Raymarine ST4000+ manual

Distributed by Any reference to Raytheon or RTN in this manual should be interpreted as Raymarine. The names Raytheon and RTN are owned by the Raytheon Company.[...]

ST4000+ Wheel & Tiller Autopil ots Owne r’ s Handbo ok Docum ent number: 81131-6 Date: Augus t 20 01[...]

ii ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook Autohelm, HSB (Hi gh Speed B us), Sai lPilot, S eaT a lk and Sp ortPilo t are registered trademarks of Raymarine Ltd. Raymarine, AST (Advanced S teering T echnology), AutoAdapt , AutoLearn, Au toRelease , AutoSea state, AutoT ack, AutoT rim, FastT rim, GyroPlus, RayGyro, RayP ilot and [...]

Preface iii OR Boat's electrical distribution panel Rudder position sensor (optional fit for wheel pilot only) ST4000+ control unit Fluxgate compass SeaTalk instrument NMEA instrument or navigator Tiller drive Wheel drive ST4000+ autopilot system layout D5332-1[...]

iv ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook[...]

Preface v Contents About this handb ook ........ ...... ......... ........ ......... ...... ......... .... ix Import ant Informat ion ........ ...... ......... ........ ......... ...... ......... .. x Warranty .. ....... ........... ........... ........... ....... ........... ........... ....... ........ x Safety n otices . ........... ........... [...]

vi ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 3.2 Using W ind V ane mode .......................................................... 27 Selecting W ind V ane mode ..................................................... 27 Exiting W ind V ane mode ........................................................ 28 Adjusting the locked wind an[...]

Preface vii 5.5 Wheel drive (w heel pilots only) .............................................. 70 Installation stages .................................................................... 70 Drilling the sp oke clamp holes ................................................ 71 Securing the wh eel drive to the wheel ....................................[...]

viii ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 7.2 Dealer setup .......................................................................... 106 Calibration lock (CAL LOC K) ............................................. 108 Pilot type (4000 WHL/TILL) ............................................... 108 Rudder gain (RUDD G AIN) .....[...]

Preface ix About this hand book W e lcome to the handbook for the ST4000+ wheel and tiller autopil ot systems . This handbook cont ains two main parts : P art 1: Using the S T4000+ Autopilot P art 2: Installing the ST4000+ Autopilot At the en d of this handb ook we ha ve included pr oduct specifications, a glossary and index , and templates for ins[...]

x ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook Important Information War ra n ty T o register you r new Raymarine product, please take a few minutes to fill out the warranty card. It is important that you compl ete the owner information and return the card to us to receive full warranty benefits. Saf ety no tices WA RNING: Pr oduct [...]

Preface xi • Make sure that all members of crew know how t o disengage the autopilo t. • Regularly check for ot her boats and any obstacles to navigation – no matter how c lear the sea may appear, a dangerous situation can deve lo p ra pid ly . • Maintain an accurate record of the boat ’ s position by usi ng either a navigation aid or vi [...]

xii ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook[...]

Pa r t 1 : Using the ST4000+ P art 1: Using the ST4 000+[...]

P art 1: Us ing t he S T4000 +[...]

Chapter 1: Intr oduction 1 1 Introduction Chapter 1: Introduction 1.1 Fe atures The Raymarine ST400 0 Plus (ST4000+) is a SeaT alk ® c ompatible autopilot av ailable in versions su itable for boats with either til ler or wheel steering sys tems. This autopilot system w ill steer your boat to a heading automatic ally , accurately and reliably . The[...]

2 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 1 Introduction 1.2 Extende d systems The ST4000+ is compatible with all other SeaT alk instruments. Y ou can connect it to additional fixed or handh eld SeaT alk autopilot control units located at secondary steering and control pos itions (see page 52 ). Y ou can also use t he ST4000+ a[...]

Chapter 2: Ba sic Operation 3 2 Basic Oper ation Chapter 2: Basic Oper ation The sections in this chapter explain how to use the basic functions on your autopil ot: CAUTION: Important note for wheel d rive systems After each t rip, flush inside the drive unit by inserti ng a hose pipe in the free slot on the back cover . This will pr event any buil[...]

4 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 2 Ba sic Oper ation 2.1 Using the contr ol unit Key functions • The autopilot always powers up in Stan dby mode. • Y ou control the autopilot by press ing the buttons on the control unit. The control unit confirms each button press with a short beep. • Y ou access the main functio[...]

Chapter 2: Ba sic Operation 5 2 Basic Oper ation Display layout The ST4000+ autop ilot display pro vides the following informat ion: • If the display shows no distance unit all distances are in kilometres (Km), otherwise distances are i n nautical miles (nm ) or statute/land miles ( SM ). • The bar graph at the bottom of the screen is normally [...]

6 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 2 Ba sic Oper ation 2.2 Using Auto mode Engaging the autopilot (Auto mode) 1. S teady the boat on t he required heading. 2. Wheel Pilot: Engage the wheel drive clutch by rotating the clutch lever clockwise (so t he lever engages ful ly onto the locat ing pip). Tiller Pilot: Place the pu[...]

Chapter 2: Ba sic Operation 7 2 Basic Oper ation CAUTION: Autopilo t course con trol makes it ea sier to sai l a boat, bu t it is NOT a substitute for goo d seamanship. AL W A YS ma intain a permanent watch, no matter how clear the sea appears to be. Disengaging the autopilot (Standby mode) 1. Pr ess standby . • in St andby mode, the display show[...]

8 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 2 Ba sic Oper ation Changing course in Auto mode In Auto mo de, use the -1 and -10 (port) and +1 and +10 (starboard) keys to chang e the locked heading in steps of 1 ° or 10 ° . For example: press -10 three times for a 30 ° course change to port. Dodging obstacles in Auto mode T o av[...]

Chapter 2: Ba sic Operation 9 2 Basic Oper ation Returning to the previous locked heading (LAST HDG) If you have steered the boat away from the sel ected locked heading for any reason (for example, executing a dodge maneuver or selecting Standb y), you can return to the previous locked heading as follows: 1. Pr ess aut o for 1 second. The d isplay [...]

10 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 2 Ba sic Oper ation Automatic tack (AutoT ack) The ST4000+ has a built in automatic tack f acility (AutoT ack) that turns the boat through a pre-dete rmined angle in the required direction. The default AutoT ac k angle is 100 ° , but you can adjust this in Dealer setup (see page 109 )[...]

Chapter 2: Ba sic Operation 11 2 Basic Oper ation 1. Note the re qui red n ew head ing. 2. Select standby for manual steering, so you can bring th e boat to the new headin g MANUAL L Y . 3. Select au to: allo w the boat to settle ont o course, then bring the boat to the final course in 1 ° steps us ing the -1 or +1 keys Gusting conditions In gusti[...]

12 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 2 Ba sic Oper ation 2.3 Adjusting autopi lot performance During normal autopil ot operation in any mode you can make temporary adjust men ts to: • response level • rudder gain Note: You will lose these temporary changes to response level and rudder gain whenever the system is power[...]

Chapter 2: Ba sic Operation 13 2 Basic Oper ation Note: If you have set up the R ESPONSE screen as a defaul t data page (see page 104) you can als o access it by pressing disp and then scroll ing through the dat a pages. 2. Pr ess -1 or +1 to change the r esponse le vel. 3. Pr ess dis p or wait for 5 seconds to return to the pr evious display . Cha[...]

14 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 2 Ba sic Oper ation 2.4 Autopilot alarms Responding to alarms The ST4000+ activates the alarms l isted on the following pages: • Unless otherwise stated, you should deal with alarms by pressing standb y to clear t he alarm and return to hand steering. • In some s ituation s, the au[...]

Chapter 2: Ba sic Operation 15 2 Basic Oper ation Wind Sh ift alarm (WINDSHIFT ) The ST4000+ act ivates the W indshift alarm w hen it detects a change in the apparent wind angle of more t han 15 ° (see page 2 9 ). Larg e Cr oss T rack Err or a larm (LAR GE XTE) The ST4000+ activates this alarm when the cross track e rror exceeds 0.3 nm (see page 2[...]

16 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 2 Ba sic Oper ation • the boat arrives at the target waypoint and the navigator accepts the next waypoint • you activate the Man Overboard (MOB) function in T rack mode When the alarm sounds, the pilot continues on i ts current heading but displays : • the bearing to the next way[...]

Chapter 2: Ba sic Operation 17 2 Basic Oper ation 3. Pr ess t he disp key until you see the WA TCH data page: • the watch timer will start cou nting • when the timer reaches 3 minutes, the WA TCH text start s flashing to indicate that t he timer is in the last minute • when the timer reaches 4 minutes, the ST4000+ activates the audible W atch[...]

18 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 2 Ba sic Oper ation 2.5 Adjusti ng display and keyp ad lightin g Note: When the display l ighting is off, t he control u nit st ill illum inates the keys at a courtesy level. T o adjust the displ ay and keypad lighting: 1. Press disp for 1 second from any mode to access the LAMP screen[...]

Chapter 3: Adv anced Operatio n 19 3 Advanced Operation Chapter 3: Adva nced Oper ation The sections in this chapter explain how to use the more advanced function s on your autopilot: 3.1 Using T ra ck mode T rack ing betwe en waypoints create d on naviga tion equipme nt connec ted to the aut opilot s ystem. page 2 0 3.2 Using W ind V ane mode Usi [...]

20 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 3 Advanced Operation 3.1 Using T rac k mode Note: You can only use Track mode if you have conn ected the ST4000+ to a s uitable navigation s ystem providing SeaT alk or NMEA navigatio n information . The ST4000+ can receive track and cross track error information from either: • a Sea[...]

Chapter 3: Adv anced Operatio n 21 3 Advanced Operation 4. W ait for the W a ypoint Advance alarm to soun d. The display will show the bearing to the next pl anned waypoint and the direction the boat wi ll turn to reac h this w aypoint. Note: If the boat is more t han 0.3 nm from the track, t he Large Cross Track Error al arm will sound ( see page [...]

22 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 3 Advanced Operation Note: Tidal streams have a far mor e significant ef fect at lower sp eeds than at high er speeds. If the tidal flow is less than 3 5% of the boat ’ s speed, you will not notice any dif ference in the autopilot ’ s performance in Track mode. However, you should [...]

Chapter 3: Adv anced Operatio n 23 3 Advanced Operation If the cross t rack error is greater than 0. 3 nm, the ST4000+ will s ound the Lar ge Cross T rack Error alarm and shows wheth er you are to the port (P t) or starboard (St b) of the pl anned track. T o cancel the Large Cross T rack Error alarm: • pre ss standby to return to hand steering, o[...]

24 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 3 Advanced Operation Waypoint arrival and advance Arrival As the boat arrives at the tar get waypoint the navi gation aid should manually o r automati cally select th e next target wayp oint. The ST4000+ will then detect the new ta r get waypoint number , sound the W aypoint Advance al[...]

Chapter 3: Adv anced Operatio n 25 3 Advanced Operation Note: When you reach the last waypoint in the track, the NO DA T A alarm wi ll sound to indi cate that there is no further wayp oint inform ation. Pre ss auto to continue on the same h eading, or standby to return to hand st eering. Skip ping a wayp oint – Se aT alk naviga tors o nly If you [...]

26 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 3 Advanced Operation Conf irming positio n at th e start of a j ourney At the start of a journey you mus t always use an easily identifiable fixed object to confirm the fix given by the navigation system. Check for fixed posit ional errors and compensate for t hem. V erifying comp uted[...]

Chapter 3: Adv anced Operatio n 27 3 Advanced Operation 3.2 Using Wind V ane mode Note: You can only use Wind Vane mo de if you have connected the ST4000+ to a suitable win d instrument/ vane providing SeaTal k or NMEA wind dir ection informat ion. T o use W ind V a ne mode (also known as V ane mode), the ST4000+ must receive wind i nformation from[...]

28 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 3 Advanced Operation Exiting Wind V ane mode Y ou can return to Auto or Standby mode from W ind V ane mode by: • pressing auto to r eturn to Au to mod e • pressing standby to steer manually in S tandby mode Adjusting the locked wind angle Y ou can adjust the locked wind angle by us[...]

Chapter 3: Adv anced Operatio n 29 3 Advanced Operation 2. Check that it is safe to turn on to this co urse. 3. T o accept this apparent wind angle, press standby and auto together within 7 seconds . Note: If you do not accept the previous wind within 7 seconds, the autopilot wi ll lock onto the current apparent wind angle. Dodges in Wind V ane mod[...]

30 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 3 Advanced Operation Using AutoT ack in Wind V ane mode After using the AutoT ack function (see page 10 ) to tack in W ind V ane mode, you may need to adjust the locked heading until you achieve the required apparent wind angle. Note: Before you use the Aut oTack function in Wind Vane [...]

Chapter 3: Adv anced Operatio n 31 3 Advanced Operation 3.3 Displa ying data pages Use the disp key to show ‘ data pages ’ of SeaT alk or NMEA data: 1. Pr ess disp to access the first data page, and press it again to cycle through each data page in turn: • to return to a previous d ata page, pres s disp for 1 second within 2 seconds of displa[...]

32 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 3 Advanced Operation[...]

Chapter 4: Ma intenance & F ault F inding 33 4 Maintenanc e & F ault Finding Chapter 4: Maintenance & F ault Finding This chapter provi des information abou t identifying common problems, maint aining your autopilo t system and obtaini ng product support: 4.1 Fault finding T his section provides a checklist to help you ident ify and res[...]

34 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 4 Maintena nce & F ault F in ding 4.1 F ault f indin g All Raymarine product s are designed to provide many years o f trouble-free operation. W e also put them through comprehensi ve testing and qu ality assurance procedures befo re shipping. In the unlikely event that a fault does[...]

Chapter 4: Ma intenance & F ault F inding 35 4 Maintenanc e & F ault Finding The auto pilot will not ‘ talk ’ to other Sea Tal k instrumen ts Cabling pro blem – m a ke s u r e a l l t h e cables are c onnecte d properl y . P osition informa tion no t recei ved Navigato r not trans mittin g the corr ect po sit ion da ta. The autopilot [...]

36 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 4 Maintena nce & F ault F in ding 4.2 Gener al mai ntenance CAUTION: The contr ol unit, fluxgat e compass, tiller dr ive and rudder position sensor do not contain any user serviceable parts. T hese prod ucts should be serviced only by a uthorized Raymarine service techni cians. Whe[...]

Chapter 4: Ma intenance & F ault F inding 37 4 Maintenanc e & F ault Finding Adju stin g the clut ch Y ou need to adjust the c lutch if t he drive belt s lips in Auto mode or drags in S tandby mode. In normal us e, you can tell if the clut ch is slipping if the motor operates but the drive does not turn the wheel. T o adjust the clutch, fi [...]

38 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 4 Maintena nce & F ault F in ding Replac ing the belt The drive belt is designed to be user serviceable. If there is insufficient ad justment to cure a slip ping clutch , or if the drive belt is damaged in any way (if it is broken, frayed or stretch ed), you should replace the driv[...]

Chapter 4: Ma intenance & F ault F inding 39 4 Maintenanc e & F ault Finding Clean ing t he disp lay CAUTION: T a ke care when cleaning the display . D o not wipe the displ ay screen with a dry cloth as this could scratch the s cr een coating. Do not us e acid, a mmonia based or ab rasive products. • Never use chemical or abrasive materia[...]

40 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 4 Maintena nce & F ault F in ding 4.3 Produc t support Raymarine products are sup ported by a worldwide n etwork of distributors and Authorized Servi ce Representatives. If you encounter any dif ficulties w ith this product, pleas e contact either your national dist ributor , servi[...]

Pa r t 2 : Installing the ST4000+ P art 2: Insta lling t he ST40 00+[...]

P art 2: Instal ling the S T4000 +[...]

Chapter 5: Inst alling the ST4000+ 43 5 Installing the ST4000+ Chapter 5: Installing the ST4000+ The sections in this chapter explain how to install and connec t the components of your autopilot sys tem: 5.1 Planning the installation Preparation steps , tools required and EMC installation guidelin es . page 4 4 5.2 Control u nit How to in stall the[...]

44 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ 5.1 Plan ning th e inst allatio n Before you start inst alling the autopilot system, read th rough the relevant installation s ections in this chapter . After reading through the fol lowing EMC installation gui delines, identify suitable locati ons for each par[...]

Chapter 5: Inst alling the ST4000+ 45 5 Installing the ST4000+ D5438-1 ! Stud (x2) T humb screw (x2) Sun cover Control unit and compass (all systems) Control unit M4 x 25 mm screw No8 x 3/4 in screw (x4) Spade connector (x12) Fluxgate compass with 8 m (26 ft) cable Also pack ed: Handbook, Quick Reference Card, Worldwide Distributor List Compass war[...]

46 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ EMC installation guidelines All Raymarine equipment and accessorie s are designed to the best industry standards for use in the recreational marine environment. Their design and manufacture conforms to the appropriate Electromagnetic Compatibil ity (EMC) standa[...]

Chapter 5: Inst alling the ST4000+ 47 5 Installing the ST4000+ • Raymarine equipment and cables connected to it are: • At least 3 ft (1 m) from any equipment transmitting o r cables carrying radio signals e.g. VHF radi os, cables and antennas. In the case of SSB radios, the distance should be increase d to 7f t ( 2m ) . • More than 7 ft (2 m)[...]

48 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ 5.2 Control unit Location Locate the ST4000+ control unit so it is: • within easy reach from the steering positi on • viewable straight on, or with a maximum viewing angle of 30 ° • protected from physi cal damage • at least 230 mm (9 in) from any comp[...]

Chapter 5: Inst alling the ST4000+ 49 5 Installing the ST4000+ Mounting procedur e Control units are available in surface mount and flush mount styles. Surfa ce mount co ntrol unit s T o fit a surface mount control unit: 1. Apply the surface mount template (supplied at the back of th is handbook) to the select ed bulkhead. 2. Mark the centers of th[...]

50 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ Flush moun t cont rol units T o fit a flush moun t control unit: 1. Ensure that the intended mounting location is between 3 mm ( 1 / 8 in) and 20 mm ( 3 / 4 in ) thic k. 2. Apply the flush mo unt template (supplied at the back of this handbook) to the selected [...]

Chapter 5: Inst alling the ST4000+ 51 5 Installing the ST4000+ Cable connectors W ith the exception of the SeaT alk cables, spade connectors are used to ma ke a ll co nnec tions to th e con tro l unit . When fitting the spade connectors, make sure the connector fits securely over the blade and not between the connector and its plastic insula ting c[...]

52 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ • As standard, we supply a 1 m (3 ft 3 in) power cable terminated with 1 / 4 inch spade connectors. • Y ou can extend the power cable if required. The f ollowing table shows the minimum acceptable cable sizes : Note: If you need to extend the cable, you MUS[...]

Chapter 5: Inst alling the ST4000+ 53 5 Installing the ST4000+ T ypi cal SeaT alk conne ction s NMEA connections ST4000+ can r eceive wind and navigation data in NMEA 018 3 format for use in T rack and W ind V ane modes. Receiv ing NM EA data NMEA cabling Connect the NMEA navigator or wind instrument to the NMEA IN terminals on the rear of t he ST4[...]

54 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ Note: If you need to connect m ore than one item of NMEA equipment, you will need to connect one of them to the SeaTalk system using a SeaTalk/NMEA Interface (par t number: E85001). NMEA data format s TheST4000+ can decode the following NMEA 0183 navigation and[...]

Chapter 5: Inst alling the ST4000+ 55 5 Installing the ST4000+ 5.3 Fluxg ate compass Location The compass contains a self-levelling mechanism. This enables the compass to provide accurate readings with pitch and roll m ovements up to +/- 35 ° . Note: The rattle that the fluxgate compass makes when s haken is normal. It is caused by the pendulum we[...]

56 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ Compass - recommended location for non-steel hulls Findin g the most suitable location T o identify the b est compass location on yo ur boat, start at the pitch and roll center then move th e compass up and/or aft until yo u find a location w ith mi nimal magn [...]

Chapter 5: Inst alling the ST4000+ 57 5 Installing the ST4000+ Compass - recommended location for steel-hulls Mounting Fluxgat e compass - orientation CAUTION: Y ou m ust mount the fluxg ate compass on a vertical bulkhead, with the cable exiting at the base. 1. Hold the compass against the mounting location. 2. Mark the four mounting hol es, then r[...]

58 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ 4. Making sure the cable exits at the bottom of the compass, secure the fluxgate compass using the self-tapping screw s provided (No 8 x 3 / 4 in, pan- head). Note: Stick the supplied warn ing label near to th e compass, where it is clearly visi ble. Connecting[...]

Chapter 5: Inst alling the ST4000+ 59 5 Installing the ST4000+ 5.4 Tiller driv e (tille r pilo ts only) Critical dimensions Installing the tiller drive involves mounting i t between the ti ller and a fixed point on th e boat ’ s structure. T wo dimensions are critical for correct installati on: • Dimensio n A = 620 mm (24. 5 in) : t he distance[...]

60 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ 1. Clamp the tiller on t he boat ’ s center line and mark dimensions A and B .Use maskin g tape to locate the fixin g points for the tiller pi n and mounting socket . Note: You can measure dimensi on A on either the port or starboard side of the cockpit, depe[...]

Chapter 5: Inst alling the ST4000+ 61 5 Installing the ST4000+ Inst alling th e mounti ng soc ket (par t no . D002 ) 1. Dril l a 12.5 mm ( 1 / 2 in) diameter hole to a dept h of 25 mm (1 in) at the fixing point you have marked on the cockpit seat. 2. If the structure at the mounti ng position is less th an 25 mm (1 in) thick, reinforce the u ndersi[...]

62 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ Mounting the pushr od extension T o mount the pu shrod extension: 1. Uns crew the end o f the tille r drive ’ s push rod. 2. Sc rew the exte nsion into the pushro d. 3. Screw the pushrod end into the pushrod extensio n. Dimensio n C Pushrod extens ion length [...]

Chapter 5: Inst alling the ST4000+ 63 5 Installing the ST4000+ Til ler br ackets If the tiller i s higher or lower than th e mounting socket, you can use a Raymari ne tiller br acket to vary the tille r pin offset so the d rive is ho rizo nt al. Identifying the corr ect tiller br acket 1. Cl amp the tiller on the bo at ’ s center line. 2. Measure[...]

64 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ D286-2 D E D287-2[...]

Chapter 5: Inst alling the ST4000+ 65 5 Installing the ST4000+ Cant ileve r mountin g If you need to attach the tiller drive to a vertical face (such as the cockpit sidewall), use a Raymarine cantile ver socket assembly (part number D031): • the maximum possi ble extension of fset is 254 mm (10 in) • you cut the cantilever to the exact length d[...]

66 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ Mounting the cantile ver assembly T o mount the cantilever assembly: 1. T emporarily assemble the cantil ever by screwing the rod into the mounting r ing. 2. Ensure the drive unit is horizontal and then mark the l ocation of the mounting ring and its mounting h[...]

Chapter 5: Inst alling the ST4000+ 67 5 Installing the ST4000+ Pede stal socke t moun ting If you need to raise the hei ght of the drive unit mounting socket to keep the tiller drive horizontal, use a Raymarine pedes tal socket assembly . Identifying the correct pedestal socket 1. Cl amp the tiller on the bo at ’ s center line. 2. Establish the s[...]

68 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ 4. Bed the mounting ring on a thin coat of silicon sealant. 5. Use three 6 mm ( 1 / 4 in) diameter bolts, nuts and washers to attach the mounting ring to t he backing plate (with the backing plate on the other side of the mounting surface, as shown above). 6. S[...]

Chapter 5: Inst alling the ST4000+ 69 5 Installing the ST4000+ Inst alling the soc ket 1. Apply the template (su pplied at the rear of this handbo ok) to the bul khea d. 2. Care ful ly d ril l a 18 mm ( 23 / 32 in) clearance hole and two 2.5 mm ( 3 / 32 in) pilot h oles. Remo ve the templat e. 3. Pass the cable through the bulkhead and attach t o t[...]

70 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ 5.5 Whe el driv e (wh eel pi lots o nly) The Raymarine wheel drive will fit 3, 4, 5, 6, 7 or 8 spoke wheels. It is designed to operate with steering systems with between 1 to 3.5 turns lock to lock . Note: In the following cases , you must fit a rudder position[...]

Chapter 5: Inst alling the ST4000+ 71 5 Installing the ST4000+ Drilling the spoke clamp holes 1. Remove the wheel drive front cover: • the front cover is held onto the wheel drive by three ‘ pu sh-fit ’ posts which sit in th ree socket s on the driv e ring • to remove the cover , hold the motor in one hand and use your other hand to pull th[...]

72 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ Note: The wheel drive is designed to wo rk with 3 spoke clamps o n 4 or 8 spoke wheel s. For cosmetic reasons, however, you may want to fit an extra spoke cl amp to the fourth spo ke. Raymarine dealers can supply an extra spoke clamp (p art number A18089). 3. D[...]

Chapter 5: Inst alling the ST4000+ 73 5 Installing the ST4000+ 4. Align t he cover w ith the whe el drive: • the two pre-drilled hol es (marked with an arrow) must line up with their matching pair of th readed inserts on the drive ring (also marked with an arrow) • make sure that the other spoke clamp holes align with th eir threaded inserts No[...]

74 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ Securing the wheel drive to the wheel 1. Remove the wheel from the pedestal and place it on top of the drive unit, with the front of t he wheel and drive both facing up. 2. Using the wheel drive template at the end of this book , select the correct set of spoke[...]

Chapter 5: Inst alling the ST4000+ 75 5 Installing the ST4000+ Attaching the pedestal bracket Note: If your wheel is bulkhead or box pedes tal mounted, you will need to o btain a bul khead fitting kit (part number E1 5017) from you r Raymarine dealer. Fitti ng instructio ns are su pplied with the kit. Moto r tube lo cation Depending on t he design [...]

76 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ Pede stal br acket – length and posit ion Note: If you are replacing a n existing 4000 wheel drive, you need to: remove the old pedestal br acket, cut the new bracket pin t o the correct length (see steps 2 an d 3 below), then secure it in the standard orient[...]

Chapter 5: Inst alling the ST4000+ 77 5 Installing the ST4000+ Note: You can install the pedestal bra cket either way up. In the standard or ientation the pin is at the bottom (below t he mounting hole s – see di agram). If obstructions on the pedestal prevent you from using t he standard orie ntation, you can instal l the bracket so the pin is a[...]

78 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ 8. When the pedestal bracket is correctly position ed and aligned, mark around the inside of t he slots, then remove the bracket. 9. Use a center-punch to mark the center of each slot, then use the smaller s upplied drill bi t to drill a 4.0 mm ( 5 / 32 in) dia[...]

Chapter 5: Inst alling the ST4000+ 79 5 Installing the ST4000+ Note: If the wheel i s bent or the wheel drive is off ce nter, the pin will move up and down i n the back plate slot. As long as the pin do es not hit the top or b ottom of the slot , this pin movement will not affect the driv e un it ’ s performance. 13. When you h ave checked alignm[...]

80 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ 2. Route the cable through the pedestal (or guard rail) and back to the control unit: • if the pedes tal has a c able duct, u se this f or the drive cable to make sure that it cannot foul the steering mechanism 3. Run the drive cable back to the control unit [...]

Chapter 5: Inst alling the ST4000+ 81 5 Installing the ST4000+ 5.6 Rudder position s ensor (wheel pilot option) If you connect t he optional Raymarine rudder pos ition sensor ( part number: M81 105) to your wheel drive system, the autopilot will use the accurate rudder position information to improve performance. The ST4000+ will also u se this inf[...]

82 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ Horizontal alignment When vie wed fro m above (as shown in the illus tratio n above): • the sensor arm must be between 75 mm (3 in) a nd 310 mm (12 i n) from the til ler arm • with the rudder amidships, the sensor arm s hould be at 90 ° to t he connecting [...]

Chapter 5: Inst alling the ST4000+ 83 5 Installing the ST4000+ Securing the sensor to the boat Location Mount the rudder positi on sensor on a suitab le base alongside the rudder stock and til ler arm. Note: If necessary, you can install the sensor upside down. If you mount the sensor in this way, you must swap t he red and green cable connections [...]

84 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 5 Installing the ST4000+ Attach ing the c onnector r od 1. Use a hacksaw to cut the threaded connector rod to length. 2. Screw the lock nuts on to the road and th en the ball-pin so ckets. 3. Press the sockets ont o the pins on the sensor arm and tiller pin. Note: To give the precise r[...]

Chapter 6: Setti ng-up the ST4000+ 85 6 Setting -up the ST4000+ Chapter 6: Setting-up the ST4000+ When you have installe d the system, you need to check that the system is wired correctly and se t up to suit your type of boat. Th e sec tions in thi s ch apte r pro vide inst ruct ions f or th e fol lowin g post-inst allation procedures: Note: You ca[...]

86 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 6 Setting-up the ST4000+ 6.1 F unctiona l test Swit ch o n 1. When you have installed y our ST4000+ autopi lot system, s witch on the main power breaker . 2. If the control unit is active and the sy stem operating, the control unit will beep and di splay the pilot type ( 4000 WHL or 40[...]

Chapter 6: Setti ng-up the ST4000+ 87 6 Setting -up the ST4000+ WARNI NG: Wheel drive clutch Always r each AROUND (not through) the wheel to operate the wheel dr ive clutch lever . 2. Pr ess t he +10 key . The helm should move to produce a turn to starboard. 3. If the helm produces a turn to port, reverse the drive connections on t he ba ck o f th [...]

88 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 6 Setting-up the ST4000+ Checking connections Naviga tion int erfac e (GPS, Decca, Loran) If you have connected the S T4000+ to a NMEA navigator , check the links by di splaying the default data pages ( XTE, BTW and DTW ): • press disp to display the first data page, and check that t[...]

Chapter 6: Setti ng-up the ST4000+ 89 6 Setting -up the ST4000+ SeaT alk inte rface If you have connected t he ST4000+ to other SeaT alk inst ruments or control units, check the links as follows: 1. Pres s standby . 2. Select display l ighting level 3 ( LAMP 3 ) o n any other SeaT alk instrument o r control unit. 3. The ST4000+ should i mmediately [...]

90 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 6 Setting-up the ST4000+ 6.2 Check rudder sen sor oper ation (if fitted) Note: This procedure is only requi red if you have fitted a rudder position s ensor to a wheel pilo t system. If you have fitted a rudder pos ition sensor to a wheel pilot , before commencing the initial sea trial[...]

Chapter 6: Setti ng-up the ST4000+ 91 6 Setting -up the ST4000+ 6.3 Initi al sea t rial Ove rvi ew When you have checked that the system is functioning correctly , you must comple te the setup by taking the boat on a s hort sea trial to: • correct the compass deviation • adjust the heading alignment • check autopilot operation • adjust the [...]

92 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 6 Setting-up the ST4000+ Correcting the compass deviation Depending on your bo at type, deviating magnetic fields can cause compass errors up to 15 ° . The correction procedure redu ces these errors to a few degrees, so you MUST perform this procedure as the first item in your initial[...]

Chapter 6: Setti ng-up the ST4000+ 93 6 Setting -up the ST4000+ 4. Pr ess t he -1 or +1 key to change the setting from OFF to YES . Y ou will then see the TURN BOA T page. 5. Keeping the boat speed below 2 kno ts, turn your boat in slow circles. Y ou should take at least 3 minutes to complete each 360 ° . What if I turn the bo at too q uickly? If [...]

94 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 6 Setting-up the ST4000+ Note: If you want to attempt deviation corr ection again, you can step back to the Swing C ompass page or keep pres sing disp to cycle through the cal ibration opti ons until the page is di splayed again. (To step back to t he previous screen, press and ho ld t[...]

Chapter 6: Setti ng-up the ST4000+ 95 6 Setting -up the ST4000+ 9. Pr ess a nd ho ld stan dby for 2 seconds to exit calibration and save the new sett ings. Note: Setup options are alw ays saved on exit. Adjusting the heading alignment Y ou should always check the compas s alignment after completing the deviation correction procedure (s winging the [...]

96 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 6 Setting-up the ST4000+ Checking the rudder gain The rudder gain level set at the factory will provi de stable control for initial sea trials. However , boats can vary widely in their response to helm, and by adjusting the rudder gai n you can improve the autopilot ’ s st eer ing ch[...]

Chapter 6: Setti ng-up the ST4000+ 97 6 Setting -up the ST4000+ 3. T o make a temporary adjustment to the rudder gain: • press the -1 an d +1 keys togeth er for 1 second to displ ay the rudder gain ( RUDD GAIN ) screen • then press -1 or +1 to ch ange the l eve l • press di sp or wait for 5 seconds to return to the previous display and save t[...]

98 ST4000+ Wheel & T iller Autopilots: Owner ’ s Handbook 6 Setting-up the ST4000+ 6.4 Autopilot cali br ation techniques The autopilot ’ s factory default se ttings will p rovide adequate st eering for most bo ats. If you s till experien ce problems with autopi lot performance after completing the Post Installation Pr ocedur es , follow th[...]

Chapter 6: Setti ng-up the ST4000+ 99 6 Setting -up the ST4000+ Step 3 - Adjust the rudder damping If you have connected a rudd er position sensor to a wheel drive autopilot system, adjust the rudder damping. Check the rudder damping when your b oat is moored dockside: • pre ss auto and then +10 • if the helm overshoo ts and has to drive back, [...]

100 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 6 Setting-up the ST4000+[...]

Chapter 7: Cus tomizing the ST4000+ 101 7 Customiz ing the ST4000+ Chapter 7: Customizing the ST4000+ The ST4000+ provi des calibration options t hat you can use to adjust the sett ings for t he contro l unit, the compass and the autopilot system. W e calibrate t he ST4000+ during manufacture to prov ide stable performance for most boats so you can[...]

102 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 7 Customizing the ST4000+ 7.1 User s etup User setup allows you to calibrate and a lign the autopilot compass, select the type of bar graph s hown on the ST4000+ disp lay , and control the information shown on the data pages. The flowchart on the following page explains how to acces[...]

Chapter 7: Cus tomizing the ST4000+ 103 7 Customiz ing the ST4000+ 2 SECONDS D3341-2 Adjusting User setup values Quitting User setup OR SECONDS[...]

104 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 7 Customizing the ST4000+ Bar selection (R U D D BAR / S T E ER BA R / NO BA R ) Use this screen to select th e type of bar graph shown on the disp lay: • STEER B AR: Thi s is the default setting. It uses the bar graph t o indicate dif ferent information i n diff erent operating m[...]

Chapter 7: Cus tomizing the ST4000+ 105 7 Customiz ing the ST4000+ • Press disp to move to the next data page you want to change, or press and hold standby for 2 seconds to exit and save changes. The available pages are: Data Displayed a s Spee d Kn ots SPEE D KT S Log LOG XXXX .X T rip TRI P XXX. X Ave rage Speed, Knots AV . SPD K TS Wind Direct[...]

106 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 7 Customizing the ST4000+ 7.2 Deal er setup Dealer setup allows you to cu stomize the autopilot to your boat . However , the factory default settings w ill provide safe performance for the initial sea trial, and fi ne tuning is not normally requi red. The flowchart on the next page [...]

Chapter 7: Cus tomizing the ST4000+ 107 7 Customiz ing the ST4000+ SECONDS Adjusting Dealer setup values Quitting Dealer setup + SECONDS OR D5333-1[...]

108 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 7 Customizing the ST4000+ Calibratio n lock (CAL LOCK) Calibration lock controls whether it is possible to access User setup or display the soft ware version. It is intended for charter b oat users. Pilot type (400 0 WHL/TILL) Retain t he defaul t setting o f 4000 WHL for wheel driv[...]

Chapter 7: Cus tomizing the ST4000+ 109 7 Customiz ing the ST4000+ Rudder limit (RUD LIMIT) Use the ru dder limit f unctio n to set th e limits of aut opilot r udder control ju st insi de the mechan ical end st ops. This w ill avo id putting the steering system under un necessary load. The adjustment range is from 15 ° to 40 ° of rudder movement.[...]

110 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 7 Customizing the ST4000+ Auto T rim (AUT O TRIM) The AutoTrim setting d etermines th e rate at whi ch the auto pilot applies ‘ sta ndi ng hel m ’ to correct for trim changes caused by varying wind loads on the sails or super structure. The possible setti ngs are: The default se[...]

Chapter 7: Cus tomizing the ST4000+ 111 7 Customiz ing the ST4000+ AutoAdapt (A UT OAD APT) The patented AutoAdapt feature allows the ST4000+ to compensa te for heading errors at high er latitudes, which are caused by the increasing dip of the earth ’ s magnetic field. The increased dip has the ef fect of amplifying rudder respons e on northerly [...]

112 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 7 Customizing the ST4000+ Rudder damping (RUDD DAMP) Set this option i f your system incl udes a rudder position s ensor and the drive ‘ hunts ’ when trying to position the rudder . Increasing the rudder damping value will reduce hunt ing. Check the rudder damping w hen your boa[...]

Specif ications 113 Specifica tions ST4000+ autopi lot system Nominal supply voltage: 12 V DC Operating voltage range: 10 V to 15 V DC Note: reduced voltages w ill severely degrad e drive performan ce. Autopi lot power c onsumpt ion Standby: 0.7 2 W Auto: 10 W at 25 % duty cycle (depending on boat trim, helm load and sailing condit ions) CE approva[...]

114 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook 1 10 mm (4.33 in) 1 1 5 mm (4.53 in) 90 mm (3.55 in) 24 mm (0.95 in) 17 mm (0.67 in) D3242-2 Control unit dimensions Tiller drive dimensions midstroke 620 mm (24.5 in) 468 mm (18.4 in) 38 mm (1.5 in) D5436-1 D5370-2 361 mm (14.2 in) diameter 228 mm (9.0 in) diameter 135 mm (5.3 in) [...]

Glossary 115 Glossary Te r m M ea n in g ° Deg rees AA m p AutoT r im The Au toT rim setting dete rmines the r ate at which th e autopilot a pplies ‘ sta ndi ng hel m ’ to corre ct for t rim chang es caus ed by varying wind lo ads on the sai ls or supe rstruc ture. AWG A merican W ire Gauge CE Marked on prod ucts that comply with defin ed Euro[...]

116 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook oz Ounce (1 oz = 0. 028 kg) response T he autopilot response le vel controls the relationsh ip between course k eeping accuracy and the amount of helm/drive activity . rudd er gain Rudd er gai n is a mea sure o f how mu ch helm t he autop ilo t will a pply t o correct course error s[...]

Index 117 A Adjusting a utopilot performance Response leve l 12 Rudd er gain 13 Alarms 14 DRIVESTOP 15 LARGE XTE 15 LOW BATT 16 MOB 17 NEXT WPT? 15 NO DATA 15 OFFCOURSE 14 SHALLOW 17 STLK FAIL 14 WATCH 16 WINDSHIFT 15 Appa re nt w ind ang l e Adjusting 28 Previous 28 Auto mode 6 AutoAdapt 11 1 Automatic deadban d 12 Automatic tra ck acquisition 20 [...]

118 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook G Gusty cond itions 11 H Heading 9 Heading alig nment 10 2 Adjustment 95 Heading mod e 102 I Illuminatio n 18 Initial sea trial 91 Installation 43 Compass 55 Cont r ol uni t 48 EMC guideli nes 46 NMEA co nn e ct ions 53 Power supply 51 Rudder positio n sensor 81 SeaTalk connec tions[...]

Index 119 Steerin g bar 104 Steering direction 86 Swingin g the comp ass 92 T Testing auto pil ot op erati on 95 Testing the system 86 Tidal stream co mpensat io n 23 Tiller dri ve installatio n 59 Track m ode 20 Safety advi ce 25 Turn limit 108 U User setup 102 V Vane mode see Wi nd V ane m ode Variation 110 W Watch mo de Watch alarm (WATCH) 16 Wa[...]

120 ST4000+ Wheel & T iller Aut opilots: Owner ’ s Ha ndbook[...]

D3441-3 Machine hole 90 mm (3.55 inch) diameter Drill 5 mm (3/16 inch) diameter hole Drill 5 mm (3/16 inch) diameter hole Control unit - surface mount template Drill 2.5 mm (3/32 inch) diameter hole (2 positions) Drill 18 mm (23/32 inch) diameter hole Tiller drive - plug template D5411-1[...]

[...]

Remove the shaded area TOP 109 mm (4.3 in) Control unit - flush mount template 114 mm (4.5 in) 4 holes 6 mm (0.25 in) diameter D4437-3[...]

[...]

Spoke clamp Spoke diameters Wheel drive - spoke clamp template Center of wheel Spoke clamp insert D5410-1 135 mm (5.3 in) 16 mm (5/8 in) 12 mm (1/2 in)[...]

[...]

Aft Cable position Drill 3 mm (1/8 in) diameter hole (3 positions) D3440-2 Rudder positioned amidships Rudder position sensor template Maximum permitted travel: +/- 60 ˚[...]

[...]

Docume nt n umber: 84064- 8 Apri l 2001 Limited Warr anty Certifi cate Raymarine warrants each new Light Marine/Dealer Distributor Produ ct to be of good materi als and workmanship, and will re pair or exchange a ny parts proven to be d e fective in materia l and workma nship under no rmal use fo r a period of 2 years/24 mon ths from date of sale t[...]

Factory Service Centers United States of Ameri ca UK, Europe , Middl e East, Far E ast Raymari ne Inc 22 Cotton Road, Unit D Nashu a, NH 03063- 4219, USA Raym ari ne Lt d Anch orage P ark, P ort smouth PO3 5TD, Engla nd T elephone: +1 603 881 52 00 Fax: +1 603 864 475 6 www .raym ar ine . co m T elep hone: +44 ( 0)23 9269 3 611 F ax: +44 (0 )23 926[...]