Raymarine Autohelm ST3000 Owner's Handbook Manual

Distributed by

Any reference to Raytheon or

RTN in this manual should be

interpreted as Raymarine.

The names Raytheon and RTN

are owned by the

Raytheon Company.

ST3000

Wheel Drive

Autopilot

Owner’s

Handbook

Document number: 81194-1

Date: June 2001

81194_1.book Page i Wednesday, July 25, 2001 12:10 PM

ii ST3000 Wheel Drive Autopilot - Owner’s Handbook

Autohelm, HSB (High Speed Bus), SailPilot, SeaTalk and SportPilot

are registered trademarks of Raymarine Ltd.

Raymarine, AST (Advanced Steering Technology), AutoAdapt,

AutoLearn, AutoRelease, AutoSeastate, AutoTack, AutoTrim,

FastTrim, GyroPlus, RayGyro, RayPilot and WindTrim are

trademarks of Raymarine Ltd.

Handbook contents © Raymarine Ltd 2001.

81194_1.book Page ii Wednesday, July 25, 2001 12:10 PM

Preface iii

Contents

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

1.1 Overview ..................................................................................1

1.2 Specifications ............................................................................ 3

1.3 About this handbook .................................................................4

Important Information .............................................................. 4

Chapter 2: Using the Wheel Pilot .............................................9

2.1 Overview ..................................................................................9

2.2 Using Auto mode ....................................................................10

Engaging the autopilot (Auto mode) .......................................10

Disengaging the autopilot (Standby mode) ............................10

Changing course ..................................................................... 11

Automatic deadband control (Auto Seastate) .........................14

Operating hints – trim changes ...............................................14

2.3 Switching display illumination on and off ..............................16

2.4 Using Track mode ...................................................................17

Selecting Track mode .............................................................17

Returning to Auto from Track mode .......................................20

Cross track error (XTE) ..........................................................20

Tidal stream compensation ..................................................... 21

Waypoint arrival and advance .................................................22

Dodges in Track mode ............................................................22

Safety in Track mode .............................................................. 23

Warning messages in Track mode ...........................................24

2.5 Using Wind Vane mode ..........................................................25

Selecting Wind Vane mode .....................................................25

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

Returning to the previous apparent wind angle ....................... 26

Wind shift alarm ......................................................................26

Operating hints for Wind Vane mode ...................................... 27

Chapter 3: Maintenance & Fault Finding ..............................29

3.1 General maintenance ..............................................................29

3.2 Product support .......................................................................30

3.3 Fault finding ............................................................................30

Chapter 4: Installing the Wheel Pilot ....................................35

4.1 Planning the installation ..........................................................35

4.2 Control head installation .........................................................37

Mounting procedure ...............................................................37

Cabling and socket installation ............................................... 38

81194_1.book Page iii Wednesday, July 25, 2001 12:10 PM

iv ST3000 Wheel Drive Autopilot - Owner’s Handbook

Mounting the socket ............................................................... 42

4.3 Drive unit installation ............................................................. 43

Attaching the wheel drum ....................................................... 43

Mounting the drive unit and belt ............................................. 44

Drive unit cabling ................................................................... 47

Chapter 5: Commissioning the Wheel Pilot .........................53

5.1 Functional tests .......................................................................53

Switch on ................................................................................ 53

Operating sense ....................................................................... 53

Checking the navigation interface .......................................... 54

Checking the wind instrument interface .................................55

Checking the SeaTalk interface ..............................................55

5.2 Initial sea trial .......................................................................... 56

Calibrating the compass .......................................................... 56

Autopilot operation ................................................................. 58

5.3 Adjusting autopilot performance ............................................ 59

Chapter 6: Adjusting Wheel Pilot Settings ..........................61

6.1 Introduction ............................................................................61

Adjusting calibration values ................................................... 61

Calibration features ................................................................. 63

Default calibration values ....................................................... 63

6.2 Calibrating the wheel pilot ...................................................... 64

Calibration Level 1: Rudder gain ............................................ 64

Calibration Level 5: Cruise speed ...........................................64

Calibration Level 6: Off course alarm angle ........................... 64

Calibration Level 9: Magnetic variation ................................. 65

Calibration Level 10: Heading error correction ...................... 65

Calibration Level 11: Boat’s current latitude .......................... 66

Controlling access to calibration ............................................. 66

Index ..................................................................................... 69

81194_1.book Page iv Wednesday, July 25, 2001 12:10 PM

Chapter 1: Introduction 1

1 Introduction

Chapter 1: Introduction

1.1 Overview

The ST3000 wheel pilot is a cockpit autopilot for wheel steered boats.

It is designed for owner installation and consists of two main units:

• bracket mounted ST3000 control unit with built-in compass

• proven ST3000 wheel drive unit

ST3000 control unit

Operating modes

The wheel pilot has four basic operating modes:

• Standby mode: autopilot off

• Auto mode: autopilot engaged and locked onto a heading

• Track mode: autopilot on and maintaining a track between two

waypoints created on a navigation system

• Wind Vane mode: autopilot on and maintaining a course relative

to an apparent wind angle

SeaTalk and NMEA compatibility

The ST3000 control unit is SeaTalk compatible, so it can share data

transmitted from other Raymarine SeaTalk instruments:

• wind information from a wind instrument can be used for

wind vane steering without the need to install a separate vane

D5652-1

81194_1.book Page 1 Wednesday, July 25, 2001 12:10 PM

2 ST3000 Wheel Drive Autopilot - Owner’s Handbook

1 Introduction

• track information, from a navigator, can provides waypoint

control from the autopilot

• boat speed from a speed instrument can provide optimum track

keeping performance

• SeaTalk compatibility also allows additional fixed and hand-held

autopilot control units to be easily connected at secondary

steering and control positions

With an optional SeaTalk/NMEA interface (part number: E85001)

the wheel pilot can also be used with any navigator or position sensor

transmitting NMEA 0183.

The ST3000 can be calibrated to suit each installation. This can

provide optimum performance with many types of boat and

steering systems.

ST3000 wheel drive unit

The wheel drive unit is attached by a single pin to a clevis

permanently fixed to the cockpit structure. Drive is transmitted to the

wheel by a tensioned toothed belt. A lever operated eccentric bush in

the drive unit mounting arm enables belt tension to be released to

facilitate manual override by allowing the belt to slip. The drive

disengagement system is both effective and reliable.

CAUTION:

The ST3000 is recommended for wheel steered boats up to

7000 kg (15,000 lb) displacement. Above this limit and for heavy

duty applications, such as single handed racing or long distance

ocean sailing, we recommend one of the more powerful

Raymarine autopilots (such as the ST5000+ system or

Type 150/400 course computer).

81194_1.book Page 2 Wednesday, July 25, 2001 12:10 PM

Chapter 1: Introduction 3

1 Introduction

1.2 Specifications

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.

General specifications

Power supply: 10 V to 15 V DC

Current consumption: • Standby: 65 mA (120 mA with lighting)

• Auto: between 0.7 A and 2.5 A depending on

boat trim, helm load and sailing conditions

Operating temperature: 0°C to 70°C (32°F to 158°F)

Control unit • 6 button digital keypad

• Liquid Crystal Display (LCD) showing heading,

locked course and navigational information

• SeaTalk compatible

• NMEA 0183 compatible via optional

SeaTalk/NMEA interface

Drive unit: • thrust torque: 70 Nm (52 lb.ft)

• helm speed: 3 rpm

• port or starboard mounting

• 6 belt options

• maximum displacement: 7,000 kg (15,000 lb)

Main features • User calibration for optimum performance

• 'WindTrim' control in Wind Vane mode

• Automatic tack

• Automatic compass deviation correction

• Northerly/Southerly heading compensation

• Automatic heading deadband

• Built-in navigator interface

• Track mode with waypoint advance feature

81194_1.book Page 3 Wednesday, July 25, 2001 12:10 PM

4 ST3000 Wheel Drive Autopilot - Owner’s Handbook

1 Introduction

1.3 About this handbook

Part 1: Using the Wheel Pilot

This part of the handbook explains how to use your wheel pilot:

Part 2: Installing the Wheel Pilot

This part of the handbook explains how to install your wheel pilot:

Note: This handbook contains important information about

installing, using and maintaining your new Raymarine product. To

get the best from the product, please read this handbook thoroughly.

Important Information

Warranty

To register your new Raymarine product, please take a few minutes to

fill out the warranty card. It is important that you complete the owner

information and return the card to us to receive full warranty benefits.

Handbook information

To the best of our knowledge, the information in this handbook was

correct when it went to press. However, Raymarine cannot accept

liability for any inaccuracies or omissions it may contain. In addition,

our policy of continuous product improvement may change

specifications without notice. As a result, Raymarine cannot accept

liability for any differences between the product and the handbook.

2

Chapter 2: Using the Wheel Pilot

How to use the wheel pilot.

page 9

3

Chapter 3: Maintenance & Fault Finding

Provides maintenance and fault finding information.

page 29

4

Chapter 4: Installing the Wheel Pilot

How to install your wheel pilot and its components.

page 35

5

Chapter 5: Commissioning the Wheel Pilot

How to check the wheel pilot and perform an initial sea trial.

page 53

6

Chapter 6: Adjusting Wheel Pilot Settings

How to change the wheel pilot calibration settings.

page 61

81194_1.book Page 4 Wednesday, July 25, 2001 12:10 PM

Chapter 1: Introduction 5

1 Introduction

Safety notices

WARNING: Product installation

This equipment must be installed and operated in accordance

with the instructions contained in this handbook. Failure to do so

could result in poor product performance, personal injury

and/or damage to your boat.

WARNING: Electrical safety

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

electrical connections.

WARNING: Navigation aid

Although we have designed this product to be accurate and

reliable, many factors can affect its performance. As a result, it

should only be used as an aid to navigation and should never

replace common sense and navigational judgement. Always

maintain a permanent watch so you can respond to situations as

they develop.

Your Raymarine autopilot will add a new dimension to your boating

enjoyment. However, it is the skipper’s responsibility to ensure the

safety of the boat at all times by following these basic rules:

• Ensure that someone is present at the helm AT ALL TIMES, to

take manual control in an emergency.

• Make sure that all crew members know how to disengage the

autopilot – you cannot handsteer with the wheel pilot engaged.

• Regularly check for other boats and any obstacles to navigation –

no matter how clear the sea may appear, a dangerous situation can

develop rapidly.

• Maintain an accurate record of the boat’s position by using either

a navigation aid or visual bearings.

• Maintain a continuous plot of your boat’s position on a current

chart. Ensure that the locked autopilot heading will steer the boat

clear of all obstacles. Make proper allowance for tidal set – the

autopilot cannot.

• Even when your autopilot is locked onto the desired track using a

navigation aid, always maintain a log and make regular positional

plots. Navigation signals can produce significant errors under

some circumstances and the autopilot will not be able to detect

these errors.

81194_1.book Page 5 Wednesday, July 25, 2001 12:10 PM

6 ST3000 Wheel Drive Autopilot - Owner’s Handbook

1 Introduction

81194_1.book Page 6 Wednesday, July 25, 2001 12:10 PM

Part 1:

Using the

Wheel Pilot

Part 1: Using the Wheel Pilot

81194_1.book Page 7 Wednesday, July 25, 2001 12:10 PM

Part 1: Using the Wheel Pilot

81194_1.book Page 8 Wednesday, July 25, 2001 12:10 PM

Chapter 2: Using the Wheel Pilot 9

2 Using the Wheel Pilot

Chapter 2: Using the Wheel Pilot

2.1 Overview

WARNING:

Passage making under autopilot control is an enjoyable

experience that can, if you are not careful, lead to the relaxation

of the permanent watch. Always maintain a permanent watch no

matter how clear the sea may appear to be.

• The wheel pilot always powers up in Standby mode (indicated by

a flashing ‘

C’ alongside the boat’s current compass heading).

• The wheel pilot is controlled using simple push-button

operations. The control unit confirms all button presses with a

short beep. In addition to the main single key functions, there are

several dual key operations.

• To select automatic steering:

• steady the boat on the required heading

• engage the wheel drive clutch

• press

AUTO: the display will then show an ‘A’ alongside the

current heading

• To return to manual steering at any time:

• press

STANDBY

• disengage the clutch lever

• You can use the

-1, +1, -10, and +10 keys to make course changes

when the boat is under autopilot control.

D5608-1

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10 ST3000 Wheel Drive Autopilot - Owner’s Handbook

2 Using the Wheel Pilot

2.2 Using Auto mode

Engaging the autopilot (Auto mode)

1. Steady the boat on the required heading.

2. Engage the wheel drive clutch by rotating the clutch lever

clockwise.

3. Press

auto: the wheel pilot will enter Auto mode and the display

will show an ‘

A’ (for auto) alongside the locked autopilot heading.

Disengaging the autopilot (Standby mode)

To return to hand steering:

1. Press

standby: the wheel pilot will return to Standby mode.

The display will show a flashing ‘

C’ and the boat’s current

compass heading.

2. Disengage the wheel drive clutch by rotating the clutch lever

anti-clockwise.

3. The last heading is memorized and can be recalled (see page 13).

D5610-1

+

D5609-1

+

81194_1.book Page 10 Wednesday, July 25, 2001 12:10 PM

Chapter 2: Using the Wheel Pilot 11

2 Using the Wheel Pilot

Changing course

In Auto mode, use the -1 and -10 (port) and +1 and +10 (starboard)

keys to change course in steps of 1° and 10°.

For example: press -10 three times for a 30° course change to port:

Port Starboard

or

D5611-1

D5612-1

x 3

Original

course

30˚ to port

81194_1.book Page 11 Wednesday, July 25, 2001 12:10 PM

12 ST3000 Wheel Drive Autopilot - Owner’s Handbook

2 Using the Wheel Pilot

Automatic tack feature (AutoTack)

The autopilot has a built-in automatic tack facility (in Auto and Wind

Vane modes) that turns the boat through 100°:

• to AutoTack 100° to port, press

-1 and -10 together

• to AutoTack 100° to starboard, press

+1 and +10 together

Dodging obstacles

1. To avoid an obstacle when you boat is under autopilot control,

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, by pressing

+10 three times), or

• return to the previous heading (see below)

and and

Wind

AutoTack - Starboard

D5619-1

Wind

AutoTack - Port

AutoTack

angle

AutoTack

angle

D5612-1

x 3

Original

course

30˚ to port

81194_1.book Page 12 Wednesday, July 25, 2001 12:10 PM

Chapter 2: Using the Wheel Pilot 13

2 Using the Wheel Pilot

Returning to the previous heading

1. Press AUTO for 1 second: the previous heading will flash for

10 seconds.

2. To accept the previous heading, press

AUTO again while the

previous heading is flashing.

Note: If you do not press AUTO while the display is flashing, the

autopilot will maintain the current heading.

Off course alarm

The off course alarm sounds if the locked autopilot heading and the

boat’s current heading differ by more than the value set in

Calibration Level 6 (see page 64) for 20 seconds.

Cancelling the off course alarm

To cancel the off course alarm, press STANDBY to return to manual

steering.

Note: The off course alarm is usually an indication that the boat is

carrying too much sail, or that the sails are badly balanced. In these

conditions, you can usually significantly improve course keeping by

improving the sail balance.

Original

course

Obstacle

1 SECOND

Resumed

course

Dodge

D5614-1

D191-2

81194_1.book Page 13 Wednesday, July 25, 2001 12:10 PM

14 ST3000 Wheel Drive Autopilot - Owner’s Handbook

2 Using the Wheel Pilot

Automatic deadband control (Auto Seastate)

The wheel pilot is set to AutoSeastate (automatic deadband control)

as a default. This causes the pilot to gradually ignore repetitive

movements of the boat and respond only to true course variations.

By preventing unnecessary rudder movement, AutoSeastate

provides the best compromise between power consumption and

course keeping accuracy.

If you want to switch off the AutoSeastate feature:

1. With the pilot in Auto mode, press

-1 and +1 together to switch

from AutoSeastate to Fixed Minimum Deadband (1°).

2. The “

°” sign flashes when Fixed Minimum Deadband is selected.

Minimum deadband provides the tightest course keeping

possible, at the expense of increased power consumption and

drive unit activity.

To switch back to AutoSeastate, press -1 and +1 again.

Note: The autopilot reverts to Automatic Deadband Control each

time you select Standby mode.

Operating hints – trim changes

CAUTION:

Only make major course changes when steering MANUALLY.

This ensures that the boat will safely clear any obstructions or

other boats, and you can take into account the changed wind and

sea conditions on the new heading before engaging the autopilot.

Large course changes which change the apparent wind direction can

produce large trim changes. When a sudden trim change occurs (for

example due to weather helm or sail imbalance) there will be a delay

of up to one minute before the automatic trim applies rudder to restore

the locked heading.

D5618-1

and

From Auto mode

81194_1.book Page 14 Wednesday, July 25, 2001 12:10 PM

Chapter 2: Using the Wheel Pilot 15

2 Using the Wheel Pilot

In these situations, the autopilot will not immediately assume the new

automatic heading, and will only settle onto course when the

automatic trim has been fully established. To minimize this problem,

use the following procedure to make major course changes:

1. Note the required new heading.

2. Press

STANDBY, disengage the clutch, and steer manually.

3. Bring boat onto the new heading and engage the clutch.

4. Press

AUTO and let the boat settle on course.

5. Bring your boat onto the final course in 1° steps using

-1 or +1.

Gusting conditions

In gusting conditions, the course may tend to wander slightly,

particularly if the sails are badly balanced. By improving sail balance,

you can improve course keeping.

If you take the following precautions, the autopilot will be able to

maintain competent control even in gale force conditions:

• Do not allow the boat to heel over excessively.

• Ease the mainsheet traveller to leeward to reduce heeling and

weather helm.

• If necessary, reef the mainsail a little early.

• It is also advisable (whenever possible) to avoid sailing with the

wind dead astern when there are very strong winds and large seas.

• Ideally, the wind should be at least 30° away from a dead run.

• In severe conditions, it may be advisable to remove the mainsail

altogether and sail under headsail only.

81194_1.book Page 15 Wednesday, July 25, 2001 12:10 PM

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Raymarine Autohelm ST3000 Owner's Handbook Manual

Raymarine Autohelm ST3000 Owner's Handbook Manual

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