrument s:

• press the

• press the

track or set crs key for standard instruments
resp or track key for Maxiview instruments

11. If you are creating more than one group, repeat steps 3 to 10 for
each group.

12. When you have set up all instrument groups, return to normal
operation as follows:

7 Adjusting Autopilot Settings

• standard instruments:

• press the

track and set crs keys for 1 second to return to

Group Setup mode

• then press the

track and set crs keys again for 2 seconds

to return to normal operation

• Maxiview instruments:

• press the

resp and track keys for 1 second, to return to

Group Setup mode

• press the

resp and track keys again for 2 seconds to

return to normal operation.

Chapter 7: Adjusting Autopilot Settings 87

7.3 User Calibration

Note: If you are connecting the ST7001+ to a non-150/400 autopilot
system, the User Calibration group is not available. Refer to the
Appendix for full details.

The User Calibration group includes settings t hat you may need to
adjust on a regular basis due to changing conditions.

User Calibration screens

AutoTack angle

Note: Only available if vessel type = SAIL BOAT.

The AutoT ack angle is the angle through which the boat will turn
when you select an automatic tack (see page 12).

Screen text Options

AUTO TACK 40° to 125° in 1° steps

Gybe inhibit

Note: Only available if vessel type = SAIL BOAT.

7 Adjusting Autopilot Settings

With gybe inhi bit on:

• you will be able to perform an AutoTack into the wind

• to prevent accidental gybes, the autopilot will prevent the boat

from performing an AutoT ack away from the wind

With gybe inhibi t off, you can perform an AutoT ack into or away
from the wind.

Screen text Options

GYBE STOP On = Gybe inhibit on (gybes prevented)

OFF = Gybe inhibit off (gybes permitted)
Default = On