Raymarine Autopilot Control Unit Handbook
2014-12-13
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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 Technology), AutoAdapt, AutoLearn, AutoRelease, AutoSeastate, AutoTack, AutoTrim, FastTrim, GyroPlus, RayGyro, RayPilot and WindTrim are trademarks of Raymarine Ltd. Handbook contents © Raymarine Ltd 2001. Preface iii 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 – Type 150G/400G ............................. 7 Adjusting performance – Types 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 Waypoint arrival and advance ................................................. 21 Waypoint Advance warning – summary ................................. 22 Dodges in Track mode ............................................................ 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 AutoTack in Wind Vane mode ...................................... 28 Operating hints for Wind Vane mode ...................................... 29 3.3 Adjusting the rudder gain ........................................................ 29 3.4 Displaying data pages ............................................................. 31 Waypoint names ..................................................................... 32 Watch timer ............................................................................. 32 Warning 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 SeaTalk 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 SeaTalk 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: Types 150/150G & 400/400G . 101 Dealer Calibration options: Types 150/150G & 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 Type 100/300 ..... 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 Welcome to the handbook for the ST7001+ autopilot control unit. This handbook contains two main parts: Part 1: Using the ST7001+ 1 Chapter 1: Introduction Introduces the autopilot, its features and its use. page 1 2 Chapter 2: Basic Operation Covers basic autopilot operation: using Auto mode, 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, adjust rudder gain and display data pages. page 17 4 Chapter 4: Fault Finding & Maintenance Provides general maintenance procedures and trouble-shooting information (including alarm messages). page 35 Part 2: Installing the ST7001+ 5 Chapter 5: Installing the ST7001+ Explains how to install your ST7001+ control unit and connect it to your autopilot system. page 45 6 Chapter 6: Commissioning the Autopilot Covers dockside checks after installation, and the initial seatrial calibration. page 55 7 Chapter 7: Adjusting Autopilot Settings Provides details on adjusting the control unit and autopilot settings in Calibration mode. page 75 At the end of this handbook we have included an appendix, product specifications, a glossary, an index, installation template, and warranty information. 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. viii ST7001+ Autopilot Control Unit - Owner’s Handbook Important Information Warranty To register your new Raymarine product, please take a few minutes to fill out the warranty card. It is important that you complete the owner information and return the card to us to receive full warranty benefits. Safety notices WARNING: Product installation This equipment must be installed and operated in accordance with the instructions contained in this handbook. Failure to do so could result in poor product performance, personal injury and/or damage to your boat. WARNING: Electrical safety Make sure the power supply is switched off before you make any electrical connections. WARNING: Calibration We supply this product calibrated to default settings that should provide initial stable performance for most boats. To ensure optimum performance on your boat, you must complete Chapter 6: Commissioning the Autopilot before use. WARNING: Navigation aid Although we have designed this product to be accurate and reliable, many factors can affect its performance. As a result, it should only be used as an aid to navigation and should never replace common sense and navigational judgement. Always maintain a permanent watch so you can respond to situations as they develop. Your Raymarine autopilot will add a new dimension to your boating enjoyment. However, it is the skipper’s responsibility to ensure the safety of the boat at all times by following these basic rules: • Ensure that someone is present at the helm AT ALL TIMES, to take manual control in an emergency. Preface 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 position by using either a navigation aid or visual bearings. Maintain a continuous plot of your boat’s position on a current chart. Ensure that the locked autopilot heading will steer the boat clear of all obstacles. Make proper allowance for tidal set – the autopilot cannot. Even when your autopilot is locked onto the desired track using a navigation aid, always maintain a log and make regular positional plots. Navigation signals can produce significant errors under some circumstances and the autopilot will not be able to detect these errors. EMC conformance All Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine environment. The design and manufacture of Raymarine equipment and accessories conform to the appropriate Electromagnetic Compatibility (EMC) standards, but correct installation is required to ensure that performance is not compromised. Handbook information To the best of our knowledge, the information in this handbook was correct when it went to press. However, Raymarine cannot accept liability for any inaccuracies or omissions it may contain. In addition, our policy of continuous product improvement may change specifications without notice. As a result, Raymarine cannot accept liability for any differences between the product and the handbook. 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 1 Introduction D54 61- 1 ® The Raymarine ST7001 Plus (ST7001+) is a SeaTalk compatible autopilot control unit. It is designed as the main control unit for Raymarine Type 150, 150G, 400 and 400G course computers. The ST7001+control unit has the following modes: 1. Standby: autopilot off (see page 6) 2. Auto: autopilot steers the boat to maintain a locked heading (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) 5. Calibration: so you can adjust the autopilot to give optimum performance for your boat (see page 76). This includes automatic compass deviation correction (all autopilots) and AutoLearn automatic steering calibration (Type 150G/400G systems only) The ST7001+ also provides: • • • automatic tack (AutoTack) in Auto and Wind Vane modes Northerly/Southerly heading compensation waypoint advance feature in Track mode 2 ST7001+ Autopilot Control Unit - Owner’s Handbook 1 Introduction Functions with Type 150/150G and 400/400G autopilots The functions provided with Type 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) Internal GyroPlus yaw sensor provides Full basic functionality: uses Raymarine enhanced course keeping using AST steering algorithm without AST (Advanced Steering Technology) Improved track-keeping Improved track-keeping Steering to true and apparent wind in Wind Vane mode Steering to true and apparent wind in Wind Vane mode Improved calibration access, including Improved calibration access, but AutoLearn (self-learning calibration) without AutoLearn Extended systems You can connect the ST7001+ to other Raymarine SeaTalk 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 SeaTalk navigation instrument to provide track control it can use boat speed from a SeaTalk speed instrument to optimize track-keeping performance You can also use the ST7001+ autopilot with any navigator (GPS, Decca, Loran) or wind instrument that transmits National Marine Electronics Association (NMEA) 0183 data. The ST7001+ can display SeaTalk and NMEA instrument data in a user-defined selection of data pages. When you are using the ST7001+ to repeat instrument data, it 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 Type 100 and Type 300 course computers (see the Appendix for more details). You 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 Summarizes the key functions and screen layout on the ST7001+ control unit. page 4 2.2 Using Auto mode Provides instructions for engaging/disengaging the autopilot, using Auto mode and adjusting the autopilot’s performance. page 6 2.3 Adjusting display/keypad lighting and contrast Explains how to change the lighting and contrast on the control unit display and keypad. page 15 Note: If you are using the control unit with a non-150/400 autopilot system, refer to the notes in the Appendix. 2 Basic Operation 2.1 4 ST7001+ Autopilot Control Unit - Owner’s Handbook 2.1 Using the control unit Start-up mode The autopilot always powers up in Standby mode with the display showing the boat’s current compass heading. Note: You can press standby at any time to return to manual steering. 2 Basic Operation Keypad functions The autopilot is controlled using simple 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. 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 & Press to adjust calibration parameters, response and gain disp 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 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 auto Press for Auto mode Press for 1 second for Last Heading Press again to accept Last Heading 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 D5448-1 Chapter 2: Basic Operation 5 Display layout The ST7001+ display screen provides the following information: 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 2 Basic Operation Heading indicators Port and Starboard direction-to-steer indicators Calibration mode indicator (displayed on calibration pages) 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 heading/cross track/wind error bar in Display Calibration, see page 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) To engage the autopilot: 2 Basic Operation 1. Steady the boat on the required heading. 2. Press auto: • in Auto mode, the display shows the locked autopilot heading D5515-1 CAUTION: Autopilot course control makes it easier to sail a boat, but it is NOT a substitute for good seamanship. ALWAYS maintain a permanent watch by the helm. Disengaging the autopilot (Standby mode) Press standby to disengage the autopilot: • • in Standby mode, the display shows the 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° course change to port. Port Starboard or D3320-2 Adjusting performance – Type 150G/400G The main way you can adjust the performance of Type 150G/400G (GyroPlus) autopilot systems is by changing the response level. This is the only user adjustment you should need to make to the 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. Type 150G and 400G autopilot systems have 9 levels 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 normal operating conditions – with crisp, well controlled turns but without being over-aggressive level 9 gives the tightest course keeping and greatest rudder activity, but may lead to a rough passage in open waters as the autopilot may ‘fight’ the sea When you require extra tight course keeping (e.g. for pilotage in confined and sheltered waters), increase the setting. If you want to minimize drive activity and conserve battery power, decrease the setting. 2 Basic Operation or 8 ST7001+ Autopilot Control Unit - Owner’s Handbook You 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 using your autopilot on a day-to-day basis, you can make temporary adjustments to the response level. By doing this you can match autopilot performance to different conditions. Temporary changes to response – Type 150G/400G 2 Basic Operation With these points in mind, you should use the following procedure to make temporary adjustments to the response level when required: 1. Display the RESPONSE screen by pressing either the resp key or the -1 and +1 keys together momentarily. Decrease response OR Increase OR response OR and D5453-1 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 the 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: You will lose these temporary changes to response level whenever the system is powered off. You can make permanent adjustments in User or Dealer Calibration (see page 89). Chapter 2: Basic Operation 9 Adjusting performance – Types 150/400 and 100/300 To adjust the performance of Type 150/400 (non-GyroPlus) and Type 100/300 autopilot systems you can change the response level. 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. You can adjust the default response level in either User or Dealer Calibration (see page 89). This determines the default power-up response level. Type 150/400 (without GyroPlus) and Type 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 consumption and course keeping accuracy, and is the default calibration setting. Response Level 2: AutoSeastate off (Minimum deadband) This setting provides tighter course keeping. However, this results in increased power consumption and drive unit activity. Response Level 3: AutoSeastate off + yaw damping This setting provides the tightest 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 RESPONSE screen by pressing either the resp key or the -1 and +1 keys together momentarily. 2. Press -1 or +1 or the up arrow or down arrow keys to change the response between levels 1 to 3. 3. Press disp or wait for 5 seconds to return to the previous display. Note: You will lose these temporary changes to response level whenever the system is powered off. You can make permanent adjustments in User or Dealer Calibration (see page 89). 2 Basic Operation However, when using 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 conditions. 10 ST7001+ Autopilot Control Unit - Owner’s Handbook Off Course warning = deviation to port = deviation to starboard 2 Basic Operation 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: * You can adjust this specified off course angle in Dealer Calibration (see page 97). 1. To cancel the off course warning, press standby to return to hand steering. 2. Check whether your boat is carrying too much sail, or whether the sails are badly balanced. You can usually significantly improve course keeping by improving the sail balance. Note: The ST7001+ also clears the warning if the heading recovers, if you change the course, or if you change the operating mode. Dodging obstacles and then resuming course To avoid an obstacle when your boat is under autopilot control, 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) 1. Press 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. 2. To accept this heading, and resume this course, press auto when the display is flashing. Note: If you do not press auto while the display is flashing, the autopilot will maintain the current heading. Returning to last heading Obstacle Original course Dodge D5498-1 Resumed course 2 Basic Operation 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 previous locked heading (the most recent heading held for 20 seconds). To do this: 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). 2 Basic Operation To set up a course: 1. Press the set crs key. You will then see the SETCOURSE screen with a flashing heading. 2. Use the -1, +1, -10 and +10 keys to set the heading you want. 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 disp key or waiting 10 seconds for the screen to time-out. To accept the heading you have set on the SETCOURSE screen: 1. Press set crs to show the SETCOURSE screen. 2. Press auto: the control unit will sound an alarm and show the direction the autopilot will steer (PORT or STARBOARD). 3. Press auto again to accept the new heading. The autopilot will then turn the boat onto the set course. Using sail boat features Automatic tack (AutoTack) The ST7001+ has a built in automatic tack facility (AutoTack) that turns the boat through 100° in the required direction. If you have set the vessel type to SAIL BOAT, you can adjust the default AutoTack angle in User or Dealer calibration (see page 87). • • to AutoTack to port: press the -1 and -10 keys together to AutoTack to starboard: press the +1 and +10 keys together CAUTION: When making major course changes, the trim on the boat may change substantially. Because 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 Wind AutoTack angle AutoTack angle Preventing accidental gybes Note: For 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 AutoTack away from the wind – this will prevent accidental gybes. On Type 150/150G and 400/400G autopilots, you can turn off 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 boat from performing an AutoTack away from the wind with gybe inhibit off: • you can perform an AutoTack into or away from the wind. Note: Gybe inhibit is switched on as a default. On Type 150/150G and Type 400/400G autopilots you can switch it off in User or Dealer Calibration (see page 87). Gusty conditions In gusty conditions, the course may tend to wander slightly, particularly if the sails are badly balanced. If you take the following precautions, the autopilot will be able to maintain competent control even in gale force conditions: 2 Basic Operation D5399-1 14 ST7001+ Autopilot Control Unit - Owner’s Handbook • 2 Basic Operation • You can significantly improve course keeping by improving the sail balance: • do not allow the boat to heel over excessively • ease the mainsheet traveller to leeward to reduce heeling and weather helm • if necessary, reef the mainsail a little early In very strong winds and large seas, you should avoid sailing with the wind dead astern: • ideally, bring the wind at least 30° away from a dead run • in severe conditions, you may also need to remove the mainsail and sail under headsail only Chapter 2: Basic Operation 15 2.3 Adjusting display/keypad lighting and contrast Lighting Note: When the display lighting is off, the control unit illuminates the keys at a courtesy level. To adjust the display and keypad lighting: 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: When you switch off the unit you lose any changes you have made to the lighting level. 2 Basic Operation 1. Press disp for 1 second from any mode to access the LAMP screen and turn on the lights. 2. Press the disp key to cycle through the possible illumination settings: LAMP 3 (the brightest setting), LAMP 2, LAMP 1, OFF, LAMP 1, LAMP 2, LAMP 3 and so on: • as you change the setting, the illumination on any other SeaTalk instruments or control units will also change 16 ST7001+ Autopilot Control Unit - Owner’s Handbook Contrast 2 Basic Operation To set the contrast level for the ST7001+ display: 1. With the autopilot in Standby mode, press the disp key for one second to access the LAMP screen. 2. Press the disp key for one second again, to display the CONTRAST screen. 3. Use the up and down arrow keys to set the required contrast level (from 1 to 15). 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 will select the mode assigned to that key (for example: auto selects Auto mode, standby selects Standby mode) 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 Tracking between waypoints created on navigation equipment connected to the autopilot system. page 18 3.2 Using Wind Vane mode – sail boats Using the autopilot to maintain a course relative to a true or apparent wind angle. page 25 3.3 Adjusting the rudder gain Explains how to adjust the rudder gain setting (mainly applies to non-GyroPlus Type 150/400 systems). page 29 3.4 Displaying data pages Describes how to use data pages to display SeaTalk and NMEA information on the control unit. This section also explains the Watch timer feature. page 31 3.5 Remotely controlling ST60 and ST80 instruments Describes how to use the ST7001+ as a remote control keypad for ST60 and ST80 instruments. page 34 Note: If you are using the control unit with a non-150/400 autopilot system, refer to the notes in the Appendix. 3 Advanced Operation 3.1 18 ST7001+ Autopilot Control Unit - Owner’s Handbook 3.1 Using Track mode Note: You can only use Track mode if you have connected the autopilot to a suitable navigation system providing SeaTalk or NMEA navigation information. The autopilot system can receive track information from either: • • a SeaTalk navigation instrument or chartplotter (see page 50 for information on connecting to SeaTalk), or a non-SeaTalk navigation system transmitting data in the NMEA 0183 format (see page 51 for information on connecting NMEA equipment) In Track mode, the autopilot maintains a track 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 3 Advanced Operation CAUTION: When you enter Track 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. To avoid an unexpected turn, approximately align the boat with the required track before entering Track mode. To select Track mode: 1. Start with the autopilot in Auto mode. 2. Press track to enter Track mode. 3. Wait for the Waypoint Advance warning to sound. The display will show the bearing to the next planned waypoint and the direction the boat will turn to reach this waypoint. 4. Check that it is safe for the boat to turn onto the new course. 5. Press the 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: The 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 sound (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 Previous heading Exiting Track mode You can exit Track mode and return to Auto or Standby mode by: • • pressing auto to return to Auto mode pressing standby to steer manually in Standby mode 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 (nm), statute miles (SM) or kilometres. 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. 3 Advanced Operation D5445-1P 20 ST7001+ Autopilot Control Unit - Owner’s Handbook Cross track error (XTE) more than 0.3 nm ute Waypoint 2 l ro ctua A ned Plan e rout D4231-2P Waypoint 1 Tidal stream compensation 3 Advanced Operation Under most conditions, the autopilot 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 performance over a wide range of boat speeds. Waypoint 2 lc da Ti po om nt ne Bo at 's sp ee d th ro u gh w at er Boat's speed over ground Waypoint 1 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: Waypoint advance only operates if the ST7001+ is receiving valid bearing to waypoint and waypoint name 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 Waypoint Advance warning and display the Waypoint 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 Target waypoint New target waypoint at 270˚ 3 Advanced Operation Next target waypoint at 270˚ Old target waypoint D5446-1P 22 ST7001+ Autopilot Control Unit - Owner’s Handbook Advance When the ST7001+ sounds the Waypoint Advance warning, it suspends Track mode and maintains the current boat heading.To advance to the 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 warning and turn the boat towards the next waypoint. Note: If you do not press track to accept the Waypoint Advance, the autopilot will maintain the current heading and continue sounding the warning. 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 waypoint by pressing track for 1 second. The display will then show the Waypoint Advance screen for the next waypoint. Check it is safe to turn, then press track to turn the boat towards the next waypoint. 3 Advanced Operation WARNING: Skipping a waypoint will take you straight to the next waypoint. Check your navigation before making 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. To respond to this message: • • press auto to continue on the same heading or press standby to return to hand steering Waypoint Advance warning – summary The ST7001+ activates the Waypoint Advance warning (NEXT WPT?) in Track mode whenever the target waypoint name changes. This occurs when: • • you select automatic acquisition by pressing track from Auto you request waypoint advance by pressing track for 1 second in Track mode (with SeaTalk navigators only) 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 To respond to a Waypoint Advance warning: • • check that it is safe to turn onto the new track, then press track to accept the waypoint advance alternatively, you can cancel the warning without accepting the waypoint advance by pressing: • standby to return 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. 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. 3 Advanced Operation Initiating a dodge maneuver 24 ST7001+ Autopilot Control Unit - Owner’s Handbook Safety in Track mode CAUTION: Track mode provides accurate track keeping even in complex navigational situations. However, it is still the skipper’s responsibility to ensure the safety of their boat at all times through careful navigation and frequent position checks. Sailing in Track mode assists precise navigation and removes the tasks of compensating for wind and tidal drift. 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 3 Advanced Operation Always verify the computed position with a dead reckoned position, calculated from the average course 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. Chapter 3: Advanced Operation 25 3.2 Using Wind Vane mode – sail boats Note: You can only select Wind Vane mode if the autopilot is receiving suitable SeaTalk or NMEA wind direction information. About Wind Vane mode When the autopilot is in Wind Vane 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 original wind angle. Wind information To use Wind Vane mode, the autopilot must receive wind information from one of the following sources: • • • SeaTalk wind instrument connected to the autopilot via SeaTalk NMEA wind instrument Raymarine pushpit wind vane connected via a SeaTalk interface True and apparent wind • • steering to apparent wind, the autopilot maintains the apparent wind angle steering to true wind, the autopilot maintains the true wind angle Note: The default setting is apparent wind. On Type 150/150G and 400/400G autopilots you can change this to true wind in User or Dealer Calibration (see page 89). Type 100/300 autopilots can only maintain a course relative to apparent wind. WindTrim In Wind Vane mode the autopilot uses WindTrim to eliminate the effects of turbulence and short term wind variations. This provides smooth and precise performance with minimal power consumption. You can adjust the wind response (WindTrim) 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. 3 Advanced Operation Type 150/150G and 400/400G autopilots can maintain a course relative to either an apparent or true wind angle in Wind Vane mode: 26 ST7001+ Autopilot Control Unit - Owner’s Handbook Selecting Wind Vane mode You can select Wind Vane mode from either Standby or Auto mode: 1. Steady the boat onto the required wind angle. 2. Press standby and auto together to select Wind Vane mode and lock the current wind angle: • the display shows the locked heading (e.g. 128°) and the wind angle (e.g.WIND 145P indicates an wind angle of 145° to port) • if the autopilot does not enter Wind Vane 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. 3 Advanced Operation Exiting Wind Vane mode You can exit Wind Vane mode by: • • pressing auto to return to Auto mode pressing standby to steer manually in Standby mode Adjusting the locked wind angle You 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 the boat is on a starboard tack: • • press -10 to turn the boat 10° to port – the locked wind angle and locked heading will both change by 10° the autopilot will then adjust the locked heading as required to maintain the new 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 wind angle. For major changes, return to Standby mode, steer onto the new heading, then reselect Wind Vane mode. 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 mode), you can return to the previous locked wind angle: 1. Press res’m to display the previous wind angle (LAST WIND): • the LAST WIND text alternates with the previous wind angle and direction. The display shows the previous locked heading and an indication of which direction the boat will turn D4233-2 2. Check that it is safe to turn onto this course. 3. To accept this wind angle, press standby and auto together within 10 seconds. Dodges in Wind Vane mode When the autopilot is in Wind Vane mode you still 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 (-1, +1, -10 or +10) to select the desired course 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 (LAST WIND). 3 Advanced Operation Note: If you do not accept the previous wind angle within 10 seconds, the autopilot will lock onto the current wind angle. 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: • • To 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, steer 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 use the AutoTack function in Wind Vane mode, make sure the wind vane has been centered accurately. 3 Advanced Operation The ST7001+ has a built in automatic tack facility (AutoTack) that turns the boat through 100° in the required direction: • • to AutoTack to port: press the -1 and -10 keys together to AutoTack to starboard: press the +1 and +10 keys together AutoTack - Port AutoTack - Starboard Wind Wind AutoTack angle AutoTack angle D5399-1 Note: If you have set the vessel type to SAIL BOAT, you can adjust the default AutoTack angle in User or Dealer calibration (see page 87). Chapter 3: Advanced Operation 29 When you AutoTack 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 gusts. In gusty and unsteady inshore conditions, it 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: Although this feature is available on all systems, you should not need to adjust the rudder gain setting on Type 150G/400G autopilot systems after completing the AutoLearn (see page 68). 3 Advanced Operation Decrease rudder gain OR SECOND Increase OR rudder gain OR and 1 second D5454-1 On Type 150/400 (non-GyroPlus) and Type 100/300 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 gain is adjusted correctly, the course changes should result in a crisp turn followed by an overshoot of no more than 5° 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 will take a long time to make the turn and there will be no overshoot (B) New heading B New heading A Rudder gain too low New heading Rudder gain too high Correct rudder gain D3262-2 3 Advanced Operation Note: See page 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: 1. Press the resp key or the -1 and +1 keys together for 1 second to display the rudder gain (RUDD GAIN) screen: • if you have set up the 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 -1 or +1 or up/ down arrow keys to change the rudder gain. 3. Press disp or wait for 5 seconds to return to the previous display. Note: You will lose these temporary changes to rudder gain whenever the system is powered off. You can make permanent adjustments in User or Dealer Calibration (see page 95). WARNINGS: 1. You must set rudder gain correctly on planing craft. Incorrect rudder gain will lead to poor steering performance and can be dangerous at high speeds. 2. If you increase the rudder gain setting on a Type 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 SeaTalk or NMEA data: 1. Press 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) 2. Select the data page you want to use as the main display: • 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) t Default data pages Data page 4 Data page 1 Autopilot mode Data page 3 Press for 1 sec to return to previous data page Data page 2 D5456-1 3 Advanced Operation Notes: 1. If the autopilot system cannot obtain the required information, the data page will show dashes instead of a value. 2. The direction-to-steer arrows relate to the data page information. 3. Most data pages show repeated data so you cannot adjust them: the exceptions are the RESPONSE and RUDDER GAIN data pages, which you can adjust using the -1 and +1 or up/down arrow keys 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 (XTE), Bearing To Waypoint (BTW) and Distance To Waypoint (DTW) data pages: • • • waypoint names of five characters or less are displayed together 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 B 3 Advanced Operation D4326-2 Watch timer The ST7001+ has a Watch timer controlled by the WATCH data page. This timer sounds a warning every 4 minutes, requiring a keypad press on the autopilot. Setting the Watch timer To set the Watch timer: 1. First, you must configure the WATCH screen as one of the data pages for display (see page 81). 2. When you have done this select Auto, Track or Wind Vane mode. 3. Press the disp key until you see the WATCH data page: • the watch timer will start counting • when the timer reaches 3 minutes, the WATCH text starts flashing to indicate that the timer is in the last minute • when the timer reaches 4 minutes, the ST7001+ activates the audible Watch warning Chapter 3: Advanced Operation 33 Responding to a Watch warning To respond to a Watch warning: • • press auto to silence the warning and reset the timer to 4 minutes or press any other key to silence the warning, reset the timer and perform that key’s normal function Note: You cannot engage Auto mode directly when the WATCH screen is displayed – pressing auto will only reset the Watch timer. If you want to enter Auto mode, you must first exit the WATCH screen (see below). Exiting the Watch screen To exit the Watch screen: • • press disp to display a different data page or press standby Warning messages The ST7001+ shows the Shallow warning if it receives a shallow depth message from an instrument on the SeaTalk system. Press standby or disp to cancel the warning. 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 MOB instead of the waypoint number for the XTE, DTW and BTW data pages. 3 Advanced Operation Shallow warning (SHALLOW) 34 ST7001+ Autopilot Control Unit - Owner’s Handbook 3.5 Remotely controlling ST60 and ST80 instruments You can use the ST7000+ to remotely control ST60 or ST80 instruments (both standard 110 mm and Maxiview instruments). Note: Before attempting to remotely control ST60 or ST80 instruments, you first need to define the instrument grouping and allocate the ST7001+ to the required group (see page 83). To 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 illustration). Note: The currently-selected instrument is indicated as follows: • on ST80 instruments, the characters are displayed as white characters on a black background (instead of black on white) • on ST60 digital instruments, you will see a REMOTE message • on ST60 analogue instruments, you will see a flashing TRUE/MAG and/or TRUE/APP message 3 Advanced Operation Select instrument All instrument types Controlling a standard instrument 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. Controlling a Maxiview instrument 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. We also put them through comprehensive testing and quality assurance procedures before shipping. This chapter provides information about identifying common problems, interpreting alarm messages, maintaining your autopilot system and obtaining product support. If a fault occurs with your autopilot, use the fault finding tables 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. 4.1 Fault finding This section provides information to help you identify and resolve common autopilot problems and error messages. page 36 4.2 General maintenance This section explains how to maintain your autopilot system. page 39 4.3 Product support This section outlines the product support available from Raymarine worldwide. 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 cabling. Display shows rotating dashes Compass correction in progress (see page 64). Displayed compass heading does not agree with the boat’s compass You have not calibrated the compass. Carry out the deviation and alignment procedures (see page 64). No display bar on the display Rudder bar switched off in Display Calibration – select RUDD BAR or STEER BAR Rudder bar display moves in opposite direction to rudder Reverse the red and green rudder position sensor connections at the course computer Boat turns slowly and takes a long time to come onto course Rudder gain too low (see page 71). Complete AutoLearn or increase setting. Boat overshoots when turning onto Rudder gain too high (see page 71). Complete a new course AutoLearn or decrease setting, The autopilot appears to be unstable in Track mode, or track-holding is slow 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). 4 Fault Finding & Maintenance The autopilot appears to be Northerly/Southerly heading correction unstable on Northerly headings in (AutoAdapt) is not set up (see page 99). [Does the Northern hemisphere (or not apply to 150G/400G systems.] Southerly headings in the Southern hemisphere) You cannot enter Seatrial Calibration Seatrial calibration lock is on – turn off the calibration protection feature in Dealer Calibration (see page 92). The autopilot will not ‘talk’ to other Cabling problem – make sure all the cables are SeaTalk instruments connected properly. Position information not received Navigator not transmitting the correct position data. The autopilot will not auto advance No bearing to waypoint information received to the next waypoint 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 standby to clear the alarm and return to hand steering, 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. CAUSE and SOLUTION AUTO RELEASE Possible fault with rudder position sensor – check connections. OR Stern (I/O) drives only – you have taken manual control of steering with AutoRelease on. The alarm cancels automatically after 10 seconds. CURRENT and LIMIT Serious drive failure – the drive is taking too much current due to short-circuit or jamming. Check the drive unit. DRIVE and STOPPED The autopilot is unable to turn the rudder (this occurs if the weather load on helm is too high, or if the rudder position sensor has passed beyond the preset rudder limits or rudder end-stops). Check drive and rudder position sensor. LOW and BATTERY Supply voltage has dropped below acceptable limits. 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 LRN FAIL 1, 2 or 4 AutoLearn not completed successfully. 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. MOT POW and SWAPPED Motor cables are connected to power terminals (and power cables are connected to motor terminals) at course computer. Turn off power and swap over connections. [Table continues over page] 4 Fault Finding & Maintenance ALARM MESSAGE 4 Fault Finding & Maintenance 38 ST7001+ Autopilot Control Unit - Owner’s Handbook ALARM MESSAGE CAUSE and SOLUTION NO DATA Caused by 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 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 connections to the compass and/or wind instrument and/or navigator. Note: The autopilot stops adjusting the heading as soon as it loses data. NO PILOT The control unit is not receiving data from the course computer. Check connections and check course computer is switched on. RG FAIL GyroPlus yaw sensor has failed: • If you have a Type 150G/400G course computer with internal GyroPlus sensor – call a Raymarine service agent. • If you have a Type 150/400 course computer with external GyroPlus yaw sensor – check the sensor and connections, then call a Raymarine service agent. SEATALK and FAIL 1 or 2 SeaTalk data problem on one of the SeaTalk lines – check connections. SEATALK and FAIL The control unit cannot transmit data to the SeaTalk system. Make sure all SeaTalk cables are connected properly. 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 service 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: Take care when cleaning the display. Avoid 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 • 4 Fault Finding & Maintenance • 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. 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. ensure optimum Electromagnetic Compatibility (EMC). 40 ST7001+ Autopilot Control Unit - Owner’s Handbook • • Always report any EMC-related problems to your nearest Raymarine dealer. We use such information to improve our quality standards. In some installations, it may not be possible to prevent the equipment from being affected by external 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 Representatives. If you encounter any difficulties with this product, please contact either your national distributor, service representative, or the Raymarine Technical Services Call Center. Refer to the back cover or the Worldwide 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 from 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 4 Fault Finding & Maintenance The following illustration shows how to display the software information: • • • press and hold standby for 4 seconds: • after 2 seconds you will see the DISPLAY CAL screen • then after another 2 seconds you see control unit software version press disp to display the course computer software version press disp again to display the total number of hours the autopilot has been used in Auto mode (Note: Type 100/300 systems do not display hours used.) Chapter 4: Fault Finding & Maintenance 41 Software Information 4 seconds 1 second Control unit software version 1 second Course computer software version Time autopilot used in Auto 1 second D5494-1 Product details table Serial number Software version Control unit Course computer Hours used hours 4 Fault Finding & Maintenance For future reference, you may want to use this table to record serial and software information for your autopilot system: 4 Fault Finding & Maintenance 42 ST7001+ Autopilot Control Unit - Owner’s Handbook 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+ 5.1 Select the location How to select a suitable location for the ST7001+ control unit. page 46 5.2 Control unit installation How to install the ST7001+control unit. page 49 5.3 SeaTalk connections How to connect the control unit to SeaTalk (for power supply and SeaTalk data exchange). page 50 5.4 NMEA connections How to connect NMEA equipment to the control unit. page 51 5.5 Functional test – repeater units only How to check an ST7001+ connected as a repeater unit on an existing autopilot system. page 54 Tools required To install the ST7001+ control unit you will need the following items: • • • • • • • tape measure (metric/imperial) pencil and center punch pliers sandpaper/file to smooth cut edges additional SeaTalk cables (if required – see page 51) 90 mm hole cutter (for the control unit aperture) drill and 5 mm (5/32 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) SeaTalk cable 5 Installing the ST7001+ The sections in this chapter explain how to install the ST7001+ control unit and connect it to an autopilot system: 46 ST7001+ Autopilot Control Unit - Owner’s Handbook 175 mm (6.9 in) 24 mm (0.9 in) 115 mm (4.5 in) 90 mm (3.55 in) 5 Installing the ST7001+ 5.1 Select the location 17 mm (0.7 in) D4219-2 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 (1/4 in) between adjacent control units/instruments so you can fit their sun covers meet the cabling and EMC installation guidelines detailed below CAUTION: The ST7001+ front cover is waterproof when installed according to the following instructions. However, you must protect the rear of the control unit from water in a ventilated and drained area. Chapter 5: Installing the ST7001+ 47 Cabling guidelines • • • consider how you will run cables to and from the control unit avoid running cables through bilges where possible avoid running cables close to fluorescent lights, engines, 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 understand what factors could affect the operation of the product. The guidelines given here describe the conditions for optimum 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 possible between different items of electrical equipment. For optimum EMC performance, 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 cables carrying radio signals e.g. VHF radios, cables and antennas. In the case of SSB radios, the distance should be increased to 7 ft (2 m). • 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 starter motor 5 Installing the ST7001+ Any moisture or water vapor in this area could cause damage by coming into contact with electrical connections, or condensation by entering the control unit through its breathing hole. 5 Installing the ST7001+ 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 manual. If a suppression ferrite is attached to a cable, this ferrite should not be removed. If the ferrite needs to be removed during installation it must be reassembled in the same position. EMC suppression ferrites The following illustration shows typical cable suppression ferrites used with Raymarine equipment. Always use the 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 1. Apply the template (supplied at the back of this handbook) to the selected bulkhead. 2. Mark the centers of the four fixing holes and the cable boss. 3. Drill four 5 mm (3/16 in) diameter holes for the fixing studs. 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 SeaTalk/NMEA cables through the bulkhead 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 nuts provided. Hand-tighten the thumb nuts – do NOT use a wrench. Self-adhesive gasket Fixing stud Thumb nut Cable boss D4226-2 5 Installing the ST7001+ To fit the control unit: 50 ST7001+ Autopilot Control Unit - Owner’s Handbook 5 Installing the ST7001+ 5.3 SeaTalk connections The SeaTalk connections on the ST7001+ provide it with its 12 V DC power supply and allow it to share data with SeaTalk 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 SeaTalk terminals. To do this: • • • cut off the moulded plug at one end of the SeaTalk 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 Screen Red Yellow D5500-1 Note: If you are connecting the ST7001+ to a course computer autopilot system that includes other control units, 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, use a SeaTalk cable to connect it to another SeaTalk unit as shown. Connecting to SeaTalk as additional control unit ST7001+ or ST6001+ control unit (rear) SeaTalk unit (rear) To SeaTalk power supply D5501-1 Chapter 5: Installing the ST7001+ 51 Flat moulded plugs at each end Part no. D284 D285 D286 D287 D288 Type Flat moulded plugs at each end Flat moulded plugs at each end Flat moulded plugs at each end Flat moulded plugs at each end Flat moulded plugs at each end Length 1 m (3 ft 3 in) 3 m (9 ft 10 in) 5 m (16 ft 5 in) 9 m (29 ft 6 in) 20 m (65 ft 6 in) Flat moulded plug to round plug Part no. D187 D188 Type Flat moulded plug to male round plug Flat moulded plug to female round plug Length 0.15 m (6 in) 0.3 m (12 in) D5417-1 5.4 NMEA connections 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 Wind 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. Refer to the Autopilot System Installation Guide for more information. Receiving NMEA data NMEA data formats The ST7001+ can decode the following NMEA 0183 navigation and wind data received: 5 Installing the ST7001+ We supply the ST7001+ with a 9 m (29 ft 6 in) SeaTalk cable as standard. Depending on your installation, you may need to obtain alternative or additional SeaTalk cables (as shown in the following illustration). 5 Installing the ST7001+ 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 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 the 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) Control unit (rear) Data out (+ve) Red (data in +ve) Blue (data in -ve) D3442-2 Chapter 5: Installing the ST7001+ 53 NMEA cable connectors 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 SeaTalk, it will transmit the data onto SeaTalk to make it available to other SeaTalk instruments: • • the ST7001+ transmits depth information in the units defined by the first page in the data page rollover the ST7001+ always transmits water temperature in °C Transmitting NMEA data to other NMEA equipment If you want to transmit NMEA information to non-SeaTalk 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 SeaTalk/NMEA Interface (part number: E85001) to convert SeaTalk data to NMEA data (if your system does not include a course computer) 5 Installing the ST7001+ 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. 54 ST7001+ Autopilot Control Unit - Owner’s Handbook 5 Installing the ST7001+ 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 autopilot installation, you MUST calibrate the autopilot as described in Chapter 6: Commissioning the Autopilot. 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 (ST7001) for 2 seconds. 3. After 2 seconds, the control unit will display the STANDBY screen. SeaTalk and NMEA connections If you have connected the ST7001+ to other SeaTalk instruments or control units, check the links as follows: 1. Select display lighting level 3 (LAMP 3) on one of the other SeaTalk instruments or control units. 2. The ST7001+ should immediately 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 the control unit NMEA inputs, check the connections as described on page 57. Troubleshooting • • If the head does not beep, check the fuse/circuit breaker. If the display shows the SEATALK FAILURE or NO DATA alarm message, check the SeaTalk connections. 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 Type 150/150G or Type 400/400G course computer autopilot system, you must commission the system This involves a series of dockside checks and then the seatrial calibration: page 56 6.2 Seatrial Calibration The purpose of this seatrial is to calibrate the compass and optimize the autopilot set-up for your boat. page 63 Note: If you have connected the ST7001+ to a non-150/400 autopilot system refer to the notes in the Appendix. 6 Commissioning the Autopilot 6.1 Dockside Checks With the boat safely tied up, you need check the autopilot system and adjust some key autopilot settings. 56 ST7001+ Autopilot Control Unit - Owner’s Handbook 6.1 Dockside Checks With the boat safely tied up, complete the following dockside checks: 1. 2. 3. 4. Switch on. Check the SeaTalk and NMEA connections. Check the autopilot operating sense. Set the basic autopilot parameters. 6 Commissioning the Autopilot 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 the ST7001+ control unit and the rest of the autopilot system, switch on the main power breaker. 2. If the control unit and system are active, the control unit will beep and display the control unit type (ST7001) for 2 seconds. 3. You will then see a CALIBRATE REQUIRED message for 4 seconds if either: the vessel type is not selected (see page 59), or the compass is not calibrated (see page 64). 4. The control unit will then display the STANDBY screen. 5. Check that the STANDBY screen displays a live compass heading and a rudder angle. D4236-2 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. Chapter 6: Commissioning the Autopilot 57 Step 2 - Check the SeaTalk and NMEA connections SeaTalk connections If you have connected the ST7001+ to other SeaTalk instruments or control units, check the links as follows: 1. Select display lighting level 3 (LAMP 3) on one of the SeaTalk instruments or control units. 2. The ST7001+ should immediately 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 • • press disp to display the 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 waypoint 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 SeaTalk wind instrument, check the links by pressing standby and auto together: • the ST7001+ should display the Wind Vane mode screen, with the locked wind angle and locked heading: • if nothing happens when you press standby and auto together, the ST7001+ is not receiving wind data: check the wind instrument and connections D4214-2 6 Commissioning the Autopilot NMEA navigator connections If you have connected the ST7001+ to an NMEA navigator, check the links by displaying the default navigation data pages (XTE/BTW/DTW): 58 ST7001+ Autopilot Control Unit - Owner’s Handbook Step 3 - Check the autopilot operating sense 6 Commissioning the Autopilot Check the rudder position sensor 1. Turn the wheel manually to starboard. 2. Check that the rudder bar on 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 RUDDER inputs on the course computer • switch on the power and re-check Check the autopilot steering sense 1. Manually center the wheel, then press the auto key so the autopilot is in Auto mode. Check that the display shows AUTO. Be ready to press standby if the rudder moves hardover. 2. Press the +10 key once. Check that the rudder moves to starboard a few degrees and then stops. • if the rudder drives hardover, immediately press standby to prevent further rudder movement 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 has to drive back or starts to hunt back and forth, you will need to increase 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: For more information about these calibration 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. 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 Dealer Calibration (DEALER CAL) Set the vessel type 1. Use the disp key to page through the Dealer Calibration screens until you reach the VESSEL TYPE screen. 2. Use the -1 or +1 keys to select a vessel type suitable for your boat: • Displacement: DISPLACE • Semi Displacement: SEMI DISPLACE • Planing: PLANING • Stern (I/O) Drive: STERN DRV • Work Boat: WORK BOAT • Sail Boat: SAIL BOAT Note: When you select the vessel type, the autopilot will select appropriate defaults for various other calibration settings. 6 Commissioning the Autopilot Enter Dealer Calibration mode 60 ST7001+ Autopilot Control Unit - Owner’s Handbook Calibration Mode Overview 2 seconds 2 seconds (saves changes) Calibration Mode or or or 1 second or 6 Commissioning the Autopilot auto standby Display bar selection Heading type Pop-up pilot time-out Data pages 1 to 15 auto 1 second standby -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 Off course alarm angle AutoRelease (stern drive) AutoTack angle* Gybe inhibit* Wind type* Wind response (WindTrim)* Cruise speed AutoAdapt Latitude Magnetic variation Autopilot reset auto standby AutoTack angle* Gybe inhibit* Wind type* Wind response (WindTrim)* Response level Magnetic variation or 1 second auto or or 1 second standby Swing compass Compass deviation Align heading Align rudder AutoLearn start AutoLearn pass/fail 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. With the autopilot still in Dealer Calibration, use the disp key to page through the calibration screens until you reach the Drive Type screen (DRIVE TYP). 2. Use the -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 solenoids Align the rudder position sensor Note: Alternatively, you can zero the rudder bar with the boat underway during the initial seatrial, by manually steering a straight course then accessing the ALIGN RUDDER screen in Seatrial Calibration to adjust the offset. Set the rudder limits 1. With 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. Turn 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 1. With the autopilot still in Dealer Calibration, press 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 bar 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 described in the Autopilot System Installation Guide) 62 ST7001+ Autopilot Control Unit - Owner’s Handbook Adjust the rudder damping Note: You only need to adjust the rudder damping value if the autopilot ‘hunts’ when trying to position the rudder. Increasing the rudder damping value reduces hunting. 6 Commissioning the Autopilot To adjust the rudder damping: 1. Use the disp key to page through the Dealer Calibration screens until you reach the RUDD DAMP screen. 2. Use the -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 standby for two seconds to store the changes the screen will show 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: Seatrial safety Note: You can return to hand steering at any time during the seatrial by pressing standby. 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 Note: Before you start your seatrial, make 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 the water). This information will help the autopilot achieve its best performance. CAUTION: EMC conformance Always check the installation before going to sea to make sure that it is not affected by radio transmissions, engine starting etc. 6 Commissioning the Autopilot 1. Calibrate the compass: • complete the automatic deviation correction • align the compass heading 2. Adjust the autopilot settings to suit your boat: • automatically on Type 150G/400G autopilot systems • manually on Type 150/400 (non-GyroPlus) and Type 100/300 autopilot systems 64 ST7001+ Autopilot Control Unit - Owner’s Handbook Calibrating the compass Note: This section does not apply if you have connected an NMEA compass to your autopilot system. Refer to the handbook supplied with the NMEA compass for information about calibration. 6 Commissioning the Autopilot 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 correction, your autopilot’s performance will be impaired 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. You must carry out this procedure in calm conditions and preferably on flat water. Automatic compass deviation correction 1. With the pilot in Standby mode, enter Seatrial Calibration as follows (see the following illustration): • press and hold the standby key for two seconds to enter Calibration mode • when you see the DISPLAY CAL screen, press the disp key or up/down arrow keys until you see the SEATRIAL CAL screen • press the auto key to enter Seatrial Calibration 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 SWING COMPASS screen when you first enter Seatrial Calibration. (If not, use the disp key to page through the Seatrial Calibration items until you see SWING COMPASS) 3. When you are ready to start, press the +1 key to select SWING COMPASS On. You will then see the TURN BOAT screen. Chapter 6: Commissioning the Autopilot 65 Compass calibration 1 Enter Seatrial Calibration x2 2 sec 2 Compass deviation correction Turn boat in slow circles so: • boat's speed stays below 2 knots • each circle takes at least 2 minutes Autopilot heading Minimum of 2 circles Keep turning the boat until you see the DEVIATION screen 3 Compass heading alignment a Coarse adjustment: If COG is available from GPS, press then fine tune manually (see below). to set autopilot heading to COG value, b Fine adjustment: If COG is not available (or after setting heading to COG), align autopilot heading manually: Autopilot heading Steering compass or or Known heading 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 D5477-1 6 Commissioning the Autopilot Start turning boat (see below) 66 ST7001+ Autopilot Control Unit - Owner’s Handbook 4. Start turning the boat in slow circles (with the boat’s speed below 2 knots). You will need to complete at least two circles, taking at least 2 minutes to complete each 360°: • the display will show a TOO FAST message if you turn the boat too quickly for the course computer to correct the compass – if you see this message apply less helm to turn in a larger circle 6 Commissioning the Autopilot Note: If necessary, you can quit the correction process by pressing the standby or disp. If you then want to repeat the deviation correction, return to the SWING COMPASS screen. 5. Continue slowly turning the boat until the control unit beeps and displays the DEVIATION screen to indicate that the autopilot has 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 display 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. Aligning the compass heading 1. Once the deviation is displayed, press the disp key to move onto the Heading Alignment screen (ALIGN HDG). 2. Manually steer the boat on a steady course at a speed which enables you to hold that course. 3. If you have a GPS connected to your autopilot: • increase the boat speed to more than 3 knots • press the auto key: the autopilot will then set the heading to 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 -1, +1, -10 and +10 to adjust the displayed heading until it matches boat’s steering compass or a known transit bearing. 5. Press and hold standby for 2 seconds to exit Seatrial Calibration and save the new compass settings. 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 initial 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 the order of a few degrees) will probably remain. These will vary depending on the heading. 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 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. You can then enter this value on the Heading Alignment screen, as described above. 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. You can do this in one of two ways: • Note: For a full explanation of the parameters set during the AutoLearn, and how to adjust them manually, refer to the manual set-up section. AutoLearn: Type 150G/400G systems WARNING: The AutoLearn process requires a significant amount of CLEAR SEA SPACE in front of the boat. The autopilot will take the boat through a number of zig-zag maneuvers until it has acquired enough data. If you need to cancel the AutoLearn at any time, press the standby key to gain manual control of the boat. nm (5 00 m )o fc le a rs le a of st cl 0.0 ea 4 r s nm ea sp (10 ac 0 m e ) ea sp ac e d in W AutoLearn maneuvers At l ea st 0. 25 At 6 Commissioning the Autopilot • using AutoLearn: Type 150G and Type 400G autopilot systems use AutoLearn – a self-learning calibration feature that automatically adjusts rudder gain, counter rudder and AutoTrim to suit your boat manual set-up: if you have a Type 150/400 (non-GyroPlus) or Type 100/300 autopilot you will need to adjust these settings manually – as described on page 71 MINUTE (approximately) D5495-1 Chapter 6: Commissioning the Autopilot 69 AutoLearn calibration 1 Enter Seatrial Calibration x2 2 sec 2 Start the AutoLearn Check you have sufficient clear sea space before proceeding x4 AutoLearn in progress 3 Boat completes AutoLearn AutoLearn successful After 7 to 27 steps ! If you need to cancel the AutoLearn, press 4 Save new settings 2 sec Note: If you see a LRN FAIL message, press disp to return to the AUTOLEARN screen then repeat from Step 2 or To: • save AutoLearn calibration settings • return to STANDBY mode D5480-1 6 Commissioning the Autopilot To prepare for the AutoLearn: • steer straight ahead at cruising speed (planing boats – off the plane) • head into wind and waves 6 Commissioning the Autopilot 70 ST7001+ Autopilot Control Unit - Owner’s Handbook 1. Access the AUTOLEARN screen in Seatrial Calibration: • from Standby mode, press standby for 2 seconds, then disp twice to see the SEATRIAL CAL screen • then press auto to enter Seatrial Calibration, and disp 4 times until you see the AUTOLEARN screen 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 – planing boats should be off the plane • sail boats: with the 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 the AutoLearn, press the +1 key to select AUTOLEARN On. 4. The screen will then show the CLEAR TO MANEUVER message. Press the auto key to start the AutoLearn process: • 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 • 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 finished learning, the control unit will beep and the display will change to LRN PASS or LRN FAIL: • LRN PASS = AutoLearn completed successfully • LRN FAIL = AutoLearn was not successful and should be 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 need to adjust is the response level (see page 7). Chapter 6: Commissioning the Autopilot 71 Manual set-up: Type 150/400 & Type 100/300 If you have a Type 150/400 (non-GyroPlus) or Type 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 autopilot 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 1. Steer onto a compass heading and hold the course steady. If necessary, control the boat manually for a while to check how the boat steers. 2. Press auto to lock onto the current heading. The autopilot should hold a constant heading in calm sea conditions. 3. Use the -1, +1, -10 and +10 keys to check how the autopilot alters the course to port and starboard in multiples of 1° and 10°. 4. Press standby to return to hand steering. 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 applied. Complete the following test to determine whether the rudder gain is set correctly: 1. Set RESPONSE to level 2: • press the resp key, use the -1 or +1 key to adjust the setting, then press disp 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 auto to enter Auto mode, then alter course by 40°: • 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° 6 Commissioning the Autopilot Before manually adjusting any of these settings, familiarize yourself with basic autopilot operation: 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. 6 Commissioning the Autopilot New heading B New heading A Rudder gain too low New heading Rudder gain too high Correct rudder gain D3262-2 To adjust the rudder gain: 1. 2. 3. 4. Access the RUDD GAIN screen in Dealer Calibration. Use the -1 or +1 keys to adjust the rudder gain. Press and hold standby for 2 seconds to save the changes. Press auto to check the autopilot performance in Auto mode. Adjusting the counter rudder If you intend to use RESPONSE level 3 on a Type 150/400 (non-GyroPlus) or Type 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 off course. Higher counter rudder settings result in more rudder being applied. To check the counter rudder setting 1. Set RESPONSE to level 3. 2. Sail your boat at cruising speed 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 minimal 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 To adjust the counter rudder: Access the COUNT RUD screen in Dealer Calibration. Use the -1 or +1 keys to adjust the counter rudder. Press and hold standby for 2 seconds to save the changes. Press 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. You 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 the AutoTrim setting. On sail boats 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 AutoTrim level If you need to adjust AutoTrim, go up one level at a time and use the lowest acceptable value. The possible settings range from OFF (no trim correction) to 4 (fastest trim correction). To adjust the AutoTrim: 1. 2. 3. 4. Access the AUTOTRIM screen in Dealer Calibration. Use the -1 or +1 keys to adjust the AutoTrim level. Press and hold standby for 2 seconds to save the changes. Press auto to check the autopilot performance in Auto mode. 6 Commissioning the Autopilot 1. 2. 3. 4. 6 Commissioning the Autopilot 74 ST7001+ Autopilot Control Unit - Owner’s Handbook 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: Complete 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 This explains the structure of the Calibration mode, and how to access the four calibration groupings. page 76 7.2 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. page 79 7.3 User Calibration The User Calibration grouping includes autopilot settings that you may need to adjust in response to changing sea conditions. page 87 7.4 Seatrial Calibration The Seatrial Calibration grouping is used specifically for the initial autopilot seatrial (see Chapter 6 for full details). page 91 7.5 Dealer Calibration The Dealer Calibration grouping controls the main autopilot settings and also the calibration lock. page 92 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 information. 7 Adjusting Autopilot Settings 7.1 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 different. 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 affect any other control units connected through SeaTalk. You can adjust the Display Calibration settings as often as necessary – for example, to add or change information displayed on data pages User Calibration (USER CAL) 7 Adjusting Autopilot Settings The items in User Calibration vary according to the Vessel Type you have selected in Dealer Calibration. You will probably need to access User Calibration on a fairly regular basis to adjust the autopilot settings in 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). You should not need to access Seatrial Calibration during normal 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 Vessel Type you have selected. Chapter 7: Adjusting Autopilot Settings 77 Calibration Mode Overview 2 seconds 2 seconds (saves changes) Calibration Mode or or or 1 second or auto standby Display bar selection Heading type Pop-up pilot time-out Data pages 1 to 15 auto 1 second standby -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 Off course alarm angle AutoRelease (stern drive) AutoTack angle* Gybe inhibit* Wind type* Wind response (WindTrim)* Cruise speed AutoAdapt Latitude Magnetic variation Autopilot reset or 1 second auto or or 7 Adjusting Autopilot Settings auto standby AutoTack angle* Gybe inhibit* Wind type* Wind response (WindTrim)* Response level Magnetic variation 1 second standby Swing compass Compass deviation Align heading Align rudder AutoLearn start AutoLearn pass/fail 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 78 ST7001+ Autopilot Control Unit - Owner’s Handbook Accessing the Calibration mode You can only access Calibration mode from Standby mode: 1. With the autopilot in Standby mode, press and hold the standby key for 2 seconds. The display will change to show DISPLAY CAL. 2. Press the disp key or down arrow key to scroll down through the 4 calibration groupings: • Display Calibration (DISPLAY CAL) • User Calibration (USER CAL) • Seatrial Calibration (SEATRIAL CAL) • Dealer Calibration (DEALER CAL) 7 Adjusting Autopilot Settings Note: You can go backwards through the groups by pressing and holding the disp key for one second or by using the up arrow key. 3. When you reach the Calibration group you want to access, press the auto key to enter that group: To prevent accidental access, we have made entry to Dealer Calibration more difficult than the other groups. After pressing the auto key, the display will show CAL. When you see this, press the -1 and +1 keys together to enter Dealer Calibration. 4. When you have entered one of the Calibration 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 pressing and holding the disp key for one second or by using the up arrow key. 5. When you reach an item you wish to adjust, use the -1, +1, -10 and +10 keys (as appropriate) to change the value. 6. If you then want to adjust settings in another Calibration group, press the standby key and then repeat steps 2 to 5 as necessary. 7. When you have made all the changes you want to make, press and hold the standby key for two seconds to exit Calibration mode and save changes. Chapter 7: Adjusting Autopilot Settings 79 7.2 Display Calibration Display Calibration allows you to select the type of bar graph and heading shown on the ST7001+ display, and control 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 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 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) BAR OFF No bar displayed. Heading selection This screen allows you to display any heading as either a magnetic or true value. During normal autopilot operation the screen will indicate MAG for magnetic headings and TRUE for true headings. Options HDG MAG Magnetic heading. HDG TRUE True heading. 7 Adjusting Autopilot Settings RUDD BAR 80 ST7001+ Autopilot Control Unit - Owner’s Handbook Accessing Display Calibration 2 seconds 2 seconds (saves changes) Calibration Mode or or or or 1 sec 1 sec or or 1 sec or 1 sec or Display Calibration 7 Adjusting Autopilot Settings or or or or 1 second 1 second To adjust values use or Data pages 1-15 Press disp for 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 unit 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. You can use this Display Calibration screen to adjust the pop-up pilot 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 for 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 DATA PAGE and the page number. After 1 second, the text changes to the title of the data currently set for that page. 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 through the data pages during normal operation) *Note: It is good practice to keep the BTW and DTW pages for display. If the autopilot receives a man overboard (MOB) message, these data pages will show the bearing and distance to the MOB location. To change the data displayed on a data page: • • • Press disp to move to the appropriate data page setup screen. Use the -1 and +1 keys to scroll forwards or backwards through the available data pages (see following table). Then press disp to move to the next data page you want to change, or press and hold standby for 2 seconds to save changes. 7 Adjusting Autopilot Settings The default settings are: 7 Adjusting Autopilot Settings 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 ST60/80 Instruments INST REM Remote Control for Maxiview Instruments MAXI REM NOT USED Page not displayed (Any data page set to NOT USED is not displayed when you scroll through the data pages during normal operation) *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. 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 ST80 instrumentation, you can use the ST7001+ to control the ST60 or ST80 instruments by duplicating the functions of the Remote Keypads used by these instruments. This means you can operate your autopilot and ST60/ST80 instruments from the same location. By using the INST REM and MAXI REM data pages, you can use ST7001+ as a remote keypad to control any ST60 or ST80 instruments connected to it: • • the INST REM data page can control a standard (110 mm) 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 Maxiview instruments. Before you can use an ST7001+ to remotely control other instruments, you must define the instrument grouping and then allocate the ST7001+ to the required group. 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. A1, where A defines the group and 1 the instrument sequence number within the group): • standard ST60 or ST80 instruments are assigned group letters from A to H • maxiview instruments are assigned group letters from J to Q • ungrouped instruments have a dash (-) in place of a group letter The instrument sequence number range is from 1 to 8. 7 Adjusting Autopilot Settings Instrument grouping 84 ST7001+ Autopilot Control Unit - Owner’s Handbook When you set up ST60 and ST80 instrument groups you will need to use the following ST7001+ keys. Standard instruments Toggle to select either: • group letter or • sequence number 7 Adjusting Autopilot Settings Maxiview instruments Toggle to select either: • group letter or • sequence number Press to select the required standard instrument. Press for 4 sec to enter Group Setup mode. 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. 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 INST REM data page to group standard instruments • select the MAXI REM data page to group Maxiview instruments 2. At the ST7001+, use the arrow keys to select an instrument. Standard instruments: group setup mode 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 track key to toggle between group letter and sequence number, and the set crs key to set the identifying character. 7 Adjusting Autopilot Settings Note: The currently-selected instrument is indicated as follows: • on ST80 instruments (including Maxiview), the characters are displayed as white characters on a black background (instead of the standard black on white) • on ST60 digital instruments, you will see a REMOTE message • on ST60 analogue instruments, you will see the TRUE/MAG and/or TRUE/APP message flashing 3. Press both the 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, including 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 down 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). 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 identifying character. When you have identified the instrument, it should display its group letter and sequence number, e.g. A2. • Note: You 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. 7 Adjusting Autopilot Settings Note: If you have more than eight ST60 or ST80 instruments, you must create a second group with a separate identification code (for example B1, B2 etc.), operated by another remote keypad. 8. Use the arrow keys to select an instrument in the group to which you want to allocate the ST7001+ as a keypad. 9. Press the up and down 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 instruments: • press the track or set crs key for standard instruments • press the 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: • 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 that 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 AutoTack 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 With gybe inhibit 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 AutoTack away from the wind With gybe inhibit off, you can perform an AutoTack 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 7 Adjusting Autopilot Settings Note: Only available if vessel type = SAIL BOAT. 88 ST7001+ Autopilot Control Unit - Owner’s Handbook Accessing User Calibration 2 seconds 2 seconds (saves changes) Calibration Mode or or 1 second 7 Adjusting Autopilot Settings User Calibration or or 1 second 1 second or or or 1 second or Sail boats only 1 second To adjust values use Sail boats only or or or or or or To exit & save changes 1 second 1 second 2 seconds Sail boats only or or or 1 second 1 second or Sail boats only D5489-1 Chapter 7: Adjusting Autopilot Settings 89 Wind selection Note: Only available if vessel type = SAIL BOAT and appropriate wind data is available. This screen determines whether the boat steers to apparent or true wind in Wind Vane mode. Options WIND APP Autopilot steers to apparent wind angle (default): • the autopilot will maintain the apparent wind angle WIND TRUE Autopilot steers to true wind angle: • the autopilot will maintain the true wind angle WindTrim (wind response) Note: Only available if vessel type = SAIL BOAT. WindTrim (wind response) controls 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. Options WIND TRIM Range = 1 to 9 Lower values (1 to 3) = autopilot responds to longer term wind changes (less pilot activity) Typical values = 4 to 6 Higher values (7 to 9) = autopilot responds to shorter term wind changes (more pilot activity) Response level This is the default autopilot response level. The response level controls the relationship between course keeping accuracy and the amount of helm/drive activity. You can make temporary changes to response during normal operation (see page 7). 7 Adjusting Autopilot Settings Screen text 90 ST7001+ Autopilot Control Unit - Owner’s Handbook Type 150G/400G autopilot systems Type 150G/400G autopilot systems have 9 possible response levels. Screen text Options RESPONSE 1 to 9 • 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 with crisp, well controlled turns under normal operating conditions • level 9 gives the tightest course keeping and greatest rudder activity, but may lead to a rough passage in open waters as the autopilot may ‘fight’ the sea Type 150/400 autopilot systems 7 Adjusting Autopilot Settings Type 150/400 (non-GyroPlus) autopilot systems have 3 possible response levels: Screen text Options RESPONSE 1 AutoSeastate on (Automatic deadband) • autopilot to gradually ignores repetitive boat movements and only react to true variations in course • provides the best compromise between power consumption and course keeping accuracy RESPONSE 2 AutoSeastate off (minimum deadband) • provides tighter course keeping • increased power consumption and drive unit activity RESPONSE 3 AutoSeastate off + counter rudder yaw damping • provides tightest possible course keeping by introducing counter rudder yaw damping Magnetic variation If required, set this value to the level of magnetic variation present at your boat’s current position – indicated as east (VAR EAST) or west (VAR WEST). The autopilot sends this variation setting to other instruments on the SeaTalk system, and it can be updated by other SeaTalk instruments. Screen text Options VARIATION Default setting = 0° VAR EAST/ VAR WEST 30°EAST(-30°) to 30° WEST (+30°) in 1° steps Chapter 7: Adjusting Autopilot Settings 91 7.4 Seatrial Calibration The Seatrial Calibration group has been designed specifically for use during the initial seatrial when commissioning your autopilot. Refer to Chapter 6: Commissioning the Autopilot for full details. CAUTION: You should not need to access Seatrial Calibration to adjust settings during normal autopilot operation. Note: If you are connecting the ST7001+ to a non-150/400 autopilot system, the Seatrial Calibration group is not available. You will need to use the Compass Calibration group instead. Refer to the Appendix for full details. 7 Adjusting Autopilot Settings 92 ST7001+ Autopilot Control Unit - Owner’s Handbook 7.5 Dealer Calibration The Dealer Calibration group includes items that have a significant impact on autopilot operation and can affect your boat’s safety. CAUTION: After you have commissioned the autopilot, you should not normally need to alter the Dealer Calibration values. Note: If you are connecting the ST7001+ to a non-150/400 autopilot system, the items in the Dealer Calibration group appear in a different order and several items will not be available. Refer to the Appendix for full details. Accessing Dealer Calibration To prevent accidental access, we have made entry to Dealer Calibration more difficult than the other groups: 7 Adjusting Autopilot Settings • • • when you see the DEALER CAL screen, press the auto key the display will show CAL press the -1 and +1 keys together to enter Dealer Calibration Dealer Calibration screens and settings The items in Dealer Calibration vary according to the vessel type you have selected. See the table on page 92 for default values. SeaTrial Calibration lock This screen controls whether it is possible to access Seatrial Calibration. Note: On non-150/400 systems, the calibration lock controls whether it is possible to enter Compass Calibration. See the Appendix for full details. Options CAL LOCK OFF Calibration lock off – Seatrial calibration can be accessed (default) CAL LOCK ON Calibration lock on – Seatrial calibration cannot be accessed Chapter 7: Adjusting Autopilot Settings 93 Accessing Dealer Calibration 2 seconds 2 seconds (saves changes) or Calibration Mode or 1 second or or Dealer Calibration or 7 Adjusting Autopilot Settings or 1 second To adjust values use or or To save changes Sail boats only 2 seconds Stern drives only Not sail boats 1 second or or D5491-1 94 ST7001+ Autopilot Control Unit - Owner’s Handbook Vessel type Vessel type should be set when commissioning the autopilot (see page 59). Options DISPLACE Displacement powerboat SEMI DISPLACE Semi-displacement powerboat PLANING Planing powerboat STERN DRV Planing powerboat with I/O drive (stern drive) WORK BOAT Work boat (150/150G and 400/400G only) SAIL BOAT Sail boat (150/150G and 400/400G only) Note: When you select the vessel type, the autopilot will set appropriate defaults for several other calibration settings. Refer to the table on page 101 for default values. 7 Adjusting Autopilot Settings Drive type The drive type setting controls how the autopilot drives the steering system. The drive type should be set when commissioning the autopilot (see page 61). Options DRIVE TYP 3 Linear drive, rotary drive or I/O (stern) drive DRIVE TYP 4 Hydraulic pump or hydraulic linear drive DRIVE TYP 5 Constant running hydraulic pump solenoids Align rudder Use the screen to center the rudder bar display after installing the autopilot system (see page 61). This screen also appears in the Seatrial Calibration grouping. Screen text Range ALIGN RUDDER -7° to +7° in 1° steps Chapter 7: Adjusting Autopilot Settings 95 Rudder limit Use the rudder limit screen to set the limits of autopilot rudder control just inside the mechanical end stops. This will avoid putting the steering system under unnecessary load. You should adjust this setting when commissioning the autopilot (see page 61). Screen text Range RUDDER LIMIT 10° to 40° in 1° steps Rudder gain This screen determines the default rudder gain setting. Rudder gain is a measure of how much helm the autopilot will apply to correct course errors. The higher the setting the more rudder will be applied. The default rudder gain is set during the initial seatrial: • • Type 150G/400G autopilots will adjust the rudder gain automatically during the AutoLearn (see page 68) Type 150/400 and Type 100/300 autopilots will require manual adjustment of rudder gain (see page 71) Screen text Range RUDD GAIN 1 to 9 Counter rudder Counter rudder is the amount of rudder the autopilot applies to try to prevent the boat from yawing off course. Higher counter rudder settings result in more rudder being applied. The default rudder gain is set during the initial seatrial: • • Type 150G/400G autopilots will adjust the counter rudder setting automatically during the AutoLearn (see page 68) Type 150/400 and Type 100/300 autopilots will require manual adjustment of counter rudder (see page 71) Screen text Range COUNT RUD 1 to 9 7 Adjusting Autopilot Settings You can make temporary changes to this rudder gain value during normal operation (see page 29). 96 ST7001+ Autopilot Control Unit - Owner’s Handbook Rudder damping Adjust the rudder damping value if the autopilot ‘hunts’ when trying to position the rudder (see page 62). Increasing the rudder damping value reduces hunting. Screen text Range RUDD DAMP 1 to 9 AutoTrim The AutoTrim setting determines the rate at which the autopilot applies ‘standing helm’ to correct for trim changes caused by varying wind loads on the sails or superstructure. The default AutoTrim is set when commissioning the autopilot: • • Type 150G/400G autopilots will adjust the AutoTrim setting automatically during the AutoLearn (see page 68) Type 150/400 and Type 100/300 autopilots will require manual adjustment of AutoTrim (see page 71) after the initial seatrial 7 Adjusting Autopilot Settings If you need to change the setting, increase the AutoTrim one level at a time and use the lowest acceptable value: • • • decrease the AutoTrim level if the autopilot gives unstable course keeping or excessive drive activity with a change in the heel angle increase the AutoTrim level if the autopilot reacts slowly to a heading change due to a change in the heel angle if the AutoTrim level is too high, the boat will be less stable and snake around the desired course Note: Type 150G/400G autopilots have a ‘FastTrim’ feature within AutoTrim. Select AUTO TRIM OFF to turn off FastTrim as well as AutoTrim. Setting Effect AUTO TRIM OFF No trim correction AUTO TRIM 1 Slow trim correction AUTO TRIM 2 Medium trim correction AUTO TRIM 3 Rapid trim correction AUTO TRIM 4 Very rapid trim correction Chapter 7: Adjusting Autopilot Settings 97 Response level This screen determines the default response setting. This screen also appears in User Calibration – see page 89 for full details (or refer to the Appendix for Type 100/300 autopilots). Turn rate limit Note: Not available if vessel type = SAIL BOAT. This limits your boat’s rate of turn under autopilot control. Screen text Range TURN RATE 1° to 30° per second in 1° steps Off course warning angle This screen determines the angle used by the OFF COURSE warning (see page 10). The OFF COURSE warning operates if the pilot strays off course by more than the specified angle for more than 20 seconds. Screen text Range OFF COURSE 15° to 40° in 1° steps 7 Adjusting Autopilot Settings Locked heading Boat heading 15˚ minimum D3264-2 AutoRelease (I/O drives only) Note: Only available if vessel type = STERNDRV. If the vessel type is set to STERN DRV (I/O or stern drive), you will see the AutoRelease screen (AUTO RELEASE) set to ON as a default. 98 ST7001+ Autopilot Control Unit - Owner’s Handbook AutoRelease provides emergency manual over-ride in situations when you need to avoid an obstacle at the last moment. Screen text Range AUTO RELEASE ON = AutoRelease on OFF = AutoRelease off AutoTack angle Note: Only available if vessel type = SAIL BOAT (Type 150/150G or Type 400/400G) or DISPLACEMENT (Type 100/300). This screen also appears in User Calibration – see page 87 for full details (or refer to the Appendix for Type 100/300 autopilots). Gybe inhibit Notes: 1. Only available if vessel type = SAIL BOAT. 2. Not available on Type 100/300 autopilot systems. 7 Adjusting Autopilot Settings With gybe inhibit on you can only AutoTack into the wind. This screen also appears in User Calibration – see page 87 for full details. Wind type Notes: 1. Only available if vessel type = SAIL BOAT. 2. Not available on Type 100/300 autopilot systems. This screen determines whether the boat steers to apparent or true wind in Wind Vane mode. This screen also appears in User Calibration – see page 89 for full details. WindTrim (wind response) Note: Only available if vessel type = SAIL BOAT (Type 150/150G or Type 400/400G) or DISPLACEMENT (Type 100/300). WindTrim (wind response) controls how quickly the autopilot responds to changes in the wind direction. This screen also appears in User Calibration – see page 89 for full details (or refer to the Appendix for Type 100/300 autopilots). Chapter 7: Adjusting Autopilot Settings 99 Cruise speed Set the cruise speed to the boat’s typical cruising speed. If both the boat’s speed through the water and speed over ground are unavailable via SeaTalk or NMEA, the autopilot will use this default cruise speed when computing course changes. Screen text Range CRUISE SP 4 to 60 knots AutoAdapt The AutoAdapt feature allows the autopilot to compensate for heading errors at higher latitudes, which are caused by the increasing dip of the earth’s magnetic field. The increased dip has the effect of amplifying rudder response on northerly headings in the northern hemisphere, and on southerly headings in the southern hemisphere. rth No without compensation rth No D3263-2P Options AUTOADAPT OFF AutoAdapt off AUTOADAPT nth AudoAdapt compensation on – Northern hemisphere AUTOADAPT Sth AutoAdapt compensation on – Southern hemisphere Note: If you set AUTOADAPT to nth or Sth, you then need to enter your current latitude in the next screen (LATITUDE), so that the autopilot can provide accurate course keeping by automatically adjusting the rudder gain depending on the heading. If you have a GPS connected, the autopilot will take latitude information from the GPS. 7 Adjusting Autopilot Settings with compensation 100 ST7001+ Autopilot Control Unit - Owner’s Handbook Latitude The ST7001+ only displays this screen if you have set AutoAdapt to nth or Sth. Use the -1,+1, -10 and +10 keys to set the value to your boat’s current latitude, to the nearest degree. Note: If valid latitude data is available via SeaTalk or NMEA, the ST7001+ will use this data instead of the calibration value. Screen text Range LATITUDE 0° to 80° in 1° steps Magnetic variation This is the degree of magnetic variation. This screen also appears in User Calibration – see page 90 for full details. Autopilot reset Note: Not available on Type 100/300 autopilot systems. 7 Adjusting Autopilot Settings WARNING: Do NOT use this feature unless advised to do so by a Raymarine dealer. If you complete a reset you will lose ALL autopilot calibration settings. You will then need to repeat the autopilot commissioning process. Selecting an autopilot reset will reset all of the autopilot calibration values in the course computer: • • all of the settings in User Calibration, Seatrial Calibration and Dealer Calibration will return to the factory default values the settings in Display Calibration will not change, as these are stored in each individual control head To reset the autopilot: 1. Select the Autopilot reset (RESET) screen in Dealer Calibration. 2. Press the +1 key. 3. The screen will then show an ARE YOU SURE message: • press the +1 key again to select ‘YES’ and reset the autopilot • alternatively, press the disp key to cancel 4. You will then see the CAL LOCK screen: • press standby for 2 seconds to save the new default settings, then turn the course computer power off and back on Chapter 7: Adjusting Autopilot Settings 101 Dealer Calibration defaults: Types 150/150G & 400/400G Calibration setting OFF OFF PLANING STERN DRV 4 3 0 0 20 20 4 4 5 5 2 2 3 3 5 5 2 2 5 5 20 20 --ON ----------------8 20 nth nth 0 0 0 0 OFF OFF OFF WORK BOAT 5 0 30 5 2 3 2 5 2 5 20 ----------8 nth 0 0 OFF OFF SAIL BOAT 3 0 30 2 2 2 1 5 2 --20 --100 ON APP 5 8 nth 0 0 OFF Planing Semi Displacement Sail boat 3 0 30 4 4 2 2 5 2 5 20 OFF 100 ON APP 5 8 nth 0 0 OFF Work boat Drive type Rudder alignment Rudder limit Rudder gain Counter rudder Rudder damping AutoTrim Response: with G non-G Turn rate limit Off course angle AutoRelease AutoTack angle Gybe inhibit Wind type Wind Trim Cruise speed AutoAdapt Latitude Variation Autopilot reset OFF OFF DISPLACE SEMI DISPLACE 4 4 0 0 30 30 5 4 3 5 2 2 2 3 5 5 2 2 5 5 20 20 --------------------8 8 nth nth 0 0 0 0 OFF OFF Stern drive (I/O) OFF 0 7 Adjusting Autopilot Settings Calibration lock Vessel type Displacement Factory default Vessel type 102 ST7001+ Autopilot Control Unit - Owner’s Handbook Dealer Calibration options: Types 150/150G & 400/400G Calibration setting Calibration lock Vessel type 7 Adjusting Autopilot Settings Drive type Rudder alignment Rudder limit Rudder gain Counter rudder Rudder damping AutoTrim Response Turn rate limit Off course angle AutoRelease AutoTack angle Gybe inhibit Wind type Wind Trim Cruise speed AutoAdapt Latitude Variation Autopilot reset OFF, ON DISPLACE, SEMI DISPLACE, PLANING, STERN DRV, WORK BOAT, SAIL BOAT 3, 4, 5 -7 to +7 10 to 40 1 to 9 1 to 9 1 to 9 0 to 4 1 to 9 (Type 150G/400G) 1 to 3 (Type 150/400) 1 to 30 15 to 40 OFF, ON 40 to 125 OFF, ON APPARENT, TRUE 1 to 9 4 to 60 OFF, nth, Sth 0 to 80 -30 to +30 OFF, ON Your settings Sail boat Work boat Stern drive (I/O) Planing Semi Displacement Displacement Factory default Vessel type Appendix: Using the ST7001+ With Non-150/400 Autopilots 103 Appendix: Using the ST7001+ With Non-150/400 Autopilots Introduction The information in this Appendix explains the key differences when using, commissioning and calibrating the autopilot if you have connected the ST7001+ to a Raymarine autopilot other than a Type 150/150G or Type 400/400G. Using the autopilot (non-150/400 systems) This section explains the key differences when using the ST7001+ to control a non-150/400 autopilot. page 104 Commissioning the autopilot (non-150/400 systems) This section explains how t o commission your autopilot after installation. Commissioning consists of a series of dockside checks followed by a seatrial. page 105 Calibration mode (non-150/400 systems) This section explains the Calibration mode when the ST7001+ is used with a non-150/400 autopilot. page 106 Type 100/300 autopilots The ST7001+ is compatible with Raymarine Type 100/300 course computers. When used with a Type 100/300 course computer, the control unit provides: • • standard functionality using the Raymarine steering algorithm without AST (Advanced Steering Technology) improved calibration access, but without the AutoLearn calibration feature Other autopilot systems Appendix You can also use the ST7001+ as an additional control unit for any SeaTalk autopilot system (e.g. ST4000+, ST5000+ or SportPilot) allowing autopilot control from a secondary location. 104 ST7001+ Autopilot Control Unit - Owner’s Handbook Using the autopilot (non-150/400 systems) The operating procedures when using the ST7001+ control unit with a non-150/400 autopilot are basically the same as the procedures for using a 150/400 system without a GyroPlus. Follow the instructions in Chapter 2: Basic Operation and Chapter 3: Advanced Operation, bearing in mind these main differences: Adjusting autopilot performance You can select three response levels to adjust autopilot performance: • • • 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 balance between power consumption and course keeping accuracy, and is the default calibration setting. Response Level 2: AutoSeastate off (Minimum deadband) This setting provides tighter course keeping. However, this results in increased power consumption and drive unit activity. Response Level 3: AutoSeastate off + yaw damping This setting provides the tightest possible course keeping by introducing counter rudder yaw damping.Yaw damping will use the information provided by a GyroPlus, if connected. Wind Vane mode When using Wind Vane mode: • • • you can only use the autopilot to maintain an apparent wind angle (not a true wind angle) gybe inhibit is permanently switched on WindTrim provides two settings: 1 = normal; 2 = faster response Appendix Manual (Joystick) mode If you connect the ST7001+ to a Type 100/300 course computer system fitted with a joystick, you will enter Manual (joystick) mode when you press the joystick button. In Manual (joystick) mode you can use the joystick to power steer the rudder. The ST7001+ will return to Standby mode if you release the joystick button or if you press the standby key on the control unit. You can set the autopilot to power steer in either proportional or bang-bang mode (see page 110). Appendix: Using the ST7001+ With Non-150/400 Autopilots 105 Commissioning the autopilot (non-150/400 systems) Using the ST7001+ to commission a non-150/400 autopilot is basically the same as the commissioning a 150/400 system without a GyroPlus. It involves a series of dockside checks, then a seatrial to calibrate the compass and manually adjust the autopilot’s settings. Follow the instructions in Chapter 6: Commissioning the Autopilot bearing in mind these main points: Dockside Checks With the boat safely tied up, complete the dockside checks described on page 56 to page 57 of Chapter 6: Commissioning the Autopilot: 1. 2. 3. 4. Switch on. Check the autopilot operating sense. Adjust the basic autopilot settings. Check the SeaTalk and NMEA connections. When adjusting the basic autopilot settings you will need to enter Display Calibration, as shown on the illustration on page 107. When setting the vessel type you will have the following options: • • • • Displacement: DISPLACE (including sail boats) Semi Displacement: SEMI DISPLACE Planing: PLANING Stern (I/O) Drive: STERN DRV Seatrial Calibration When you have completed the dockside checks, you must complete the setup by taking the boat on a short seatrial to: Appendix 1. Calibrate the compass: complete the automatic deviation correction and heading alignment as described in Chapter 6: Commissioning the Autopilot. NOTE: You will need to enter COMPASS CALIBRATION (not Seatrial Calibration) to swing the compass on a Type 100/300 course computer systems. For more details about accessing and using the Compass Calibration grouping, see the next page. 2. Manually adjust the autopilot settings to suit your boat, as described in Chapter 6: Commissioning the Autopilot. 106 ST7001+ Autopilot Control Unit - Owner’s Handbook Calibration mode (non-150/400 systems) Calibration groups When connected to an autopilot other than a Type 150/150G or 400/400G, the Calibration mode provides 3 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 affect any other control units connected through SeaTalk. You can adjust the Display Calibration settings as often as necessary – for example, to add or change information displayed on data pages Compass Calibration (COMPASS CAL) The Compass Calibration group is specifically designed for use during the initial autopilot seatrial, so you can correct the compass deviation and then align the compass. 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. Appendix 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 Vessel Type you have selected. Appendix: Using the ST7001+ With Non-150/400 Autopilots 107 Calibration Mode Overview 100/300 Autopilot Systems 2 seconds 2 seconds (saves changes) Calibration Mode or or 1 sec auto standby Display bar selection Heading type Pop-up pilot time-out Data pages 1 to 15 or 1 sec or auto standby -1 and +1 Vessel type Calibration lock Rudder gain Counter rudder Align rudder Rudder limit Turn rate limit Cruise speed Off course alarm angle AutoTrim Power steer on/off Drive type Rudder damping Magnetic variation AutoAdapt Latitude WindTrim (Displacement only) AutoTack (Displacement only) AutoRelease (Sterndrive only) Response level auto standby Swing compass Compass deviation Align heading 1 sec or or Appendix Within DISPLAY CAL, COMPASS CAL and DEALER CAL: -- press disp or to move forwards through items -- use -1, +1, -10, +10 to adjust settings -- press standby for 2 seconds to save changes D5492-1 108 ST7001+ Autopilot Control Unit - Owner’s Handbook Dealer Calibration screens The illustration shows the screens that appear in the calibration groups when the ST7001+ is connected to a Type 100/300 course computer. Vessel type Vessel type should be set when commissioning the autopilot (see page 59). Options DISPLACE Displacement SEMI DISPLACE Semi-displacement PLANING Planing STERN DRV Boat with I/O drive (stern drive) Note: When you select the vessel type, the autopilot will set appropriate defaults for several other calibration settings. Compass Calibration lock This screen controls whether it is possible to access Compass Calibration. Options CAL LOCK OFF Lock off: Compass Calibration can be accessed CAL LOCK ON Lock on: Compass Calibration cannot be accessed Appendix Rudder gain This screen determines the default rudder gain setting. Rudder gain is a measure of how much helm the autopilot will apply to correct course errors. The higher the setting, the more rudder will be applied. You should adjust this setting when commissioning the autopilot. (see page 71). You can make temporary changes to this rudder gain value during normal operation (see page 29). Screen text Range RUDD GAIN 1 to 9 Appendix: Using the ST7001+ With Non-150/400 Autopilots 109 Counter rudder Counter rudder is the amount of rudder the autopilot applies to try to prevent the boat from yawing off course. Higher counter rudder settings result in more rudder being applied. You should set the default counter rudder when commissioning the autopilot (see page 72). Screen text Range COUNT RUD 1 to 9 Align rudder Use this screen to center the rudder bar display after installing the autopilot system. Screen text Range ALIGN RUDDER -7° to +7° in 1° steps Rudder limit Use the rudder limit screen to set the limits of autopilot rudder control just inside the mechanical end stops. This will avoid putting the steering system under unnecessary load. You should adjust this when commissioning the autopilot (see page 61). Screen text Range RUDDER LIMIT 15° to 30° in 1° steps Turn rate limit This limits your boat’s rate of turn under autopilot control. Screen text Range TURN RATE 5° to 20° per second in 1° steps Cruise speed Screen text Range CRUISE SP 4 to 60 knots Appendix Set the cruise speed to the boat’s typical cruising speed. If both the boat’s speed through the water and speed over ground are unavailable via SeaTalk or NMEA, the autopilot will use this default cruise speed when computing course changes. 110 ST7001+ Autopilot Control Unit - Owner’s Handbook Off course warning angle This screen determines the angle used by the OFF COURSE warning (see page 10). The OFF COURSE warning operates if the pilot strays off course by more than the specified angle for more than 20 seconds. Screen text Range OFF COURSE 15° to 40° in 1° steps AutoTrim The AutoTrim setting determines the rate at which the autopilot applies ‘standing helm’ to correct for trim changes caused by varying wind loads on the sails or superstructure.You should set the default AutoTrim after commissioning the autopilot (see page 73). Setting Effect AUTO TRIM OFF No trim correction AUTO TRIM 1 Slow trim correction AUTO TRIM 2 Medium trim correction AUTO TRIM 3 Rapid trim correction (default) AUTO TRIM 4 Very rapid trim correction Power steer If you have a joystick connected to your Type 100/300 autopilot system, use power steer to select the required joystick mode of operation (see table). Appendix Options POWER STR OFF Power steer off POWER STR 1 1 = Proportional power steer Proportional power steer applies rudder in proportion to joystick movement – the further the joystick is held over, the greater the applied rudder. POWER STR 2 2 = Bang-bang power steer Bang-bang power steer applies continuous rudder in the direction of the lever movement – to improve control, the speed of rudder movement changes with the angle of the lever. For maximum speed, push the lever hardover. If you return the lever to the center position, the rudder will remain in its current position. Appendix: Using the ST7001+ With Non-150/400 Autopilots 111 Drive type The drive type setting controls how the autopilot drives the steering system. You should set the drive type when commissioning the autopilot (see page 61). Options DRIVE TYP 1 or 2 Not used DRIVE TYP 3 Linear drive, rotary drive or I/O (stern) drive DRIVE TYP 4 Hydraulic pump or hydraulic linear drive DRIVE TYP 5 Constant running hydraulic pump solenoids Rudder damping Set this option during the initial dockside checks if the autopilot ‘hunts’ when trying to position the rudder (see page 62). Screen text Range RUDD DAMP 1 to 9 Magnetic variation If required, set this value to the level of magnetic variation present at your boat’s current position – indicated as east (VAR EAST) or west (VAR WEST). The autopilot sends this variation setting to other instruments on the SeaTalk system, and it can be updated by other SeaTalk instruments. Screen text Options VARIATION Default setting = 0° VAR EAST/ VAR WEST 30°EAST(-30°) to 30° WEST (+30°) in 1° steps AutoAdapt The increased dip has the effect of amplifying rudder response on northerly headings in the northern hemisphere, and on southerly headings in the southern hemisphere. Appendix The AutoAdapt feature allows the autopilot to compensate for heading errors at higher latitudes, which are caused by the increasing dip of the earth’s magnetic field. 112 ST7001+ Autopilot Control Unit - Owner’s Handbook Note: If you set AUTOADAPT to nth or Sth, you then need to enter your current latitude in the next screen (LATITUDE), so that the autopilot can provide accurate course keeping by automatically adjusting the rudder gain depending on the heading. Options AUTOADAPT OFF AutoAdapt off AUTOADAPT nth AudoAdapt compensation on – Northern hemisphere AUTOADAPT Sth AutoAdapt compensation on – Southern hemisphere Latitude The ST7001+ only displays this screen if you have set AutoAdapt to nth or Sth. Use the -1,+1, -10 and +10 keys to set the value to your boat’s current latitude, to the nearest degree. Note: If valid latitude data is available via SeaTalk or NMEA, the autopilot will use this data instead of the calibration value. Screen text Range LATITUDE 0° to 80° in 1° steps WindTrim (wind response) Note: Only available if vessel type = DISPLACEMENT. WindTrim (wind response) controls how quickly the autopilot responds to changes in the wind direction. Screen text Options WIND TRIM 1 = Normal setting 2 = Faster response for wind shifts AutoTack angle Appendix Note: Only available if vessel type = DISPLACEMENT. The AutoTack 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 Appendix: Using the ST7001+ With Non-150/400 Autopilots 113 AutoRelease (I/O drives only) Note: Only available if vessel type = STERNDRV. If the vessel type is set to STERN DRV (I/O or stern drive), you will see the AutoRelease screen (AUTO RELEASE) set to ON as a default. AutoRelease provides emergency manual over-ride in situations when you need to avoid an obstacle at the last moment. Screen text Range AUTO RELEASE ON = AutoRelease on OFF = AutoRelease off Response level This is the default response setting. The response level controls the relationship between the autopilot’s course keeping accuracy and the amount of helm/drive activity. You can make temporary changes to response during normal operation (see page 7). Screen text Options RESPONSE 1 AutoSeastate on (Automatic deadband) = default • autopilot to gradually ignores repetitive boat movements and only react to true variations in course • provides the best compromise between power consumption and course keeping accuracy RESPONSE 2 AutoSeastate off (minimum deadband) • provides tighter course keeping • increased power consumption and drive unit activity RESPONSE 3 AutoSeastate off + counter rudder yaw damping • provides tightest possible course keeping by introducing counter rudder yaw damping Appendix 114 ST7001+ Autopilot Control Unit - Owner’s Handbook Dealer Calibration: possible settings with Type 100/300 Planing Stern drive (I/O) DISPLACE OFF 5 7 0 30 20 6 20 2 OFF 3 2 OFF NORTH 0 SEMIDISP OFF 5 7 0 30 15 8 20 3 OFF 4 2 OFF NORTH 0 PLANING OFF 4 7 0 30 15 15 20 3 OFF 4 2 OFF NORTH 0 STERNDRV OFF 3 5 0 20 8 15 20 3 OFF 3 2 OFF NORTH 0 1 --- --- --- 100 --- --- --- --- --- --- ON 1 1 1 1 Appendix Note: Information applies to Type 100/300 Course Computers with Version 15 software. Your settings Semi Displacement Vessel type Calibration lock Rudder gain Counter rudder Rudder alignment Rudder limit Turn rate limit Cruise speed Off course angle AutoTrim Power steer Drive type Rudder damping Variation AutoAdapt Latitude Wind Trim (displacement only) AutoTack angle (displacement only) AutoRelease (stern drives only) Response Vessel type Displacement Calibration setting Specifications 115 Specifications ST7001+ control unit Nominal supply voltage: 12 V DC via SeaTalk Operating voltage range: 10 V to 15 V DC Current consumption (in Standby mode) 50 mA (less than 120 mA with full lighting) Operating temperature: 0 °C to +70 °C (32 °F to 158 °F) Water protection: waterproof to CFR46 Overall dimensions: width height depth 175 mm (6.9 in) 115 mm (4.53 in) 41 mm (1.62 in) Keypad: 13 button illuminated keypad Liquid Crystal Display (LCD): shows heading, locked course and navigational data, and up to 15 data pages LCD illumination: 3 brightness levels + off; 15 contrast levels Input connections: SeaTalk (x2) and NMEA 0183 Output connections: SeaTalk (x2) CE approvals: conforms to: 89/336/EC (EMC), EN60945:1997 Course computer functions Course computer Control unit Type 150G/400G Type 150/400 ST7001+ • Internal GyroPlus yaw • Full basic functionality sensor • Improved track-keeping • Enhanced course keeping • Steers to true and apparent using AST wind in Wind Vane mode • FastTrim • Improved calibration • Full access to AutoLearn, access, but without providing automatic AutoLearn steering calibration • Uses Raymarine steering • Improved track-keeping algorithm without AST • Steers to true and apparent • No FastTrim wind in Wind Vane mode • Improved calibration access Type 100/300 • Standard functionality using Raymarine steering algorithm without AST • Improved calibration access, but without AutoLearn • Steers to apparent wind only in Wind Vane mode 116 ST7001+ Autopilot Control Unit - Owner’s Handbook Glossary Term Meaning ° Degrees A Amp AST (Advanced Steering Technology) AST (Advanced Steering Technology) is Raymarine’s unique advanced steering algorithm. It uses inputs from a wide variety of sensors to tune the autopilot’s operation to provide superior control of the boat in any condition. AutoLearn Self-learning calibration feature available on Type 150G and 400G autopilot systems. AutoTrim The AutoTrim setting determines the rate at which the autopilot applies ‘standing helm’ to correct for trim changes caused by varying wind loads on the sails or superstructure. AWG American Wire Gauge CE Marked on Raymarine products that comply with defined European Community standards counter rudder Counter rudder is the amount of rudder the autopilot applies to try to prevent the boat from yawing off course. Higher counter rudder settings result in more rudder being applied. CR pump Constant Running hydraulic pump DC Direct current EMC (Electromagnetic Compatibility) When powered up, all electrical equipment produces electromagnetic fields. These can cause adjacent pieces of electrical equipment to interact with 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 course computer core pack ft Foot (1 ft = 305 mm) GPS Global Positioning System GyroPlus Raymarine’s GyroPlus yaw sensor that measures the boat’s rate of turn. It is built into the Type 150G and Type 400G course computers. Hz Hertz (cycles per second) in Inch (1 in = 25.4 mm) I/O drive Inboard/Outboard or stern drive km Kilometre m Metre (1 m = 39.4 inches) mm Millimeter (1 mm = 0.04 inches) Glossary 117 Term Meaning MOB Man overboard nm Nautical mile NMEA The NMEA (National Maritime Electronics Association) protocol is an internationally accepted serial communication interface standard for sharing data between electronic equipment. Raymarine products can share information with non-SeaTalk equipment using the NMEA 0183 protocol. response The autopilot response level controls the relationship between course keeping accuracy and the amount of helm/drive activity. rudder gain Rudder gain is a measure of how much helm the autopilot will apply to correct course errors. The higher the setting the more rudder will be applied. SeaTalk SeaTalk is Raymarine’s proprietary communication system. It links the products to provide a single, integrated system sharing power and data. SeaTalk bus This refers to the continuous SeaTalk system connecting together a series of Raymarine units. SM Statute (land) mile SSB Single Side Band (radio) Type 150 Raymarine 12 V course computer without internal GyroPlus Type 150G Raymarine 12 V course computer with internal GyroPlus Type 400 Raymarine 12/24 V course computer without internal GyroPlus Type 400G Raymarine 12/24 V course computer with internal GyroPlus V Volt VHF Very High Frequency (radio) W Watt WindTrim WindTrim (wind response) controls 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. XTE Cross track error Yaw The boat’s rate of turn (°/sec) 118 ST7001+ Autopilot Control Unit - Owner’s Handbook Index 119 Index A Adjusting autopilot settings 75–102 Accessing Calibration mode 78 Calibration groups 76 Dealer Calibration 92–100 Aligning rudder 94 AutoAdapt 99 Autopilot reset 100 AutoRelease 97 AutoTrim 96 Counter rudder 95 Cruise speed 99 Drive type 94 Latitude 100 Off course warning angle 97 Rudder damping 96 Rudder gain 95 Rudder limit 95 Seatrial Calibration lock 92 Turn rate limit 97 Vessel type 94 Display Calibration 79–86 Data pages 81 Display bar graph 79 Heading selection 79 Non-150/400 autopilots 106–114 Seatrial Calibration 63–73, 91 User Calibration 87–90 AutoTack angle 87 Gybe inhibit 87 Magnetic variation 90 Response 89 Wind selection 89 WindTrim (wind response) 89 Alarms and warnings AUTO RELEASE 37 CURRENT LIMIT 37 DRIVE STOPPED 37 LARGE XTE 19 LOW BATT 37 LRN FAIL 37 MOB 33 MOT POW SWAPPED 37 NEXT WPT? 22 NO DATA 38 NO PILOT 38 OFF COURSE 10 RG FAIL 38 ROUTE COMPLETED 22 SEATALK FAIL 1 or 2 38 SEATALK/STLK FAIL 38 SHALLOW 33 WATCH 32 WINDSHIFT 28 Aligning rudder 61, 94 Apparent wind 25, 89 Auto mode 6–14 Changing course 7 Dodging obstacles 10 Entering Auto mode 6 Exiting Auto mode 6 Gusty conditions 13 Off course warning 10 Return to previous heading 11 Tacking (AutoTack) 12 AutoAdapt 99 AutoLearn 70 Autopilot commissioning see Commissioning Autopilot features 1 Autopilot operating modes see Operating modes Autopilot reset 100 Autopilot steering sense 58 AutoRelease Alarm 37 Selecting (I/O drives) 97 AutoTack Default angle 87 Gybe inhibit 13 Introduction 12 Wind Vane mode 28 AutoTrim, Setting 73, 96 120 ST7001+ Autopilot Control Unit - Owner’s Handbook B Bar graph 5 Selecting bar type 79 C Calibration mode 75–102 Accessing 78 Calibration groups 76 Dealer Calibration 92–100 Display Calibration 79–86 Non-150/400 autopilots 106–114 Seatrial Calibration 63–73, 91 User Calibration 87–90 Commissioning 55–73 Dockside checks 56–62 Step 1, Switch on 56 Step 2, Check connections 57 Step 3, Check sense 58 Step 4, Basic settings 59 Non-150/400 autopilots 105 Seatrial Calibration 63–73 Compass calibration 64–67 Set-up, AutoLearn 68–70 Set-up, Manual 71–73 Compass Deviation correction 64 Heading alignment 66 Control unit Display layout 5 Features 1 Installation 45–54 Keypad functions 4 Specifications 115 Counter rudder, Setting 72, 95 Course changes 7 Course computer functions 115 Cross track error Explanation 19 LARGE XTE warning 19 Cruise speed 99 Current limit alarm 37 D Data pages Displaying 31 Setting up 81 Watch timer 32 Dealer Calibration 92–100 Disengaging the autopilot 6 Display Calibration 79–86 Display, Layout 5 Dodging obstacles Auto mode 10 Track mode 23 Wind Vane mode 27 Drive stopped alarm 37 Drive type, Setting 61, 94 E EMC Installation guidelines 47 Servicing and safety guidelines 39 Engaging the autopilot 6 Error messages see Alarms and warnings F Fault finding 36 Features 1 Functional test Autopilot system 56 Repeater units 54 G Glossary 116–117 Gusty conditions 13 Gybe inhibit 13, 87 GyroPlus fail alarm 38 H Heading selection 79 Heading, Return to previous 11 I Illumination 15 Initial sea trial see Commissioning Installation 45–54 Control unit 49 EMC guidelines 47 Index Location 46 NMEA connections 51 Parts supplied 45 Power supply (via SeaTalk) 50 SeaTalk connections 50 Tools required 45 121 O Keypad Functions 4 Illumination 15 Off course warning Default angle 97 Description 10 Operating (steering) sense 58 Operating modes Auto mode 6–14 Calibration mode 75–102 Standby mode 6 Track mode 18–24 Wind Vane mode 25–29 L P Large cross track error warning 19 Last (previous) heading 11 Last (previous) wind 27 Latitude, Setting 100 Learn fail alarm 37 Lighting 15 Low battery alarm 37 Previous (last) heading 11 Previous (last) wind 27 Product support 40 K M Magnetic variation, Setting 90 Maintenance 39 Man overboard (MOB) warning 33 Motor/Power swapped alarm 37 N Navigator Connections 57 Data pages 31 NMEA Connections 51 Data decoded by control unit 51 Inputs on control unit 52 Receiving 51 Transmitting 53 No data alarm 38 No pilot alarm 38 Non-150/400 autopilots 103–114 Adjusting autopilot settings 106–114 Commissioning the autopilot 105 Using the autopilot 104 R Response level Default setting 89 Temporary adjustments 7–9 RG fail alarm 38 Route Completed warning 22 Rudder alignment (offset) 61, 94 Rudder bar 79 Rudder damping 96 Rudder gain Default setting 71, 95 Temporary adjustments 29 Rudder limit, Setting 61, 95 Rudder sense, Checking 58 S SeaTalk Connections 50, 57 Data pages 31 SeaTalk fail 1 or 2 alarm 38 SeaTalk fail alarm 38 Seatrial see Commissioning Seatrial Calibration 63–73, 91 Seatrial Calibration lock 92 Self-learn calibration (AutoLearn) 70 Servicing 39 Shallow warning 33 122 ST7001+ Autopilot Control Unit - Owner’s Handbook Software version 41 Specifications 115 Standby mode, Selecting 6 Steering bar 79 Swinging the compass 64 T Testing the system see Commissioning Tidal stream compensation 20 Timer (Watch timer) 32 Track mode 18–24 Dodging obstacles 23 Entering Track mode 18 Exiting Track mode 19 Safety advice 24 Waypoint arrival and advance 21 Trouble-shooting 36 True wind 25, 89 Turn rate limit 97 U User Calibration 87–90 V Vane mode see Wind Vane mode Variation, Setting 90 Vessel type, Setting 59, 94 W Warning messages see Alarms and warnings Watch timer 32 Waypoint advance warning 18, 22 Waypoint arrival and advance 21 Wind angle Adjusting 26 Return to previous 27 Wind instrument, Connections 57 Wind selection 89 Wind Vane mode 25–29 Adjusting wind angle 26 Apparent wind 25, 89 AutoTack 28 Dodging obstacles 27 Entering Wind Vane mode 26 Exiting Wind Vane mode 26 Previous wind angle 27 True wind 25, 89 Wind shift warning 28 WindTrim (wind response) 25 D4235-4 Drill 5mm Drill 5mm Machine hole 90 mm (3.55 in) diameter Control unit - surface mount template Drill 5mm Drill 5mm Limited Warranty Certificate Raymarine warrants each new Light Marine/Dealer Distributor Product to be of good materials and workmanship, and will repair or exchange any parts proven to be defective in material and workmanship under normal use for a period of 2 years/24 months from date of sale to end user, except as provided below. Defects will be corrected by Raymarine or an authorized Raymarine dealer. Raymarine will, except as provided below, accept labor cost for a period of 2 years/24 months from the date of sale to end user. During this period, except for certain products, travel costs (auto mileage and tolls) up to 100 round trip highway miles (160 kilometres) and travel time of 2 hours, will be assumed by Raymarine only on products where proof of installation or commission by authorized service agents, can be shown. Warranty Limitations Raymarine Warranty policy does not apply to equipment which has been subjected to accident, abuse or misuse, shipping damage, alterations, corrosion, incorrect and/or non-authorized service, or equipment on which the serial number has been altered, mutilated or removed. Except where Raymarine or its authorized dealer has performed the installation, it assumes no responsibility for damage incurred during installation. This Warranty does not cover routine system checkouts or alignment/calibration, unless required by replacement of part(s) in the area being aligned. A suitable proof of purchase, showing date, place, and serial number must be made available to Raymarine or authorized service agent at the time of request for Warranty service. Consumable items, (such as: Chart paper, lamps, fuses, batteries, styli, stylus/drive belts, radar mixer crystals/diodes, snap-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 fluorescent lamps (CCFL), hailer horns and transducers are warranted for 1 year/12 months from date of sale. These items must be returned to a Raymarine facility. All costs associated with transducer replacement, other than the cost of the transducer itself, are specifically excluded from this Warranty. Overtime premium labor portion of services outside of normal working hours is not covered by this Warranty. Travel cost allowance on certain products with a suggested retail price below $2500.00 is not authorized. When/or if repairs are necessary, these products must be forwarded to a Raymarine facility or an authorized dealer at owner’s expense will be returned via surface carrier at no cost to the owner. Travel costs other than auto mileage, tolls and two (2) hours travel time, are specifically excluded on all products. Travel costs which are excluded from the coverage of this Warranty include but are not limited to: taxi, launch fees, aircraft rental, subsistence, customs, shipping and communication charges etc. Travel costs, mileage and time, in excess to that allowed must have prior approval in writing. TO THE EXTENT CONSISTENT WITH STATE AND FEDERAL LAW: (1) THIS WARRANTY IS STRICTLY LIMITED TO THE TERMS INDICATED HEREIN, AND NO OTHER WARRANTIES OR REMEDIES SHALL BE BINDING ON RAYMARINE INCLUDING WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABLE OR FITNESS FOR A PARTICULAR PURPOSE. (2) Raymarine shall not be liable for any incidental, consequential or special (including punitive or multiple) damages. All Raymarine products sold or provided hereunder are merely aids to navigation. It is the responsibility of the user to exercise discretion and proper navigational skill independent of any Raymarine equipment. Document number: 84064-8 April 2001 Factory Service Centers United States of America UK, Europe, Middle East, Far East Raymarine Inc 22 Cotton Road, Unit D Nashua, NH 03063-4219, USA Raymarine Ltd Anchorage Park, Portsmouth PO3 5TD, England Telephone: +1 603 881 5200 Fax: +1 603 864 4756 www.raymarine.com Telephone: +44 (0)23 9269 3611 Fax: +44 (0)23 9269 4642 www.raymarine.com Sales & Order Services 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 Stick barcode label here Purchased from Purchase date Dealer address Installed by Installation date Commissioned by Commissioning date Owner’s name Mailing address This portion should be completed and retained by the owner.
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