Autohelm ST 4000 Plus Manual
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|miklo||11:36pm on Monday, November 1st, 2010|
|This is a nice drive for the cash I spent. I find this unit is compact for my laptop backup. Dell has these WD products at a lower price than WD even on sale.|
|Raakasa||6:51am on Friday, October 15th, 2010|
|It seems to work pretty well. When I test it under Linux using the smartctl program. So far it works fine, however I noticed that it is not as quiet as the other disk I had before|
|spol||1:23pm on Thursday, April 29th, 2010|
|I got this drive to replace a slow 5400 rpm Seagate drive and is amazed at the screaming performance and its quietness. Good choice to have for a laptop, upgraded an old Hitachi Deskstar for this drive, and great difference in speed. Garbage item Only used about one month and it was broken. I had to back up data, reinstall OS and exchange the item with WD. excellent item for the most part, ease of installation was my issue. inexperience with unformatted.|
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TILLER AUTOPILOT Operation and Installation
ST4000 Tiller Drive Autopilot
Safety Operation Basic Chapter 1: Operation
Basic principles 7 1.2 Operator controls.. 8 Standby 8 Auto.. 8 Course changes (-1, +1, -10, +10). 9 Dodge. 10 'Track Control... 11 Windvane Mode (WindTrim)..11 Automatic Deadband Control (Auto seastate). 12 Automatic Tack (Autotack).. 13 Illumination... 14 Off Course Alarm.. 14 1.3 Operating hints.. 15
Chapter 2: Wing 'Back Control' and 'WindTrim' 20 Chapter 3: Adjusting autopilot performance.. 28 Chapter 4: Autopilot re-calibration.. 31 Instalio Chapter 5: Installation...45 Chapter 6: Interfacing to GPS, Decca, Loran, Wind 67 Chapter 7: Functional Test and Initial Sea Trial.69 Chapter 8: Accessories..76 Chapter 9: Maintenance 78 Chapter 10 : Fault Finding.._..79
Passage making under autopilot can greatly increase the pleasure of the voyage and ensure the crew can relax. However, this can lead to a dangerous lack of attention to basic seamanship. The following rules should always be observed :" Maintain a permanent watch and check regularly all round for other vessels and obstacles to navigations. No matter how clear the sea may appear a dangerous situation can develop rapidly " Maintain an accurate record of the vessel's position either by use of a radio navigation receiver or visual bearings " Maintain a continuous plot of position on a current chart. Ensure the locked autopilot heading steers you clear of all obstacles. Make proper allowance for Tidal Set -the autopilot cannot " Even when your autopilot is locked to the desired Track using a radio navigation receiver maintain a log and a regular positional plot. Radio navigation signals can produce significant errors under some circurnstances and the autopilot cannot detect this situation " Ensure that all members of crew are familiar with the procedures required to disengage the autopilot " When searoom is restricted a crew member must be close to the control head at all times if under autopilot control Your Autohelm ST4000 will add a new dimension to your boating enjoyment. However, it is the responsibility of the skipper to ensure the safety of the vessel at all times by careful observance of these basic rules.
Chapter l: Operation..7 1.1 Basic principles.7 1.2 Operator controls.8 Standby.. 8 Auto..8 Course changes (-l, +1, -10, +10).9 Dodge..10 'Track Control'..11 Windvane Mode (WindTrim).11 Automatic Deadband Control (Auto seastate).12 Automatic Tack (Autotack).13 Illumination..14 Off Course Alarm.14 1.3 Operating hints..15
Chapter 1 :Operation
Chapter 1 : Operation
1.1 Basic principles
When switched on, the ST4000 will be in'Standby mode. To select automatic steering simply steady the vessel on the required heading, place the actuator over the tiller pin and push Auto. At anytime to return to manual steering push Standby and lift the pilot off thetiller pin. Autopilot control has been simplified to a setof pushbutton operations, all of which are confirmed with a 'beep' tone. In addition to the main single key functions there are several dual key press functions. Course changes can be made at anytime using the -1, +1, -10, and +10 degree keys. Passage making under automatic pilot is a very pleasant experience which can lead to the temptation of relaxing permanent watch. This must always be avoided no matter how clearthe sea may appear to be. Remember, a large ship can travel two miles in five minutes -just the time it takes to make a cup of coffee. The next few pages list all of the pushbutton operations needed for full autopilot control.
1.2 Operator controls Standby
Push to disengage the autopilot for hand steering The previous auto heading is memorised and can be recalled using the Auto key (see 'Auto'). In'Standby the display shows the vessels current compass heading. Auto
Push to engage automatic steering and maintain current heading In 'Auto' the display shows the locked autopilot heading. If for any reason the vessel is steered away from the selected locked heading (e.g. Dodge manoeuvre or selecting'Standby) then: Push and hold down Auto for 1 second
The previous locked heading will be flashed for 10 seconds. To select this heading, and resume the original course, press the Auto key oncewithin 10 seconds. Also see'Dodge' - page 10.
Chapter 1: Operation
Course changes (-1, +1, -10, +10)
Push to alter course to Port (-) and Starboard (+) in increments of 1 and 10
30 to starboard
30 course change to Starboard
42 to port
42 course change to Port
Dodge In order to avoid an obstacle under autopilot control select a course change in the appropriate direction (say starboard 30 = 3x +10).
When safely clear of the obstacle press and hold down Auto for 1 second. The previous locked heading will now be flashed on the screen. To return to the old course press Autowithin 10 seconds.
Alternatively the previous course change can be reversed via the key pad example : 3 x-10.
Locked heading Distance to waypoint Crosstrack error
Push +10 and -10 degree keys together to select Track Control' from Auto. Push again to return to automatic steering Once in Track Control' the autopilot will follow a predetermined track set up on a GPS/Decca/Loran navigation receiver, see 'Advanced Operation' for more details.
Windvane Mode (WindTrim)
Push Auto and Standby together to select 'WindTrim' and maintain the current apparent wind angle If for any reason the vessel is steered away from the selected Apparent wind angle (i.e. Dodge manoeuvre or selecting Standby) then : Push and hold down for 1 second both the Auto and Standby keys together to return to the previous Apparent wind angle
Whilst in Windvane mode the control head will beep once every 30 seconds.
Automatic Deadband Control (Auto seastate)
Press the +1 and -1 degree course change keys together totoggle between auto deadband and fixed minimum deadband. The degree sign will flash whenthe fixed minimum dead band is selected This can only be done with the Autopilot in 'Auto' mode.
'Automatic deadband' (Auto seastate) will cause the pilot to gradually neglect repetitive movements of the vessel and only respond to true variations in course. This provides the best compromise between power consumption and course keeping accuracy by neglecting unnecessary rudder movements. 'Minimum deadband' will always provide the tightest course keeping possible but at the expense of increased power consumption and drive unit activity.
Automatic Tack (Autotack) The ST4000 has a built in automatic tack facility which will turn the vessel through 100 in the required direction. This feature is available in both compass and vane modes. Press the +1 and +10 degree keys together to Tack through 100 to starboard
It is very important to understand the effect of sudden trim changes on
Chapter 2: Using 'Track Control' and 'WindTrim'.. 20 2.1 Operation in 'Track Control'. 20 Operating hints..20 Cross track error..21 Tidal Stream Compensation..22 Waypoint Advance.. 22 Limitations..23 Low Speed Operation.23 Dodges.24 Safety..24 Warning messages.. 25 NMEA data not received..25 NMEA data error.. 25 Large cross track error. 25 Waypoint advance.. 25 2.2 Operation in 'WindTrim' mode.26 Operating hints.26 Wind shift alarm..27 Chapter 3: Adjusting autopilot performance.. 28 3.1 Setting up Rudder Gain..28 3.2 Setting up Automatic Trim.30 Chapter 4: Autopilot re-calibration. 31 4.1 Entering calibration mode. 31 4.2 Exiting calibration mode.32 4.3 Suggested initial calibration settings.32 4.4 Calibrating the autopilot to suit your boat. 34 Calibration Level 1 (Rudder Gain).34 Calibration Level 2 (Rudder Offset).. 34 Calibration Level 3..34 Calibration Level 4 (Turn Rate Limit). 35 Calibration Level 5 (Cruise Speed).35 Calibration Level 6 (Off course alarm angle).35 Calibration Level 7 (Trim Level).. 36 Calibration Level 8 (Steering system type). 37 Calibration Level 9 (Magnetic variation)..37 Calibration Level 10 (N'ly/S'ly heading error correction).37 Calibration Level 11 (Current Vessel Latitude). 38 Calibration Level 12 (Not available with the ST4000. 39 Calibration Level 13 (Rudder Damping).39 4.5 Disabled calibration access..41
Chapter 2: Using Track Control' and 'WindTrim'
The ST4000 has been set-up atthe factory to provide stable performance for most types of boat. Depending on personal choice and type of boat manyof the functions and features available in the ST4000 can be fine tuned. This is normally required if: " The pilot does not maintain a selected heading " A rudder reference transducer is fitted " The boat appears to be unstable on Northerly headings (Southerly headings in the southern hemisphere) " You wishto display True compass headings " You operate in Track Control' mode " You wish to change the Off Course alarm angle The ST4000 is also capable of being supervised from a Navigation system such as a GPS, Decca or Loran receiver-automatically compensating for tidal streams and leeway. Courses relative to the apparent wind direction can also be maintained ifthe ST4000 is connected to a wind transducer. 'Advanced Operation' offers a complete guide to ST4000 calibration and comprehensively covers operation in both Track Control' and 'WindTrim' supervisory modes. It also shows how the system can be expanded to include other SeaTalk products.
Chapter 2: Using Track Control' and'WindTrm
2.1 Operation in Track Control'
Track Control' allows the ST4000 to maintain track between two waypoints entered on a GPS, Decca, or Loran based Navigation system. Operating hints The Control head can receive cross track error data from any Navigation system transmitting data to the NMEA 0180 or 0183 format. The ST4000 will then compute course changes which will keep your boat on a predetermined track, automatically compensating for tidal streams and leeway. When initiating Track Control' the track can be acquired in one oftwo ways: " Automatic acquisition (NMEA 0183 Cross Track Error and Bearing to Waypoint data required from the receiver) " Manual acquisition (NMEA 0180 or0183 Cross Track Error data required only) Manual acquisition is achieved by steering the vessel to within 0.1 nm of track and then bringing the heading to within 5 ofthe bearing to the next waypoint. The pilot is then switched overto Track Control' byfirstly entering 'Auto' and then pressing the +10 and -10 degree keys together to initiate Track Control'. The Display will alternate between Cross track error and the locked pilotheading. Automatic acquisition can only be achieved if the pilot is receiving NMEA 0183 Cross track error and bearing towaypoint information via the SeaTalk bus. Itis initiated as follows :
" Bring the vessel to within 0.1 nm of Track " Press Auto
" Press +10 and -10 degree keys togetherto enter Track Control' An alarm will sound and the display will show
The information on the display alternates between the direction in which the boat will turnto take up the track and the new bearing to waypoint.
Chapter 2: Using ?rack Control' and WindMrn'
Check that it is safe to turn onto the new course.
Press the +10 and -10 degree keys together
The boat will now turn on to the new course and the alarm will cancel.
The following navigation information will now be continuously cycled on the display :
Locked heading Distance to waypoint Cross track error
Cross track error
Cross track error is the vessel distance from a planned route. This is displayed in nautical miles and is read directly from your position transducer (see above).
Cross track error Waypoint 1 Waypoint 2
Tidal Stream Compensation
Tidal components Vessel speed over ground
Vessel speed through water
Under most conditions Track Control' will hold the selected track to within 0.05nm (300ft) or better. The autopilot takes account of vessel speed when computing course changes to ensure optimum performance over a wide range of vessel speeds. If an Autohelm ST50 Speed or Tridata instrument is connected to the SeaTalk bus the control head will use measured vessel speed, otherwise the cruise speed entered during calibration level 5 will be used.
If your navigation receiver transmits valid 'Waypoint Number' and'Bearing to Waypoint' NMEA headers it is possible to advance from one waypoint to the next by simply pressing the -10 and +10 degree keys together. As the vessel passes the target waypoint the navigation receiver should select, manually or automatically, the next target waypoint. The ST4000 will detect the new target waypoint number and display the new bearing to waypoint and also the direction it will turn to acquire it. This will be accompanied by an alarm to indicate waypoint arrival (see page 25).
Chapter2: UsingTrack Control' and 'WindTrim' Note: While the waypoint advance alarm is sounding, Track Control' is suspended and the ST4000 will maintain the current boat heading. A check should be made to verify itis safeto turn onto the newtrack and then the +10 and -10 degree keys pressed together. This will cancel the waypoint arrival alarm and steer the boat towards the nextwaypoint. Unless the 'Waypoint Advance' is accepted in the aboveway the alarm will continue to sound and the current course be maintained. Limitations Although there is no need tofully understand the details of thetrack keeping algorithm, it is very importantto understand its limitations so as to obtain the best performance from Track Control'. The most significant of these limitations is imposed if NMEA 0180 crosstrack error data is transmitted bythe radio navigation receiver. This data is restricted to 0.30nm, which means that even if the vessel were 5 miles to starboard oftrack, the transmitted data would still be 0.30nm. Attempts to engage Track Control' beyond the 0.30nm limit will lead to excessive overshoots and can result in the vessel circling. For this reason the alarm code is displayed (see page 25)whenever the cross track error exceeds 0.30nm The requirement to remain within 0.30nm of track also limits the maximum allowable angular error between the track course and the vessel's heading. If the angular error is too great, the Track Control' will be unable to cancel itwithin the 0.30nm limit leading to the problems outlined above. The NMEA 0183 format transmits cross track error data up to 99.99nm and enables the Track Control' to operate with larger cross track errors. However, the alarm code will still be displayed over 0.30nm in case there are navigational hazards close to the intended track. Operation of the manual acquisition of Track Control' at low speeds requires additional care as the effect of tidal streams is far more significant
Manually place the helm in a central position. Use the +1 and -1 degree keys to adjust the rudder angle reading on the right hand side ofthe displayto zero.
Calibration Level 3
Calibration level 3 does not require setting on the ST4000 linear autopilot. Press the Auto key
Chapter 4: Autopilot re-calibration Calibration Level 4 (Turn Rate Limit)
Calibration level 4 is Turn Rate Limit. This will limit the rate ofturn ofyour vessel when under autopilot control. " Pressthe Auto key
" Set-up turn rate limitwith the +1 and -1 degree buttons Calibration Level 5 (Cruise Speed) Calibration level 5 sets the boats normal cruising speed for use in Track Control'. Press the Auto key
For sailboat applications it should be set to 20.
When interfacing with Radio navigation systems the Control head uses the vessels average cruising speed to perform track calculations. Adjust the cruise speed with the +1 and -1 degree buttons. Note : If an ST50 Speed or Tridata instrument is connected to the SeaTalk bus they will transmit boat speed information directly to the control head. Calibration Level 6 (Off course alarm angle) Calibration level 6 is Offcourse alarm angle. This is an alarm to warn you if the autopilot is unable to maintain its set course. Press the Auto key
The off-course alarm operates if the autopilot strays off course by more than the alarm angle limit for more than 20 seconds. This limit can be set in 1 increments anywhere between 15 and 40 using the +1 and -1 degree course change buttons.
Locked heading Boat heading
Calibration Level 7 (Trim Level) Calibration level 7 selects and sets the level for automatic trim. This applies additional rudder to correct for weather helm. " Press the Auto key
Trim can be set to one of three rates or switched off completely. " Level 0 " Level 1 " Level 2 " Level 3 Trim off Slow trim correction Medium trim correction Fast trim correction. (Recommended for ultra light displacement boats)
Adjust the trim level using the +1 and -1 degree buttons. Refer to section 3.2 for further information.
The surface must be smooth and flat. " Use the template provided to mark the centers of the two fixing holes and cable boss Note: Adjacent Control heads and ST50 instruments should have 6mm (0.25in) separation to allow room for the protective covers. " Drill to 4mm (0.16in) diameter " Use a 70mm (2.75in) diameter cutter to drill the hole for the center boss (1)
" Screw the two fixing studs (2) into the back cover " Passthe cables through the central hole " Attach the wiring loom to the terminals on the rear of the ST4000 (see later sections) " Attach the harness protection cover using the central screw provided " Secure the Control head with the thumb nuts provided (3) A sealing gasket (4) is already attached to the back cover of the Control head.
All electrical connections to the ST4000 are made via spade connectors on the rear case. When installing each spade connector make sure the connectorfits securely over the blade and not between the connector and its plastic insulating boot. This will give an intermittent connection and faulty autopilot operation.
Chapter 5 : Installation
Power supply connection
The ST4000 requires its own dedicated power supply as it cannot source power from the SeaTalk bus. A 2m (6.5ft) power lead is supplied for this purpose and is terminated with 1/4in spade connectors. A 12A circuit breaker or fuse should be fitted as shown below.
12A circuit breaker or fuse
The lead can be extended if required. The following table shows the minimum cable sizes acceptable:
Up to 2.5m (8ft) Up to 4.0m (13ft)
Important! Correct cable size is critical for correct autopilot operation. The cable you choose may meet the required current specification but, if too small, will drop voltage between the supply and the control head. This will reducethe power ofthe actuator.
Connection to the SeaTalk bus
The ST4000 is supplied with one SeaTalk cable tail. This can be connected to the spade connectors marked 'SeaTalk' on the rear ofthe Control head as shown below:
Yellow (data) Screen (ground)
D003 D004 D005 D006 D007 D008
Where the height of the tiller above or below the cockpit seat or mounting plane is such that standard mounting is not practical a range of tiller brackets allows the tiller pin offset to be varied. " Position the tiller bracket on the centre line (upper/lower) of the tiller and establish control dimensions 'A' and'W. " Mark off the position of the centres of the two fixing bolt holes " Drill two 6mm (0.25in) diameter clearance holes through the centre line of the tiller " Install the tiller bracket using 2 x 6mm (0.25in) diameter bolts, nuts and washers " Bond the fixing bolts in place with epoxy adhesive and fully tighten the nuts
Dimension D (bellow tiller) 25mm (1 in) 51mm (2in) 76mm (3in) 102mm Kin) 127mm (5in)
Dimension E (above tiller) 51mm (2in) 76mm (3in) 102mm Kin) 127mm (5in) 152mm (6in)
Cat No D009 D010 D01 l D012 D013
Where it is necessary to attach the autopilot to a vertical face such as the cockpit sidewall a cantilever socket assembly is used. The maximum extension offset is 254mm (loin) and the cantilever can be cut tothe exact length necessary during mounting. " Clamp the tiller on the yacht's centre line " Measure dimension 'P (actual) " Refer to table to establish cutting length for cantilever rod (double check measurements before cutting). " Cutcantilever rod to length 'L' using a hacksaw. Measure from threaded end " Remove burrs with file " Temporarily assemblethe cantilever by screwing the rod into the mounting flange " Ensure the drive unitis horizontal and mark off the location of the mounting flange " Mark and drill 3 x 6mm (1/4in) clearance holes (ignore the two inner holes)
Dimension F 686mm (27in) 711 mm (28in) 737mm (29in) 762mm (30in) 787mm (31 in) 813mm (32in) 838mm (33in)
Cut length L 51mm (tin) 75mm (3in) 102mm (4in) 127mm (sin) 152mm (6in) 178mm (7in) 203mm (8in)
" Mount the flange using 3 x 6mm (1/4in) diameter bolts with nuts and washers. Be sure to install the backing plate correctly, bed the flange on a thin coat of silicone sealant. " Screw the rod firmly into place using a tommy bar " Roughen the end of the rod and the inside of the cap to provide a key " Apply the two part epoxy adhesive provided to the rod end and cap and place the cap over the rod end " Ensure the hole for the drive unit mounting pin is facing up " Allow the epoxy adhesive 30 minutes to fully harden before applying any load When the Autohelm is not in use the complete rod assembly may be unscrewed, leaving the cockpit unobstructed. Pedestal socket mounting It may be necessary to raise the height of the drive unit mounting socket above the mounting surface, for this a pedestal socket assembly is used. " Lock the tiller on the yacht's centre line " Establish the standard control dimensions 'A' and'B' " Measure dimension 'G' ensuring the autohelm actuator is horizontal " Select the appropriate pedestal socket assembly from the table shown Installation " Mark off the position of the mounting flange on the cockpit seat or counter " Ensure that control dimensions 'A' and 'B' are correct " Mark and drill 3 x 6mm (1/4in) diameter clearance holes (ignore the two inner holes) " Mount the flange using 3 x 6mm (1/4in) diameter bolts, nuts and washers, being sure the back plate is installed correctly. Bed the flange on a thin coat of silicone rubber sealant. " Screw the mounting socket firmly into place
When the Autohelm is not in use the mounting socket may be unscrewed to leave the cockpit unobstructed. Dimension G 38mm (1.5in) 76mm (3in) 89mm (3.5in) 102mm Kin) 114mm (4.5in) 127mm (5in) Pedestal socket length L std dimension38mm (1.5in) 50mm (2in) 64mm (2.5in) 76mm (3in) 89mm (3.5in) D026 D027 D028 D029 D030 Cat No
Tiller pins For certain non-standard installations a range of tiller pins is available. Description Small threaded tiller pin Extra length tiller pin Extra length threaded tiller pin Size 25mm (l in) 27mm (2.8in) 72mm (2.8in) Cat No D014 D020 D021
Cabling and Socket Installation
The actuator is connected to the Control head using a water proof plug and socket. The plug comes ready assembled to the actuator. The socket should be mounted in the cockpit area next to the actuator. Cabling Using the following table as a guide, route cable of a suitable size from the rear of the socket back to the Control head. Cable length Up to 2.5m (8ft) Up to 4.0m (13ft) Up to 6.5m (22ft) Copper area 1.0mm2 1.5mm2 2.5mm2 AWG 14
Using a suitable tool, crimp the spade receptacles supplied to the cables and connect, colour for colour, to the 'drive' connections on the rear of the Control head.
Socket installation The socket is assembled as follows : " Fix the self adhesive template onto the bulkhead at the selected socket location " Carefully drill the 18mm (23/32in) clearance hole and 2.4mm (3/32in) pilot holes. Remove the template " Fit the plug cap (1) to the socket body (2) as shown " Locate the 'O' ring seal (3) into the groove between the plug cap and socket body
Thread the cable throughthe bulkhead hole and wire into the socket as shown making sure the wires are connected tothe correct pin
To Control head
Pin Identification Stripes
Attach the socket to the bulkhead using the two self tapping screws supplied Restrain cables as shown
Chapter 6: Interfacing to GPS,
Decca, Loran, MW
Chapter 6: Interfacing to GPS, Decca, Loran, Wind
The ST4000 will accept navigation data in the NMEAformatfor use in Track Control' and 'Windvane' mode The required data formats are shown in section 6.3.
The NMEA data port is on the rear ofthe ST4000 and should be connected to a Position transducer or wind instrument as shown :
Position Transducer or Wind Instrument with NMEA output
Blue (Data in - ve) Red (Data in + ve)
6.2 NMEA data transmission to other equipment
Ifyou wish to transmit NMEA information to other equipment a SeaTalk Interface (cat no Z137) should be installed as shown:
NMEA Radar SeaTalk Interface
6.3 Data formats
The following NMEA 0183 wind and navigation data can be decoded by the ST4000. Data Latitude and Longitude NMEA 0183 GLL,RMC,RMA,IMA,GLP,GOP,GXP,GDP, GLF,GOF,GXF,GDF,GGA,GLA, GOAGXA,GDA VTG,VTA,RMC,RMA VTG,VTA,RMC,RMA APB,APA,RMB,XTE,XTR APB,BPI,BWR,BWC,BER,BEC,RMB WDR,WDC,BPI,BWR,BWC,BER,BEC,RMB APB,APA,BPI,BWR,WDR,BWC,WDC,RMB, BOD,WCV,BER,BEC VWR HVM,RMC,RMA,HVD
Course over the ground Speed over the ground Cross Track Error Bearing to Waypoint Distance to Waypoint Waypoint Number Wind heading / Speed Variation
NMEA 0180 cross track error information is also acceptable for operation in Track Control'. However, as waypoint distance, bearing and number are not transmitted these cannot be displayed.
Chapter 7: Functional Test and Initial Sea Trial
This section of the handbook consists of a set of simple tests followed by a short sea trial. This will confirm that the system is wired correctly and is also set-up to suit your type of boat. 7.1 Functional test Switch on Having installed your ST4000 tiller autopilot, switch on the main power breaker. The control head should beep and display ST4000. Within 2 seconds a compass heading preceded by a flashing'C' should be displayed e.g. V234. This shows the control head is active. If the head does not beep please refer to chapter 10 -'Fault finding'. Operating sense The operating sense of the autopilot defines the direction helm will be applied when a course change button is pressed or the vessel goes off course. It can be checked as follows : " Place the actuator over the tiller pin " Press +10 The tiller should move to produce a turn to Starboard. If it moves to port then the autopilot phase should be reversed by following the procedure on page 75.
Rudder reference phase This should only be carried out if a rudder reference transducer is fitted. Enter calibration mode as described in chapter 4 and adjust calibration level 8 (Steering system type) to 3. Store calibration by pressing the Standby key for 1 second. Check the rudder reference cabling and phase as follows : " Press +1 degree and -1 degree buttons together for 1 second The display will now indicate rudder angle. " Move the helm to its center position. The display should now indicate within 7. If this is not the case then the rudder reference mounting bolts should be slackened and the base rotated until it does. Final adjustment to accurately set up the display and helm is carried out in the'autopilot calibration' section of this handbook. " Turn the helm to produce a turn to starboard The rudder angle display should increase in a positive direction. If instead it increases in a negative direction reverse the rudder reference green and red wires on the rear of the Control head and re-check the above test. Navigation interface (GPS, Decca, Loran) If the ST4000 is interfaced to a position transducer, via its NMEA data port, then the position transducer must be set up to transmit data as detailed in section 6.3. The interface can be simply checked as follows : " Set up a Track on the position transducer to give a cross track error of between 0 and 0.3nm " Enter 'Auto' mode by pressing the Auto key " Enter Track' mode by pressing +10 and -10 degree keys together After 3 seconds the pilot should automatically scroll through three navigation displays :
Chapter7: Functional Test and Initial Sea Trial
" It is importantthat the initial sail trial is carried out in conditions of light wind and calm water so that autopilot performance can be assessed without the influence of strong winds or large waves Note:At any time during the sea trial you can lift the actuator off the tiller pin to return to hand steering. Automatic Compass deviation correction The ST4000 will correct the fluxgate compass for most deviating magnetic fields. Before carrying outthe initial sail trial it is vital to carry out the Compass Deviation Correction. Failure to do so may result in the autopilot performance being impaired on some compass headings. This procedure should be carried out in calm conditions preferably in flat water. Select compass correction as follows : " Push and hold Standby for 1 second
Keeping boat speed below 2 knots and using the +10 and -10 keys to control the rudder angle, turn the vessel slowly, in a circle, so that it takes at least 3 minutes to complete 360. Keep turning until the display changesto show the amount of deviation the autopilot has detected. Deviation and currentvessel heading will alternate every 1 second.
Note: If the amount of deviation exceeds 15, it is recommended the fluxgate is re-sited. Use the +1 and -1 course change keys to increase or decrease the displayed heading until it agrees with the ships steering compass or a known transit bearing. Exit compass adjust and store the compass correction/alignment as follows : Push and hold Standby for 1 second or, to exit compass adjust without saving any new settings " Push Standby momentarily Autopilot operation Having calibrated the compass the following procedure is recommended to familiarise yourself with autopilot operation: " Steer onto a compass heading and hold the course steady " Place the actuator over the tiller pin " Push Auto to lock onto the current heading. In calm sea conditions a constant heading will be achieved " Alter course to port or starboard in multiples of 1 and 10
Push Standby and lift the actuator from the tiller pin to return to hand steering
Operating sense reversal
The operating sense of the Autopilot can be reversed as follows : " Press the +1 and -1 keys together for 5 seconds The display will then show either portor starboard and the phase of the autopilot will automatically change. The Control head will automatically revert back to its normal operation after 5 seconds. Note: This should normally only be required if the actuator is port hand mounted.
Chapter 8: Accessories
Various accessories are available for your ST4000 autopilot. These include : " Handheld remote control (2101)
The handheld remote is supplied with 6m (20ft) of cable and a waterproof plug and socket. It allows you remote access to the four autopilot course change buttons. " Fixed control units-ST7000 (Z082), ST6000 (Z124)
These control units are available for permanent mounting at additional positions where autopilot control is desired.
Digital Windvane (2087)
The digital windvane also requires the SeaTalk interface. When combined with the ST4000 thesetwo pieces ofequipment allow you to steeryour boat on any course relative to an apparent wind angle. " SeaTalk Interface (2137)
The SeaTalk Interface will convert all SeaTalk data to NMEA 0183. This allows you to feed NMEA 0183 Navigation data to a plotter or Speed and Compass NMEA information back to a position transducer for dead reckoning, (assuming the correct instruments are present on the SeaTalk bus to generate the information initially). " Rudder Reference Transducer (2131)
A rudder reference transducer can be added to provide a continuous read out of rudder position.
Chapter 9: Maintenance
Control head " In certain conditions, condensation may appear on the window. This will not harm the unit, and can be cleared by switching on the illumination " Never use any chemical orabrasive materialsto clean your ST4000. Ifthe Control head becomes dirty wipe clean with a damp cloth Drive unit " Never use any chemical or abrasive materials to clean your drive unit. If the drive becomes dirty wipe clean with a damp cloth " Avoid running cables through bilges where possible and secure any coiled lengths at regular intervals " Avoid running cables close to fluorescent lights, engines, radio transmitting equipment etc " Check cabling for chafing or damage to outer casing, replace where necessary and re-secure Advice Should anydifficulties arise, please consult Nautech's Product Support department in the U.K. or your own National Distributor who will be able to provide expert assistance. The working parts of the drive system are sealed and lubricated for life during manufacture and therefore do not require servicing. If a fault does develop the autopilots plugability ensuresthat only the defective unit be returned. Before this is done please double check that the power supply cable is sound and that all connections are tight and free from corrosion. Then refer to thefaultfinding section ofthis manual. Ifthe fault cannot be traced then please contact your nearest Autohelm dealer or service center for advice. Always quote the serial number, which is printed on the label on the back of the control head.
Chapter 10: Fault finding
Chapter 10: Fault Finding
Pilot will not display Distance to Incorrect NMEA sentances waypoint, Bearing to waypoint transmitted from Position or waypoint number transducer
A Accessories 76 Additional Control units 76 Handheld control unit 76 Rudder Reference Transducer 77 SeaTalk interface 77 Windvane 77 Auto 8 Automatic Control Deadband (Auto seastate) 12 Autopilot re-calibration 31 Automatic Tack (Autotack) 13 Automatic Trim 30 B Basic principals (Operation) 7 C Calibration 31 Cruise Speed (Calibration Level 5) 35 Disabled access 41 Entering calibration 31 Exiting calibration 32 Factory settings 33 CurrentVessel Latitude (Calibration Level 11) 38 Magnetic variation (Calibration Level 9) 37 Northerly/Southerly heading error correction (Calibration Level 10) 37 Off course alarm angle (Calibration Level 6) 35 Recording settings 40 Rudder damping (Calibration Level 13) 39 Rudder Gain (Calibration Level 1) 34 Rudder Offset (Calibration Level 2) 34 Rudder Limit(Calibration Level 3) 34 Steering system type (Calibration Level 8) 37 Suggested settings (Power/sail boats) 32 Trim Level (Calibration Level 7) 36 Turn Rate Limit (Calibration Level 4) 35 Magnetic Variation (Calibration Level 9) 37 Compass alignment 73 Compass deviation correction 73 Control head 45 Siting 45 Mounting procedure 45 Power supply connection 47 SeaTalk bus connection 48 Course changes 9 Crosstrackerror 21 Cruise speed 35 D Dodge 10 F Fault Finding 79 Fluxgate Compass 49 Alignment 73 Cabling 51 Deviation correction 73 Installation 49 Mounting position 49 Functional test 69 Operating sense 69 Rudder reference phase 70 Navigation interface 70 Wind transducer interface 71 SeaTalk bus 72 Fuse ratings 47 H Handheld remote control unit 76 I Illumination 14
M Magnetic variation 37 Maintenance 78 N Navigation Interface 67 NMEA Data Format/headers 68 Transmission to otherequipment 67 Northerly heading error Off Course Alarm 14 Operating sense 69 P Power supply 47 R Rudder Angle display 70 Rudder Gain 28 Rudder Reference 51 Accessory 77 Cabling 53 Control dimensions 52 Installation 51 Mounting position 51 Phase 70 S Safety 4 SeaTalk Operationwith other SeaTalk instruments 3,49,72 Connection to bus 48 Functional test 69 Sea trial 69 Standby 8 Steering system type 37 Southerly turning error 37
T Tacking (Autotack) 13 TrackControl 11,20 Automatic acquisition 20 Cross track error 21 Data error warning 25 Large crosstrackerror warning 25 Manual acquisition 20 No data warning 25 Operation at Low speed 23 Operating hints 26 Operating limitations 23 Waypoint Advance 22 Warning messages 25 Trim (Auto trim) 30 Turn rate limit 35 W Warning messages 25 Waypoint advance 25 Wlndvane (WindTrim) 11,26 Accessory 77 NMEA input 67 Wind shift alarm 27
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