Raymarine autopilot ST4000+, Owner'S Handbook Manual

Page 1: ...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 ...

Page 2: ...ST4000 Wheel Tiller Autopilots Owner s Handbook Document number 81131 6 Date August 2001 ...

Page 3: ... 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 ...

Page 4: ...ical distribution panel Rudder position sensor optional fit for wheel pilot only ST4000 control unit Fluxgate compass SeaTalk instrument NMEA instrument or navigator Tiller drive Wheel drive ST4000 autopilot system layout D5332 1 ...

Page 5: ...iv ST4000 Wheel Tiller Autopilots Owner s Handbook ...

Page 6: ...to mode 8 Dodging obstacles in Auto mode 8 Returning to the previous locked heading LAST HDG 9 Automatic tack AutoTack 10 Making major course changes 10 Gusting conditions 11 2 3 Adjusting autopilot performance 12 Changing the response level AutoSeastate 12 Changing the rudder gain 13 2 4 Autopilot alarms 14 Responding to alarms 14 2 5 Adjusting display and keypad lighting 18 Chapter 3 Advanced Op...

Page 7: ... Fault finding 34 4 2 General maintenance 36 Wheel drive 36 Control unit 38 EMC advice 39 4 3 Product support 40 Software version 40 Chapter 5 Installing the ST4000 43 5 1 Planning the installation 44 Tools required 44 EMC installation guidelines 46 5 2 Control unit 48 Location 48 Mounting procedure 49 Cable connectors 51 Power supply connection 51 SeaTalk connections 52 NMEA connections 53 5 3 Fl...

Page 8: ...ections 88 6 2 Check rudder sensor operation if fitted 90 6 3 Initial sea trial 91 Overview 91 Correcting the compass deviation 92 Adjusting the heading alignment 95 Checking autopilot operation 95 Checking the rudder gain 96 6 4 Autopilot calibration techniques 98 Step 1 Switch on ancillary equipment 98 Step 2 Apply initial settings 98 Step 3 Adjust the rudder damping 99 Step 4 Adjust the rudder ...

Page 9: ...SPONSE 108 Turn limit TURN RATE 108 Rudder alignment ALIGN RUD 108 Rudder limit RUD LIMIT 109 Off course alarm OFF COURSE 109 AutoTack angle AUTOTACK 109 AutoTrim AUTOTRIM 110 Drive type DRIVE TYP 110 Magnetic variation VARIATION 110 AutoAdapt AUTOADAPT 111 Latitude LATITUDE 111 Rudder damping RUDD DAMP 112 Cruise speed CRUISE SP 112 Specifications 113 Glossary 115 Index 117 ...

Page 10: ...d its use page 1 2 Chapter 2 Basic Operation Covers basic autopilot operation using Auto mode interpreting alarms adjusting autopilot performance and changing the control unit lighting page 3 3 Chapter 3 Advanced Operation Explains how to use Track and Wind Vane modes and display data pages page 19 4 Chapter 4 Maintenance Fault Finding Provides general maintenance procedures and information to hel...

Page 11: ...alibration We supply this product calibrated to default settings that should provide stable performance for most boats To ensure optimum performance on your boat you must complete Chapter 6 Setting up the ST4000 before use WARNING Navigation aid Although we have designed this product to be accurate and reliable many factors can affect its performance As a result it should only be used as an aid to...

Page 12: ...ls can produce significant errors under some circumstances and the autopilot will not be able to detect these errors EMC conformance All Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine environment The design and manufacture of Raymarine equipment and accessories conform to the appropriate Electromagnetic Compatibility EMC standards...

Page 13: ...xii ST4000 Wheel Tiller Autopilots Owner s Handbook ...

Page 14: ...Part 1 Using the ST4000 Part 1 Using the ST4000 ...

Page 15: ...Part 1 Using the ST4000 ...

Page 16: ...2 Auto autopilot engaged and locked onto a heading see page 6 3 Track autopilot engaged and maintaining a track between two waypoints created using a navigation system see page 20 4 Wind Vane autopilot engaged andmaintaininga course relative to an apparent wind angle see page 27 The ST4000 also provides the following features automatictack facility AutoTack in Autoand WindVane modes automatic comp...

Page 17: ...ot control The ST4000 can share all data transmitted from SeaTalk instruments it can use wind information from a SeaTalk wind instrument for wind trim steering in Wind Vane mode without the need for a separate vane itcanusetrackinformationfromaSeaTalknavigationinstrument to provide waypoint control in Track mode itcanuseboatspeedfromaSeaTalkspeedinstrumenttooptimize track keeping performance Rudde...

Page 18: ...s 2 1 Using the control unit Summarizesthekeyfunctionsandscreenlayoutonthe ST4000 control unit page 4 2 2 Using Auto mode Providesinstructions for engaging disengaging the autopilot and using Auto mode page 6 2 3 Adjusting autopilot performance Making temporary adjustments to response level and rudder gain to enhance autopilot performance page 12 2 4 Autopilot alarms Describes how to recognize and...

Page 19: ...0 keys together You can return to manual steering at any time by pressing standby and disengaging the autopilot see page 7 TRACK Press for Track mode from Auto Press to accept waypoint advance Press for 1 second to skip waypoint AUTO Press for Auto mode Press for 1 second for Last Heading Press again to accept Last Heading DISP Press for Data Page Press for 1 second for lamp control STANDBY Press ...

Page 20: ...see page 104 Theinformation displayed on thebargraphvaries according to the autopilot mode Autopilot mode Information displayed on bar graph Standby Rudder bar only if a rudder position sensor is fitted Auto Heading error bar Track Cross track error XTE bar in 0 02 nm increments Wind Vane Wind angle error bar Rudder or Steer direction indicator bar graph in 2 increments Port and Starboard directio...

Page 21: ... fully onto the locating pip TillerPilot Placethepushrodendoverthetillerpin Ifnecessary extend or retract the pushrod using the 1 1 10 and 10 keys WARNING Wheel drive clutch Always reach AROUND not through the wheel to operate the wheel drive clutch lever 3 Press auto in Auto mode the display shows the locked autopilot heading D5341 1 Engage the clutch on the wheel pilot Wheel pilot Tiller pilot U...

Page 22: ...boat s current compass heading 2 Disengage the autopilot to return to hand steering WheelPilot Disengagethewheeldriveclutchbyrotatingthe clutch lever anti clockwise so the lever engages fully onto the locating pip Tiller Pilot Remove the drive unit from the tiller pin If required retract the push rod using 1 1 10 and 10 keys 3 The last heading is memorized and can be recalled see page 9 CAUTION Wh...

Page 23: ...e change to port Dodging obstacles in Auto mode To avoid an obstacle when your boat is under autopilot control 1 Select a course change in the appropriate direction For example press 10 three times for a 30 dodge to port 2 When safely clear of the obstacle you can either reverse the previous course change for example press 10 three times or return to the previous locked heading LAST HDG Port Starb...

Page 24: ...ked heading as follows 1 Press auto for 1 second The display shows the previous locked heading LAST HDG for 7 seconds Note The direction to steer indicator shows the direction the boat will turn 2 To accept the previous heading and resume this course press auto within this 7 second period Note If you do not press auto while the display is flashing the autopilot will maintain the current heading D3...

Page 25: ...ear 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 ofuptooneminutebeforetheautomatictrimappliesruddert...

Page 26: ...adly balanced If you take the following precautions the autopilot will be able to maintain competent control even in gale force conditions You can significantly improve course keeping by improving the sail balance do not allow the boat to heel over excessively ease the mainsheet traveller to leeward to reduce heeling and weather helm if necessary reef the mainsail a little early Inverystrongwindsa...

Page 27: ...ot s course keeping accuracy and the amount of helm drive activity Response Level 1 AutoSeastate on Automatic deadband This setting causes the autopilot to gradually ignore repetitive boat movements and only react to true variations in course This provides the best compromise between power consumption and course keeping accuracy and is the default calibration setting Response Level 2 AutoSeastate ...

Page 28: ...make a temporary change to the rudder gain 1 Press the 1 and 1 keys together for 1 second to display the rudder gain RUDD GAIN screen Note If you have set up the RUDD GAIN screen as a default data page see page 104 you can also access it by pressing disp and then scrolling through the data pages 2 Press 1 or 1 to change the rudder gain 3 Press disp or wait for 5 seconds to return to the previous d...

Page 29: ...ult in the SeaTalk connection Off Course alarm OFFCOURSE The ST4000 activates this alarm when the boat has been off course from the lockedheading by morethan the specified angle forlonger than20seconds Itshowswhetherthedeviationistoportorstarboard Note You can adjust this specified alarm angle in Dealer setup see page 109 1 To cancel the off course alarm press standby to return to hand steering 2 ...

Page 30: ...r rudder end stops Data Not Received alarm NO DATA The ST4000 activates this alarm in any of the following situations the compass is not connected the autopilot is in Wind Vane mode and it has not received wind angle data for 30 seconds the autopilot is in Track mode and the boat has arrived at the last waypoint in the track or the autopilot is not receiving SeaTalk navigation data or the position...

Page 31: ...dvance by pressing standby to return to hand steering or auto to return to Auto mode Note Waypoint advance only operates if the ST4000 is receiving valid bearing to waypoint and waypoint number information Low Battery alarm LOW BATT The ST4000 activates the Low Battery alarm when the supply voltage drops below 10 V 0 5 V Responding to a Low Battery alarm To respond to a Low Battery alarm press sta...

Page 32: ...gage Auto mode directly from Watch mode pressing auto will only reset the Watch timer If you want to enter Auto mode you must first exit Watch mode see below Exiting Watch mode To exit Watch mode press disp to display a different data page or press standby Shallow alarm SHALLOW The ST4000 activates the Shallow alarm if it receives a shallow depth alarm via SeaTalk press standby or disp to cancel t...

Page 33: ...ssible illumination settings LAMP 3 LAMP 2 LAMP 1 OFF LAMP 1 LAMP 2 LAMP 3 and so on Note LAMP 3 is the brightest setting 3 The display automatically returns to the previous mode if you do not press a key for 7 seconds ifyoupressanothermodekeywithin7secondsyouwillselect themodeassignedtothatkey forexample autoselectsAuto mode standby selects Standby mode Note You can also adjust the lighting level...

Page 34: ... your autopilot 3 1 Using Track mode Tracking between waypoints created on navigation equipment connected to the autopilot system page 20 3 2 Using Wind Vane mode Using theautopilot to maintain a course relativetothe apparent wind angle page 27 3 3 Displaying data pages DescribeshowtousedatapagestodisplaySeaTalkand NMEA information on the control unit page 31 ...

Page 35: ...between two waypoints created on the navigation system The autopilot computes any course changes to keep your boat on track automatically compensating for tidal streams and leeway Selecting Track mode To select Track mode press the track key with the autopilot in Auto mode When you select Track mode the autopilot can acquire a track through either automatic acquisition see below when both cross tr...

Page 36: ...o turn the boat onto the new course 6 Press the track key the boat will turn onto the new course the display shows the new bearing to waypoint Manual track acquisition Ifyournavigationsystemonlyprovidescrosstrackerrorinformation you must acquire the track manually 1 Steer the boat to within 0 1 nm of track 2 Bringtheheadingtowithin5 ofthebearingtothenextwaypoint 3 Press auto 4 Press track to enter...

Page 37: ...possible to the direction of the next waypoint Make positive checks of the boat s position at regular intervals especially if you are close to potential navigational hazards Exiting Track mode You can return to either Auto or Standby mode from Track mode by pressing auto to return to Auto mode pressing standby to return to manual steering Cross track error Cross track error XTE is the distance bet...

Page 38: ...ross tide is too great for your boat s current speed Tidal stream compensation Under most conditions Track mode will hold the selected track to within 0 05 nm 300 ft or better The autopilot takes account of the boat s speed when computing course changes to ensure optimum performanceoverawiderangeofboatspeeds Inorderofpreference the ST4000 uses measured boat speed speed through water if this is not...

Page 39: ...ill turn to acquire the new track Advance WhentheST4000 soundstheWaypointAdvancealarm itsuspends Trackmodeandmaintainsthecurrentboatheading Toadvancetothe next waypoint 1 Check that it is safe to turn onto the new track 2 Press the track key This will cancel the Waypoint Advance alarm and turn the boat towards the next waypoint Note If you do not press track to accept the Waypoint Advance the ST40...

Page 40: ...ng a dodge maneuver In Track mode you can make a dodge maneuver by using the course change keys 1 1 10 or 10 to select the desired course change 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 Note Provided the boat remains within 0 1 nm of track you do not need to steer back towards the...

Page 41: ...rse steered and the distance logged Plot frequency In open water you should make plots at least every hour In confined waters or when near to potential hazards you should make plots more frequently Setting waypoints Local variations in radio signal quality and changes in the tidal stream can produce deviations from the desired track When setting waypoints remember that deviations can occur Thoroug...

Page 42: ...f turbulence and short termwindvariations This provides smooth and precise performance with minimal power consumption When the ST4000 is in Wind Vane mode it uses the fluxgate compass as the primary heading reference As changes in the apparent wind angle occur the ST4000 adjusts the locked compass heading to maintain the original apparent wind angle Selecting Wind Vane mode You can select Wind Van...

Page 43: ...apparent wind angle Note Because turning the boat affects the relationship between the true and apparent wind angles you should only use this method to make minor adjustments to the apparent wind angle For major changes return to Standby mode steer onto the new heading then reselect Wind Vane mode Returning to the previous apparent wind angle LAST WND If you have steered the boat away from the sel...

Page 44: ...ot will adjust both the locked heading and locked apparent 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 LAST WND Wind shift alarm If the autopilot detects a wind shift of more than 15 it will sound the wind shift alarm and display the WINDSHIFT alarm message see page 15 To cancel the alarm a...

Page 45: ...ting 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 gusts In gusty and unsteady inshore conditions it is best to sail a few degrees further off the wind so that chang...

Page 46: ... 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 Three data pages are set in the factory as a default see diagram Within User setup you can select up to seven pages and control the information they display see page 104 if the autopilot system cannot obtain the required information for a data page t...

Page 47: ...32 ST4000 Wheel Tiller Autopilots Owner s Handbook 3 Advanced Operation ...

Page 48: ...ntaining your autopilot system and obtaining product support 4 1 Fault finding This section provides a checklist to help you identify and resolve common autopilot problems page 34 4 2 General maintenance This section explains how to maintain your autopilot system page 36 4 3 Product support This section outlines the product support available from Raymarine worldwide page 40 ...

Page 49: ...corrected the compass for deviation carry out the deviation and alignment procedures see page 92 and page 95 Boat turns slowly and takes a long time to come onto course Rudder gain too low see page 96 Boat overshoots when turning onto a new course Rudder gain too high see page 96 The autopilot appears to be unstable in Track mode or track holding is slow If tide speed exceeds 35 of boat speed and ...

Page 50: ...ies of rotating dashes Compass deviation correction is running see page 92 Thecontrolunitdisplayshows a series of stationary dashes The control unit is not receiving data check the cabling Thecontrolunitdisplayshows NO DATA Thesignals receivedby thenavigator aretooweakforreliablenavigation refer to the navigator handbook for further action OR Wind trim data is not available check the connection to...

Page 51: ...e the material We recommend that you complete the following steps each season to preventthebuild upofsaltonthewheeldrivebearingsanddrivebelt 1 Remove the wheel drive from the wheel remove the wheel from the pedestal remove the spoke clamp screws remove the wheel drive front cover 2 Check inside the drive unit for any signs of damage 3 Thoroughly flush the wheel drive interior with fresh water to r...

Page 52: ...icks clockwise to tighten the clutch or 4 clicks anti clockwise to loosen the clutch 3 Use the allen key to re tighten the clutch knob screw 4 Check that the wheel still moves freely with the clutch off Note If the wheel does not move freely reduce the clutch tension by turning the clutch knob 2 clicks anti clockwise and check again 5 Check the drive s operation with the clutch engaged This proced...

Page 53: ...lied with the belt User serviceable parts You can obtain the following 4000 mk2 wheel drive spare parts from your Raymarine dealer Control unit Routine checks The control unit is a sealed unit As a result user maintenance is limited to the following routine checks make sure all cable connectors are firmly attached examine the cables for signs of wear or damage replace any damaged cables Part descr...

Page 54: ...romagnetic fields These can cause adjacent pieces of electrical equipment to interact with one another with a consequent adverse effect on operation To minimize these effects and enable you to get the best possible 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 ensu...

Page 55: ...al distributor service representative or the Raymarine Technical Services Call Center Refer to the back cover or the Worldwide Distributor List for contact details Software version If you cannot trace or rectify the fault contact your nearest Raymarine distributor or Service Representative specifying theproductserialnumber whichisprintedontherearcoverofthe autopilot the software version number pre...

Page 56: ...Part 2 Installing the ST4000 Part 2 Installing the ST4000 ...

Page 57: ...Part 2 Installing the ST4000 ...

Page 58: ...uidelines page 44 5 2 Control unit How to install the surface mount and flush mount control units and connect power SeaTalk and NMEA page 48 5 3 Fluxgate compass How to install the fluxgate compass page 55 5 4 Tiller drive tiller pilots only How to install the 4000 tiller drive page 59 5 5 Wheel drive wheel pilots only How to install the wheel drive page 70 5 6 Rudder position sensor wheel pilot o...

Page 59: ... pozi drive screwdriver drill and drill bits 5 mm 5 32 in for surface mount control unit 3 mm 1 8 in for compass and rudder position sensor pencil masking tape and center punch sandpaper file to smooth cut edges for the control unit jigsaw or 90 mm hole cutter for the control unit aperture SeaTalk cables if required see page 52 extra power cable if required see page 52 for the tiller drive only tw...

Page 60: ... 26 ft cable Also packed Handbook Quick Reference Card Worldwide Distributor List Compass warning label Control unit terminal cover if desired attach to rear of control unit after connecting all cables Gasket Control unit power cable 1 m 3 ft 3 in D5437 1 Mounting socket D002 Tiller pin D001 Socket Plug Socket screw No 4 x 3 4 in x2 Tiller drive Tiller drive parts Cable clip and screw No 6 x 1 2 i...

Page 61: ...s To ensure the best possible conditions for EMC performance within the constraints imposed by any location always ensure the maximum separation possible between different items of electrical equipment For optimum EMC performance it is recommended that wherever possible D5439 1 Wheel drive parts Clamp screw M5 x 16 mm x6 Wheel drive Pedestal bracket Spoke clamp x3 16 mm spoke clamp insert x3 12 mm...

Page 62: ... 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 manual Ifasuppressionferriteisattachedtoacable thisferriteshouldnot be removed If the ferrite needs to be removed during installation it m...

Page 63: ... can secure and run cables have sufficient space to accommodate the rear of the control unit and connectors allow at least 6 mm 1 4 in between adjacent control units and instruments so you can fit their sun covers CAUTION TheST4000 frontcoveris waterproofwhen installedaccording to the following instructions However the rear cover must be protectedfromwaterinaventilatedanddrainedarea Anywater or wa...

Page 64: ...xing studs 4 Use a 90 mm 3 55 in diameter cutter to drill the hole for the cable boss 5 Peel the protective sheet from the self adhesive gasket then stick the gasket into position on the rear of the control unit surround 6 Screw the fixing studs into the control unit 7 Pass the cables power compass SeaTalk etc through the bulkhead and connect them to the appropriate terminals as described later in...

Page 65: ...el the protective sheet from the self adhesive gasket then stick the gasket into position on the rear of the control unit surround 5 Screwthe twofixing studs intothethreadedsockets ontherearof the control unit 6 Pass the cables power compass SeaTalk etc through the bulkhead and connect them to the appropriate terminals as described later in this chapter 7 Place the assembled control unit studs and...

Page 66: ... connector and its plastic insulatingcover Incorrectfittingwillgiveintermittentcontactwhich will lead to faulty autopilot operation Power supply connection Theautopilotrequires its own dedicatedpower supply it cannot source its power from SeaTalk However it can be used to supply power to other SeaTalk instruments You must fit a12 A fuse or equivalent circuit breaker to the 12 V supply D3286 2 12 V...

Page 67: ...However if you want to connect your ST4000 control unit to other SeaTalk equipment you will need to purchase the necessary cables from your Raymarine dealer The following illustration shows the range of available SeaTalk cables Cable length Copper area AWG Up to 2 5 m 8 ft 1 0 mm2 18 Up to 4 0 m 13 ft 1 5 mm2 16 Up to 6 0 m 19 5 ft 2 5 mm2 14 Flat moulded plug to round plug Flat moulded plugs at e...

Page 68: ... for use in Track and Wind Vane modes Receiving NMEA data NMEA cabling Connect the NMEA navigator or wind instrument to the NMEA IN terminals on the rear of the ST4000 control unit D3392 2 SeaTalk bus Power supply Autopilot control unit rear D3374 2 Red data in ve Blue data in ve Navigator or wind instrument with NMEA output Data out ve Data out ve Control unit rear ...

Page 69: ...st page in the data page rollover the ST4000 always transmits water temperature in C Transmitting NMEA data to NMEA equipment If you want to transmit information to NMEA equipment you will need to connect a SeaTalk NMEA Interface part number E85001 to the SeaTalk bus to convert SeaTalk data to NMEA data Information NMEA 0183 data Course Over Ground VTG RMC RMA Speed Over Ground VTG RMC RMA Cross T...

Page 70: ...must mount it above deck To achieve the best performance from the compass mount it as near as possible to the boat s pitch and roll center to minimize compass disturbance at least 0 8 m 2 ft 6 in away from the boat s steering compass to prevent deviation of either compass awayfromthefrontthirdoftheboat otherwiseshockmotionwill affect compass performance away from potential sources of magnetic inte...

Page 71: ...hosen location then turn the boat through 360 The readings on the handheld compass and your boat s main steering compass if accurately aligned should not differ by more than10 at any heading Steel hulled boats Onsteel hulledboatsyoumustmountthecompassatleast1 2m 4ft above the main deck or wheelhouse Otherwise the compass will not work correctly because the hull will prevent it from sensing the Ear...

Page 72: ... orientation CAUTION You must mount the fluxgate compass on a vertical bulkhead with the cable exiting at the base 1 Hold the compass against the mounting location 2 Mark the four mounting holes then remove the compass 3 Drill four pilot holes using a 3 mm 1 8 in drill bit 6 ft 1 8 m D5383 1 4 ft 1 2 m 4 ft 1 2 m D5384 1 Vertical ...

Page 73: ...necting to the control unit 1 Thecompassis suppliedwith 8m 26ft ofcable Routethecable to the control unit taking into account the EMC installation guidelines page 46 Note Makesureyouleavesomesparecableso ifnecessary youcan re position the compass to reduce deviation If the standard cable is not long enough your Raymarine dealer can supply a 10 m 30 ft extension cable part number D174 2 Connect the...

Page 74: ... Dimension A 620 mm 24 5 in the distance from the mounting socket to the tiller pin Pullout the drivepushrodto this dimension Note If your installation requiresapushrodextension see page 61 or cantilever mount see page 65 this dimension will increase Dimension B 460 mm 18 in the distance from the rudder stock s center line to the tiller pin A 620 mm 24 5 in 468 mm 18 4 in 38 mm 1 5 in 44 mm 1 7 in...

Page 75: ...s described on page 86 2 Make sure the measurements are at right angles as shown on the diagram 3 Make sure that the drive unit is mounted horizontally Basic installation After establishing the control dimensions A and B you can usually mount the tiller drive directly onto the cockpit seat Installing the tiller pin part no D001 1 Drill a 6 mm 1 4 in diameter hole to a depth of 25 mm 1 in at the fi...

Page 76: ...pecified size and reinforce where necessary allow the epoxy to harden completely before apply a load Installation accessories Ifyouarenotabletoinstallthedriveunitdirectlyontothecockpitseat or tiller as described use one or a combination of the following accessories pushrod extensions tiller brackets cantilever sockets pedestal sockets Pushrod extensions If you need to increase the pushrod length b...

Page 77: ...pushrod 2 Screw the extension into the pushrod 3 Screw the pushrod end into the pushrod extension Dimension C Pushrod extension length L Part no 620 mm 24 5 in Standard dimension 648 mm 25 5 in 25 mm 1 in D003 673 mm 26 5 in 51 mm 2 in D004 699 mm 27 5 in 76 mm 3 in D005 724 mm 28 5 in 102 mm 4 in D006 749 mm 29 5 in 107 mm 5 in D007 775 mm 30 5 in 152 mm 6 in D008 L C D285 2 ...

Page 78: ...below and establish the critical dimensions A and B Note To measure dimension B on a boat with a sloping rudderstock refer to the diagram on page 65 2 Mark the centers of the two bracket mounting holes 3 Drill two 6 mm 1 4 in diameter holes through the center line of the tiller at the positions you have marked 4 Attach the tiller bracket using two 6 mm 1 4 in diameter bolts nuts and washers 5 Bond...

Page 79: ...64 ST4000 Wheel Tiller Autopilots Owner s Handbook 5 Installing the ST4000 D286 2 D E D287 2 ...

Page 80: ...ntilever rod to length 1 Clamp the tiller on the boat s center line 2 Measure dimension F actual 3 Refer to the table to establish a cutting length for the cantilever rod double check measurements before cutting 4 Measure the rod from threaded end then cut the cantileverrod to length L using a hacksaw Remove any sharp edges with a file Dimension F Cut length L 686 mm 27 in 51 mm 2 in 711 mm 28 in ...

Page 81: ...alant 5 Use three 6 mm 1 4 in diameter bolts nuts and washers to attach the mounting ring to the backing plate with the backing plate on the other side of the mounting surface as shown above 6 Screw the rod firmly into place 7 Roughen the end of the cantilever rod and the inside of the cap to provide a key Then apply two part epoxy adhesive to the rod end and the cap 8 Place the cap over the rod e...

Page 82: ...ive horizontal measure dimension G 4 Select the appropriate pedestal socket assembly from the table Mounting the pedestal socket 1 Mark the mounting ring s position on the cockpit seat or counter 2 Ensure that control dimensions A and B are correct 3 Mark the bolt holes on the mounting ring and then drill three 6 mm 1 4 in diameter holes Dimension G Pedestal socket length L Part no 38 mm 1 5 in St...

Page 83: ... unit Connect the tiller drive to the control unit via the waterproof plug and socket supplied The plug comes ready assembled to the tiller drive Mount the socket in the cockpit next to the tiller drive Cabling 1 Measure the total length of cable run from the control unit to the socket location Use this table to identify the appropriate power cable size 2 Route the cable from the control unit to t...

Page 84: ...holes Remove the template 3 Pass the cable through the bulkhead and attach to the socket making sure you connect each core to the correct pin as shown 4 Attach the socket to the bulkhead using the two self tapping screws Use cable clamps to secure the drive cable at regular intervals Brown Blue D3284 2 D383 5 Drive brown 2 stripe terminal Drive blue 3 stripe terminal To the control unit Terminal i...

Page 85: ...ll degrade autopilot performance so always try to minimize this lost motion If you are installing the wheel drive on a hydraulic steering system Wheel drive main parts see page 114 for dimensions Installation stages Installing the wheel drive involves four stages 1 Drilling the spoke clamp holes in the front cover 2 Securing the wheel drive to the wheel 3 Attaching the pedestal bracket 4 Connectin...

Page 86: ...d and use your other hand to pull the cover up and away from the drive unit as shown below 2 Identify the appropriate spoke clamp holes for your wheel With the arrow at the top refer to the following diagrams the holes are numbered inside the cover e g if you have a 5 spokewheel youneedtodrillthe4locationsmarkedwith 5 mark the appropriate spoke clamp holes and check them by holding the cover again...

Page 87: ...A18089 3 Drill the appropriate spoke clamp holes using the larger of the supplied drill bits 6 0 mm or 1 4 in drill from the inside placing a piece of scrap wood under the cover to produce a clean exit hole you will need to drill 4 new holes so the cover has 6 holes in total 2 for each spoke clamp Note Thespokeclampswill covertheseexitholes sotheywillnotbe visible when the wheel drive is installed...

Page 88: ... clamp holes align with their threaded inserts Note Thecoverwillonlyfitbackontothewheeldrivewhenyouhave aligned the two parts correctly 5 Fit the cover back onto the wheel drive press the cover in the three places shown on the diagram below to push each of the posts back into its locating socket Note This step is easier with the clutch engaged Pre drilled holes marked with arrow Pair of threaded i...

Page 89: ... spoke clamp lubricate the spoke with washing up liquid so you can slide the spoke clamp along the spoke to adjust its position place the insert on the spoke about 135 mm 5 3 in from the wheel center this distance is not critical as the wheel drive will self center as you fit all 3 spoke clamps place the spoke clamp onto the insert making sure that you have correctly located the clamp insert in th...

Page 90: ...n one of two ways Slot1installation thestandardpositionusesslot1onthebackof the wheel drive the slot closest to the motor tube so the motor tube is at the bottom to the right of the pedestal Slot 2 installation the alternative installation uses slot 2 to position the motor tube at the top to the left of the pedestal Select the appropriate slot so the motor tube is clear of obstructions CAUTION If ...

Page 91: ...t to hold the wheel in position so you can locate the bracket correctly 2 Measure dimension A the distance between the front of the pedestalandtherearedgeofthedrive sfront cover seediagram you may find it easiest to hold the bracket below the wheel drive and mark dimension A directly on the pin Note If the wheel is bent or not running true dimension A will change with the wheel position Measure th...

Page 92: ...aking sure the slot is central at the bottom of the drive unit 6 o clock position and the pin is in the middle of the slot carefully draw around the bracket 6 Remove the wheel then hold the bracket on the pedestal in the location you have marked 7 Check the position and alignment of the pedestal bracket the bracket pin should be 154 mm 6 1 in below the pedestal spindle see the following diagram th...

Page 93: ...lied drill bit to drill a 4 0 mm 5 32 in diameter hole Note Drill at right angles to the pedestal surface 10 Hold the bracket in place then lightly tighten the four cross head screws No 10 x 3 4 in As you do this make sure the bracket is correctly aligned 11 Replace the wheel making sure that you locate the pin in the correct slot slot 1 or slot 2 12 Turn the wheel with the clutch off to check tha...

Page 94: ...supplied with 4 5 m 15 ft of 2 core cable with a waterproof socket at one end 1 Connect the socket to the plug on the wheel drive s motor tube remove the socket cover pull back the plug cover align the locking ring plug and socket as shown below push the plug firmly into the socket turn the locking ring 90 clockwise make the connection waterproof by pulling the plug cover across so it protects the...

Page 95: ...thepedestal orguardrail andbacktothe control unit if the pedestal has a cable duct use this for the drive cable to make sure that it cannot foul the steering mechanism 3 Run the drive cable back to the control unit and connect the two cores to the Drive terminals as shown D5338 1 Brown Blue D3284 2 ...

Page 96: ...derpositionsensorconnectsdirectlyto theboat stillerarmor quadrant Installing the sensor involves five main steps ensuring correct alignment securing the sensor to the boat attaching the sensor to the tiller arm checking alignment connecting to the control unit Ensuring correct alignment CAUTION Take care to ensure correct rudder sensor alignment If the sensor is not correctly aligned the autopilot...

Page 97: ...es from hardover to hardover the sensor arm and the tiller arm must remain parallel to each other at all times sensor arm movement must not exceed 60 if the steering system drives the sensor arm beyond these limits it will damage the rudder position sensor Maximum permitted travel 60 Cable entry Parallel Minimum 75 mm 3 in Maximum 310 mm 12 in 90 60 60 Min 101 mm 4 in Optimum 140 mm 5 5 in Max 190...

Page 98: ... Tomakeminoradjustmentstothesensoralignment loosenthe screws rotate the sensor body then re tighten the screws Attaching the sensor to the tiller arm Attaching the tiller pin to the tiller arm 1 For optimum performance mount the tiller pin on the tiller arm 140 mm 5 5 in from the rudder stock center line Note If necessary you can fit the tiller pin anywhere between 101 mm 4 in and 190 mm 7 5 in fr...

Page 99: ...he rudder from hardover to hardover and check that at all rudder angles all moving parts of the sensor remain free from any obstructions the sensor and connecting rod remain accurately aligned the ball joints do not bind Connecting to the control unit 1 The rudder position sensor is supplied with 10 m 32 ft of cable Route the cable to the control unit taking into account the EMC installation guide...

Page 100: ... as described in Chapter 7 Customizing the ST4000 6 1 Functional test This consists of a few basic teststo confirm that you have connected the system correctly page 86 6 2 Check rudder sensor operation if fitted This is necessary if you have fitted an optional rudder position sensor wheel drivesonly page 90 6 3 Initial sea trial The purpose of the initial sea trial is to swing the compass and alig...

Page 101: ...ype for two seconds the control unit will then display the Standby screen Troubleshooting If the head does not beep check the fuse circuit breaker If the display shows the SEATALK FAIL alarm message check the SeaTalk connections Autopilot steering direction The autopilot steering direction defines which way the autopilot applies helm when you press a course change key or when the boat goes off cou...

Page 102: ...erate the wheel drive clutch lever 2 Press the 10 key The helm should move to produce a turn to starboard 3 If the helm produces a turn to port reverse the drive connections on the back of the control unit D5341 1 Engage the clutch on the wheel pilot Wheel pilot Tiller pilot Use these keys to extend or retract the pushrod a b D3568 2 ...

Page 103: ...more of the following a cabling error check foran open circuit short circuit or reversed wires the navigator is not configured to transmit the required data format the navigator is receiving signals that are too weak for reliable navigation refer to the navigator handbook for further action Wind instrument interface If you have connected the ST4000 to a NMEA or SeaTalk wind instrument check the li...

Page 104: ...eck the links as follows 1 Press standby 2 Select display lighting level 3 LAMP 3 on any other SeaTalk instrument or control unit 3 The ST4000 should immediately respond by switching on its display lighting if the display lighting does not switchon there is a fault in the SeaTalk cabling between the ST4000 and the other instruments control units LAMP D5336 1 ...

Page 105: ...heck the rudder bar display the rudder angle should be within 7 of center If necessary bring the rudder angle to within 7 of the center by loosening the mounting bolts on the rudder position sensor rotating the base of the sensor until the reported rudder angle is as close to zero as possible re tightening the bolts 4 When the offset is less than 7 use the rudder alignment ALIGN RUD setting in Dea...

Page 106: ...f boats You should perform the initial sea trial when you have successfully completed all of the installation functional tests and rudder sensor checks before making any other changes to default calibration settings check and if necessary reset the values to the recommended levels described in Chapter 7 Customizing the ST4000 in conditions of light wind and calm water so you can assess autopilot p...

Page 107: ...opilot s performance will be impaired on some compass headings Thedeviationcorrectionprocedure swingingthecompass involves turning your boat in slow circles so the ST4000 can determine the deviation and calculate any correction required You must carry out this procedure in calm conditions and preferably on flat water Performing the automatic deviation correction 1 Make sure the autopilot is in Sta...

Page 108: ...les You should take at least 3 minutes to complete each 360 What if I turn the boat too quickly If you turn the boat too quickly for the autopilot to correct the compass the screen will display a TOO FAST message Apply less helm to turn in a larger circle Can I cancel the process You can abort the correction process by pressing the disp key to move onto the DEVIATION screen D3451 2 OR D3326 2 Mini...

Page 109: ...rocedure from step 4 6 Keep turning the boat until the unit beeps and displays the DEVIATION screen to indicate that compass correction has been completedsuccessfully Thisshowsthemaximumdeviationasan average over 360 not as an east west value Note If the deviation value exceeds 15 or the display shows no deviation value move the compass to a better location see page 55 7 Press the disp key to move...

Page 110: ... lowest average alignment error You 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 deviationcorrectionprocedureagain circlingslowerandin move favorable conditions Checking autopilot operation After calibrating the compass familiarize yourself with autopilot operation 1 Steer onto a compass head...

Page 111: ...ave action does not mask basic steering performance 2 Switch the autopilot to Auto then make a 40 course change by pressing the 10 or 10 key four times if the rudder gain is adjusted correctly the 40 course change should result in a crisp turn followed by an overshoot of no more than 5 if the rudder gain setting is too high the 40 course change will result in a distinct overshoot of more than 5 A ...

Page 112: ...isp or wait for 5 seconds to return to the previous display and save the temporary changes 4 Repeat the test until you achieve a crisp course change with no more 5 of overshoot Note Set the rudder gain to the lowest value that gives accurate course keeping By minimizing helm movements this will reduce power consumption and wear 5 When you have determined the correct setting change the permanent ru...

Page 113: ... help the autopilot provide its best performance Step 2 Apply initial settings Enter the Dealer setup mode see page 106 and apply the following initial settings Calibration setting Power boat Sail boat Calibration lock OFF OFF Pilot type Use the default setting Rudder gain see step 4 5 5 Response 2 1 Turn rate limit Use the default setting Rudder alignment Set asdescribed on page 90 Rudder limit S...

Page 114: ... rudder to overcome standing helm and bring the boat fully onto course Over a periodofminutestheAutoTrimfunctionwillapplymorerudderuntil it achieves the desired course Increasing the AutoTrim level reduces the time the autopilot takes to get back to the correct course But if the AutoTrim level is too high the boat will snake around the desired course You should gain experience with your autopilot ...

Page 115: ...100 ST4000 Wheel Tiller Autopilots Owner s Handbook 6 Setting up the ST4000 ...

Page 116: ...ealersetupvalues However if sailing conditions change you may need to adjust the settings Note Complete the procedures described in Chapter 6 Setting up the ST4000 before adjusting any calibration settings The sections in this chapter explain the two setup levels Accessing the setup modes Note See page 40 for more information about the software version screen 7 1 User setup This controls compass s...

Page 117: ...n Compass deviation correction SWING COMPASS This screen allowsyouto correct thecompassfordeviatingmagnetic fields Youmustperformthisprocedureasthefirstiteminyourinitial sea trial see page 91 for full details Deviation display DEVIATION This screen shows the current deviation value calculated from the compassdeviationcorrectionprocedure seepage 91forfulldetails You cannot edit this value Heading a...

Page 118: ...Chapter 7 Customizing the ST4000 103 7 Customizing the ST4000 2 SECONDS D3341 2 Adjusting User setup values Quitting User setup OR SECONDS ...

Page 119: ...ly shows the title DATA PAGE After 1 second the text changes to the title of the data currently set for that page The default settings are To change the data displayed on a data page Press disp to move to the appropriate data page setup screen For each setup page use the 1 or 1 keys to scroll forwards or backwardsthroughtheavailabledatapages seefollowingtable Mode Bar Standby Rudder bar for system...

Page 120: ...DING 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 Universal Time Coordinated UTC NOT USED Page not displayed Any data page set to NOT USED is not displayed when yo...

Page 121: ...setup The rest of this section explains each of the Dealer setup screens Thefollowingtableliststhesettingsyoucanadjust Ifyouchangeany of the settings record them in this table Feature Options Range Default setting New setting Calibration lock ON or OFF OFF Pilot type 4000 WHL or 4000 TILL wheel 4000 WHL tiller 4000 TILL Rudder gain 1 to 9 5 Response 1 AutoSeastate on or 2 AutoSeastate off 1 Turn l...

Page 122: ...Chapter 7 Customizing the ST4000 107 7 Customizing the ST4000 SECONDS Adjusting Dealer setup values Quitting Dealer setup SECONDS OR D5333 1 ...

Page 123: ...level RESPONSE This is the permanent power on response setting You can make temporary changes to this response level setting during normal operation see page 12 Turn limit TURN RATE This limits your boat s rate of turn under autopilot control The value must be within the range 5 to 40 Rudder alignment ALIGN RUD Set this option if you have connected a rudder position sensor to your wheel pilot syst...

Page 124: ...display to determine the end stop angle 2 Access the rudder limit screen RUD LIMIT 3 Set the autopilot rudder limit so that it is 5 less than the smallest port or starboard mechanical end stop angle Off course alarm OFF COURSE This feature controls the alarm that warns you if the autopilot is unableto maintainitssetcourse Thealarmoperatesifthepilotstrays offcoursebymorethanthealarmanglelimitformor...

Page 125: ...fect of the setting while under sail decreasetheAutoTrimleveliftheautopilotgivesunstablecourse keeping and the boat snakes around the desired course increase the AutoTrim level if the autopilot hangs off course for excessive periods of time Drive type DRIVE TYP The drive type setting controls how the autopilot drives the steering system Retain the default setting DRIVE TYP 1 for mechanically drive...

Page 126: ...north in the northern hemisphere Sth south in the southern hemisphere 2 You then need to enter your current latitude in the next setup screen LATITUDE so that the ST4000 can provide accurate course keeping by automatically adjusting the rudder gain depending on the heading Latitude LATITUDE The ST4000 only displays this screen if you have set AutoAdapt to nth or Sth Use the 1 and 1 keys to set the...

Page 127: ...ing when your boat is moored dockside press auto and then 10 if the helm overshoots and has to drive back or starts to hunt back and forth you need to increase the damping level adjust the damping one level at a time and always use the lowest acceptable value Cruise speed CRUISE SP Set the cruise speed to the boat s typical cruising speed If both the boat sspeedthroughthewaterandspeedovergroundare...

Page 128: ...ensions Keypad Eight button illuminated keypad Liquid Crystal Display LCD shows heading locked course and navigational data data pages as selected see page 104 three brightness levels off Input connections SeaTalk power fluxgate compass rudder position sensor and NMEA 0183 Output connections SeaTalk and motor drive Drive unit Maximum boat displacement Wheel drive Tiller drive 8 500 kg 18 700 lb 6 ...

Page 129: ...2 2 Control unit dimensions Tiller drive dimensions midstroke 620 mm 24 5 in 468 mm 18 4 in 38 mm 1 5 in D5436 1 D5370 2 361 mm 14 2 in diameter 228 mm 9 0 in diameter 135 mm 5 3 in 171 mm 6 7 in plus 60 mm 2 4 in for cable clearance motor tube 48 mm 1 9 in diameter Wheel drive dimensions 28 mm 1 1 in 152 mm 6 0 in 154 mm 6 1 in ...

Page 130: ...jacent piecesofelectrical equipmenttointeractwith one another and this can degrade their performance By following the EMC guidelines in this handbook you can minimize these effects by ensuring optimum Electromagnetic Compatibility EMC between equipment Fluxgate Standard Raymarine compass supplied with ST4000 autopilot system ft Foot 1 ft 305 mm GPS Global Positioning System Hz Hertz cycles per sec...

Page 131: ...to correct course errors The higher the setting the more rudder will be applied rpm Revolutions per minute SeaTalk SeaTalk is Raymarine s proprietary communication system It links the products to provide a single integrated system sharing power and data SeaTalk bus Thisrefers to the continuous SeaTalk system connecting together a series of Raymarine units SM Statute land mile SSB Single Side Band ...

Page 132: ...ustment 37 Compass Alignment 94 Automatic deviation correction 92 Connections 58 Deviation correction 102 Deviation display 102 Installation 55 Steel hulled boats 56 Control unit installation 48 Course changes 8 Major course changes 10 Cross track error XTE 22 Cruise speed 112 Customizing the autopilot 101 Dealer setup 106 User setup 102 D Data pages 31 Setting up 104 Deadband 12 Dealer setup 106 ...

Page 133: ...B 17 Manual track acquisition 21 Minimum deadband 12 N Navigation Data pages 31 Interface 88 NMEA Connections 53 Data formats 54 No data alarm NO DATA 15 O Off course alarm OFFCOURSE 14 Default angle 109 Operating modes 1 Auto mode 6 Standby mode 7 Track mode 20 Watch mode 16 Wind Vane mode 27 Operating sense 86 P Pilot type 108 Previous heading 9 Product support 40 R Response level 12 Default set...

Page 134: ...dvice 25 Turn limit 108 U User setup 102 V Vane mode see Wind Vane mode Variation 110 W Watch mode Watch alarm WATCH 16 Waypoint advance alarm NEXT WPT 15 20 Waypoint arrival and advance 24 Wheel drive Clutch adjustment 37 Installation 70 Maintenance 36 Wind instrument interface 88 Wind shift alarm WINDSHIFT 15 29 Wind Vane mode 27 Adjusting apparent wind angle 28 Previous apparent wind angle 28 W...

Page 135: ...120 ST4000 Wheel Tiller Autopilots Owner s Handbook ...

Page 136: ...h diameter Drill 5 mm 3 16 inch diameter hole Drill 5 mm 3 16 inch diameter hole Control unit surface mount template Drill 2 5 mm 3 32 inch diameter hole 2 positions Drill 18 mm 23 32 inch diameter hole Tiller drive plug template D5411 1 ...

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Page 138: ...Remove the shaded area TOP 109 mm 4 3 in Control unit flush mount template 114 mm 4 5 in 4 holes 6 mm 0 25 in diameter D4437 3 ...

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Page 140: ...Spoke clamp Spoke diameters Wheel drive spoke clamp template Center of wheel Spoke clamp insert D5410 1 135 mm 5 3 in 16 mm 5 8 in 12 mm 1 2 in ...

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Page 142: ...Aft Cable position Drill 3 mm 1 8 in diameter hole 3 positions D3440 2 Rudder positioned amidships Rudder position sensor template Maximum permitted travel 60 ...

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Page 144: ...p in impeller carriers impellers impeller bearings and impeller shaft are specifically excluded from this Warranty Magnetrons Cathode Ray Tubes CRT TFT Liquid Crystal Displays LCD and cold cathode fluorescentlamps CCFL hailerhornsandtransducersarewarrantedfor1year 12monthsfromdate of sale These items must be returned to a Raymarine facility All costs associated with transducer replacement other th...

Page 145: ...Telephone 1 800 539 5539 Ext 2333 or 1 603 881 5200 Ext 2333 Customer Support Telephone 44 0 23 9271 4713 Fax 44 0 23 9266 1228 Technical Support Telephone 1 800 539 5539 Ext 2444 or 1 603 881 5200 Ext 2444 Email techsupport raymarine com Email techsupport raymarine com Product Repair Center Telephone 1 800 539 5539 Ext 2118 Purchased from Purchase date Dealer address Installed by Installation dat...