Rudder calibration... 36 Data pages... 36 5.2 Dealer setup: Type 100/300 Course Computer. 38 Recommended settings... 39 Pilot type.. 39 Calibration lock.. 40 Rudder gain... 40 Rate level.. 40 Rudder offset... 41 Rudder limit... 41 Turn limit.. 41 Cruise speed.. 42 Off course alarm... 42 AutoTrim.. 43 Power steer... 43 Drive type... 44 Rudder damping... 44 Variation... 45 AutoAdapt... 45 Latitude... 46 Wind Trim... 46 Tack angle... 46 AutoRelease.. 47 Response.. 47 Recording calibration settings.. 47 Chapter 6: Installation... 49 6.1 Planning the Installation.. 49 EMC installation guidelines.. 49 Connections to other equipment.. 50 Cabling... 50
6.2 Control head.. 50 Siting... 51 Mounting procedure.. 51 Connections to the SeaTalk bus.. 52 SeaTalk cables... 52 Cable types... 52 Typical SeaTalk cabling.. 53 6.3 NMEA interface... 53 Cabling... 53 NMEA cable connectors.. 54 NMEA data transmission.. 54 Transmission of NMEA data on SeaTalk. 55 6.4 Functional test (repeater unit).. 55 Switch on.. 56 Navigation interface (GPS, Decca, Loran). 56 SeaTalk interface.. 57 Chapter 7: Post Installation Procedures.. 59 7.1 Functional test and initial calibration. 59 Switch on.. 59 Initial calibration.. 59 Operating sense.. 59 Navigation interface (GPS, Decca, Loran). 60 Wind transducer interface... 61 SeaTalk interface.. 61 7.2 Initial sea trial... 62 EMC conformance.. 62 Overview.. 62 Automatic compass deviation correction. 63 Further heading alignment adjustment.. 65
Checking autopilot operation. 66 Checking the rudder gain.. 66 Chapter 8: Maintenance.. 69 General... 69 Servicing and safety... 69 Advice.... 69 Chapter 9: Fault Finding.. 71 Index... 73

Chapter 1: Introduction

1.1 Overview
The ST6000 Plus is a SeaTalk compatible autopilot control unit. It is designed for use as a repeater in an autopilot system, allowing autopilot control from a secondary location, or as the control unit for a Type 100/300 Course Computer. It can also repeat instrument data in a programmable selection of Data Pages. The ST6000 Plus can share all data transmitted from other Raytheon SeaTalk instruments: Wind information from a wind instrument can be used for wind trim (Vane) steering without the need to install a separate vane. Track information, from a navigation instrument, provides waypoint control from the autopilot. Boat speed from the Speed instrument provides optimum trackkeeping performance. The ST6000 Plus autopilot can also be used with any navigator (GPS, Decca, Loran) transmitting NMEA 0183 data. There are five operating modes: Standby: Autopilot disengaged Auto: Autopilot engaged and locked onto a heading Track: Autopilot maintains a track between two waypoints created using a navigation system Vane: Autopilot maintains a course relative to an apparent wind angle Manual: Autopilot power steers rudder using joystick control When the ST6000 Plus is being used to repeat instrument data, pop-up pilot pages are displayed for 5 seconds whenever a change in autopilot control is made. The ST6000 Plus also provides the following: Automatic tack facility, which can be used in Auto and Vane modes Automatic compass deviation correction Northerly/Southerly heading compensation Automatic heading deadband seastate control Waypoint advance feature

2.4 Using Manual mode

If your system is fitted with a joystick, the ST6000 Plus will enter Manual mode when the joystick is used. The ST6000 Plus will return to Standby mode when the joystick button is released, or if you press the standby key on the ST6000 Plus.
2.5 Display and keypad illumination
Press disp for 1 second, from any mode, to enter illumination adjustment mode and turn the lights on. Subsequent presses of the disp key cycles the possible illumination settings: L3, L2, L1, OFF, L1, L2, L3 etc. where L3 is the brightest setting.
The display times out to normal operation after 10 seconds of keypad inactivity. Pressing any other key before the 10 second time-out will select the mode assigned to that key (for example, auto selects Auto mode, standby selects Standby mode). Note: If other SeaTalk instruments or autopilot control units are connected to SeaTalk, the illumination can be adjusted from these units. Any adjustments to the illumination are lost when the unit is switched off. The keys are still lit at a courtesy level when the display lighting is off.

2.6 Data pages

The disp key is used to cycle pages of SeaTalk or NMEA data. Once a Data Page is selected, this page becomes the principle autopilot display. The autopilot mode displays (Standby, Auto, Track Vane and Manual) then become pop-ups, and are displayed for 5 seconds when the autopilot mode is changed or a course change is made. Press disp to display each Data Page in turn. When the last Data Page is cycled, the display returns to the current autopilot mode display (for example, Standby). To return to a previous Data Page, press disp for 1 second within 2 seconds of displaying a page. You can continue to move backwards through the Data Page sequence in this way.
Up to 7 Data Pages are available using the disp key. The number of pages, and the information displayed on each page, depends on the the selections made in User Setup (see section 5.1). The following illustration shows the default settings for the Data Pages.

D3581-1

Note: If the vessel is further than 0.3nm from the track, the Large Cross Track Error alarm will sound. Press standby to cancel the alarm, hand steer closer to the track, and press auto and track again. 4. Check that it is safe to turn onto the new course. 5. Press the track key. The boat will turn on to the new course and the alarm will be cancelled.

Previous Heading

D3505-1
The display shows the new bearing to waypoint.

Manual acquisition

For manual track acquisition, when only cross track error data is available: 1. Steer the vessel to within 0.1nm of track. 2. Bring the heading to within 5 of the bearing to the next waypoint. 3. Press auto. 4. Press track to enter Track mode. The display shows the locked pilot heading. Note: At low speeds, the effect of tidal streams is far more significant than it is at higher speeds. Providing the tidal flow is less than 35% of the vessels speed, no noticeable difference should occur in the performance of Track mode. However, extra care should be taken during manual acquisition, as follows: Ensure that the vessel is as close as possible to track, and the direction made good over the ground is as close as possible to the direction of the next waypoint, before selecting Track mode. Make positive positional checks at regular intervals, especially if navigational hazards are close by.

Cross track error

Cross track error (XTE) is the distance between the current position and a planned route. This is displayed in nautical miles (nm), statute miles (SM) or kilometres, and is taken directly from your navigator.
The Large XTE alarm sounds if the XTE exceeds 0.3nm.
The direction of the error is identified as Pt port or Stb starboard. To cancel the alarm and leave track mode, press standby to return to hand steering, or auto to return to Auto mode. Note: If the Large Cross Track Error alarm sounds, it is usually an indication that the cross tide is too great for the vessels current speed.
Tidal stream compensation
Under most conditions, Track mode 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 speed data is available, the ST6000 Plus uses the measured vessel speed. Otherwise, the Speed Over Ground (SOG) or specified cruise speed is used, depending on the calibration setting (see Dealer Setup in Chapter 5).

Vessel's speed

Vessel's
Waypoint arrival and advance
If your navigation receiver transmits valid NMEA waypoint number and bearing to waypoint data, it is possible to advance from one waypoint to the next by simply pressing track (only the last four characters of waypoint names are recognied and, therefore, adjacent waypoint names must be different.)

Arrival

As the vessel passes the target waypoint, the navigation receiver should select (manually or automatically) the next target waypoint. The ST6000 Plus detects the new target waypoint number, sounds the Waypoint Advance alarm and displays the Waypoint Advance information. This display shows the new bearing to waypoint and the direction the boat will turn to acquire the new track.

D3457-1

To accept the new target waypoint, press track.
Skipping a waypoint SeaTalk navigators only
If you wish to advance to the next waypoint before you have arrived at the target waypoint, press track for 1 second. The Waypoint Advance information for the next waypoint is displayed.

Advance

While the waypoint advance alarm is sounding, Track mode is suspended and the ST6000 Plus maintains the current boat heading. 1. Check that it is safe to turn onto the new track. 2. Press the track key. This will cancel the waypoint arrival alarm and turn the boat towards the next waypoint. Unless the Waypoint Advance is accepted in the above manner, the alarm will continue to sound and the current heading will be maintained.

Dodges

Full control is still available from the keypad when the autopilot is in Track mode.
Initiating a dodge manoeuvre
In track mode, dodge manoeuvres are accomplished by simply selecting the desired course change using the course change keys (-1, +1, -10 or +10).
Cancelling a dodge manoeuvre
Once the hazard has been avoided, the course change selected for the dodge manoeuvre should be cancelled by selecting an equal course change in the opposite direction. Note: Provided the vessel remains within 0.1nm of track, there is no need to steer back towards the track.

Safety

Passage making in Track mode removes the chores of compensating for wind and tidal drift, and will aid precise navigation. However, it is important to maintain an accurate log with regular plots.

3.3 Adjusting autopilot performance
The response level and rudder gain can be adjusted during normal operation using a combined key-press. Alternatively, you can set up these two control displays as default Data Pages (see section 2.5). The default calibration settings for response and rudder gain (refer to Dealer Setup) are restored when the system is powered on.
Changing the response level (AutoSeastate)
The response level controls the relationship between the autopilots course keeping accuracy and the amount of helm/drive activity. Response Level 1, AutoSeastate (Automatic Deadband), causes the autopilot to gradually ignore repetitive movements of the vessel 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 (Minimum Deadband) provides the tightest course keeping possible. However, tighter course keeping results in increased power consumption and drive unit activity. Response Level 3 (also Minimum Deadband) provides the tightest course keeping possible by introducing yaw damping.
The response can be changed at any time. To do so: 1. Press the +1 and -1 keys together momentarily to display the RESPONSE screen. 2. Press +1 or -1 to change the response level. 3. Wait for 10 seconds, or press disp , to return to the previous display.

D3606-1

Changing the rudder gain
Press the +1 and -1 keys together for 1 second to display the Rudder Gain screen, and adjust the setting in the same way as for the response level. Refer to Chapter 7, Post installation procedures, for instructions on how to check that the rudder gain is set correctly.
It is important that the rudder gain is correctly set on planing craft. Incorrect adjustment will lead to poor steering performance and is dangerous at high speeds.

3.4 Alarms

This section summarises the alarms (in order of priority) that are reported by the ST6000 Plus. Press standby to clear an alarm and return to hand steering, unless indicated otherwise.

SeaTalk failure

ST FAIL This silent alarm indicates that there is a wiring fault in the SeaTalk connection.

No link

NO LINK This silent alarm indicates that there is no link between the ST6000 Plus and the course computer.

Off course

OFFCOURSE This alarm is activated when the vessel has been off course from the locked heading by more than the specified angle for more than 20seconds (see section 2.3, Using Auto mode). The alarm is cleared if the heading recovers or the course is changed, or if the operating mode is changed.

Wind shift

WINDSHIFT This alarm is activated when a change in the apparent wind angle requires an adjustment of the locked heading by more than 15 (see section 3.2, Operation in Vane mode).

Large cross track error

LARGE XTE This alarm is activated when the cross track error exceeds 0.3nm (see section 3.1, Operation in Track mode. The alarm is cleared if the heading recovers or the course is changed, or if the operating mode is changed.

Drive stopped

DRIVESTOP This alarm is activated if the autopilot is unable to turn the rudder. This occurs if the weather load on helm is too high, or if the requested rudder position is past the pre-set rudder limits or the rudder end-stops.

Data not received

NO DATA This alarm is displayed in the following circumstances: Track mode is engaged and the autopilot is not receiving SeaTalk navigation data. Track mode is engaged and the position transducer (GPS, Loran, Decca) is receiving a low strength signal this will clear as soon as the signal strength improves. Vane mode is engaged and the autopilot has not received wind angle data for 30 seconds. The autopilot stops adjusting the locked heading as soon as data is lost.

Waypoint advance

NEXT WPT? The waypoint advance alarm sounds whenever the target waypoint number changes, which occurs in the following circumstances: Automatic acquisition is selected by pressing track from Auto mode Waypoint arrival. Vessel arrives at the target waypoint and moves onto the next waypoint in the route. Waypoint advance is requested by pressing track for 1 second in Track mode (SeaTalk Navigators only). When the alarm sounds, the pilot continues on its current heading, but displays the bearing to the next waypoint and the direction in which the boat will turn to take up that bearing. Check that it is safe to turn onto the new track, and press track to accept the waypoint advance. To cancel the alarm without accepting the waypoint advance, press standby to return to hand steering, or auto to return to Auto. Note: The waypoint advance will only operate on pilots receiving valid bearing to waypoint and waypoint number information.

Low battery

LOW BATT The Low Battery alarm sounds when the supply voltage drops below acceptable limits.
Press standby to clear the alarm and return to hand steering. Start the engine to recharge the battery.

Watch alarm

WATCH ALM The Watch alarm is activated in Watch mode when the timer reaches 4minutes. It is not available from Standby mode. If you wish to set the Watch mode, the WATCH screen must be configured as one of the Data Pages for display, as described in section 5.1. To set and control the Watch alarm: 1. Select Auto, Track or Vane mode. 2. Press the disp key until the WATCH Data Page is displayed. The watch timer starts counting. When the timer reaches 3 minutes, the text on the display starts flashing to indicate the last minute of Watch alarm. When the timer reaches 4 mins, the audible Watch alarm activates. 3. Press auto at any time to silence the alarm and reset the timer to 4 minutes. (Pressing any other key resets the timer and perform the keys normal function.) 4. To clear Watch mode, press disp to display a different page, or press standby. Note: You cannot engage Auto mode from Watch mode pressing auto only resets the Watch timer.

Chapter 5: Customising the System
The ST6000 Plus provides setup and configuration options that are used to adjust the settings for the ST6000 Plus itself, the compass, and the autopilot. Note: You should perform the post installation procedures described in Chapter 7 before adjusting any other calibration features. There are three setup levels: User Setup, which controls compass setup, rudder calibration and the ST6000 Plus display features Intermediate Setup, which controls the CodeLock security feature and displays status and version number information (see Chapter 4) Dealer Setup, which controls the autopilot settings, and also the calibration lock which can be used to prevent accidental access to User and Intermediate Setup The Dealer Setup options described in this chapter only apply if you have installed the ST6000 Plus as the control unit for a Type 100/300 course computer. If you have installed the ST6000 Plus as a repeater unit on an autopilot system, please refer to the Dealer Setup instructions in the handbook for the main control unit. Note: If the vessel type is changed, you must then relinearise the fluxgate compass. If an ST4000/5000 control unit is used, please refer to the appropriate manual for system calibration.

5.1 User setup

The flow chart on the following page shows the User Setup control procedure, and the setup screens with their default settings. Information on the functions of the different settings is given in the remainder of this section. The following points should be considered: Make sure that the autopilot is in Standby mode before you access User Setup If the CAL LOCK screen is displayed instead of the initial page, you need to turn off the lock feature in Dealer Setup Setup options are always saved on exit
Compass deviation correction (SWING COMPASS)
The compass deviation correction option allows you to correct the compass for deviating magentic fields. The procedure must be performed as the first item in your initial sea trial, and is described in detail in Chapter 7, Post Installation Procedures.
Deviation display (DEVIATION)
The deviation screen shows the current deviation value, calculated from the correction procedure (Swing Compass). You cannot edit this value.
Heading alignment (HDG ALIGN)
The heading alignment screen shows the current reported heading. Note: You should always check the compass alignment after performing a compass deviation correction (see Post Installation Procedures). However, once the initial correction procedure has been performed, you can make adjustments to the alignment as often as you wish, without re-correcting your compass. Steer your vessel onto a known heading, and check the heading displayed. If required, adjust the heading value to match the known value, using the +1, -1, +10 and -10 keys.

ON OFF Default:

Setup ON Setup OFF OFF

Rudder gain

This must be set while under way, as described in Chapter 7, Post Installation Procedures.
Range: Default: 1 to (Displacement) 5 (Semi-displacement) 4 (Planing) 3 (Sterndrive)

Rate level

Rate Level applies rudder to reduce rate or changes of course. Rate level will, if the rate at which the vessel is turning is too fast, counter this turn with opposite rudder.
The settings available are as follows:
Range: Defaults: 1 to 5 Displacement Semi-displacement Planing Sterndrive

Rudder offset

You only need to set this option if your system includes a rudder reference unit. Manually place the helm in a central position. The reported rudder angle is indicated on the rudder bar graphic at the bottom of the screen. Adjust the offset value, using the +1 and -1 keys, until the rudder position is shown as central on the rudder bar. The offset must be within the range -7 to +7.
Range: Default: 7 to +7 0

Rudder limit

Rudder Limit restricts autopilot rudder movement to just less than the steering systems mechanical stops. This avoids putting the steering system under unnecessary load. The range available is as follows:
Range: Defaults: 15 to Displacement, semi-displacement, planing 20 Sterndrive

Turn limit

This limits the rate of turn of your vessel when making a course change under pilot control. The value must be within the range 5 to 20. For sailboat applications it should be set to 20.

Range: Default:

5 to 20 per second 20 (Displacement) 15 (Semi-displacement) 08 (Sterndrive)

Cruise speed

Cruise speed should be set to the boats normal cruising speed if boat speed is not aviailable via SeaTalk or NMEA SeaTalk boat speed is used in preference to SOG.
Range: Defaults: 4 to 60 knots Displacement Semi-displacement Planing Sterndrive
This feature controls the alarm that warns you if the pilot is unable to maintain its set course. The alarm operates if the autopilot strays off course by more than the alarm angle limit for more than 20 seconds.
The value must be within the range 15 to 40, and can be adjusted in 1 steps.
Range: Default: 15 to 40 20

AutoTrim

The AutoTrim level 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 settings are: Setting

Effect

No trim correction Slow trim correction

Recommended for:

Heavy displacement vessels, with full keel or transom rudder. Heavy displacement vessels. Moderate to light displacement vessels. Planing power vessels 3 3

4 Defaults:

Medium trim correction Fast trim correction Super fast correction Displacement Semi displacement Planing Sterndrive

Range:

0ff = Off nth = North Sth = South Off

Latitude

This screen is only used if AutoAdapt is set to North or South. Use the +1, -1, +10, and -10 keys to set the value to your vessels current latitude, to the nearest degree.
Range: Default: 0 to 80 Off
Note: If valid latitude data is available via SeaTalk or NMEA, it will be used instead of this calibration value.

Wind Trim

This varies the response of the autopilot when in wind mode. The settings available are as follows:
Range: Default: 1 Normal setting Faster response for wind shifts

Tack angle

This adjusts the heading change controlled by the Auto Tack feature (+1 and +10 or 1 and 10) The settings available are as follows:
Range: Default: 40 to 125 degrees 100 degrees

AutoRelease

AutoRelease provides emergency manual override, should it be necessary, to avoid an obstacle at the last moment. This option only applies to cable operated sterndrive actuators for all other systems this option should be set to off.
Range: Defaults: Off On 0 for Displacement, Semi-displacement & Planing 1 for Sterndrives

Response

This is the power-on response setting. The response level can be changed during normal operation (see section 3.3) or via the Response Data Page, if this is set for display (see section 2.6).
Range: Level 1 (Auto Seastate) Level 2 (Auto sea state inhibit) Level 3 (Auto sea state inhibit counter rudder) Level 1
Recording calibration settings
Having fine-tuned the calibration settings during initial sea trials, record them for future reference, in the table on the following page.

Feature

Pilot Type Calibration Lock Rudder gain Response Turn rate Limit Rudder Offset Off Course Alarm AutoTrim Drive Type Variation AutoAdapt Latitude Rudder Damping AutoRelease Cruise Speed Power Speed Rudder Limit Rate Level

Chapter 6: Installation

6.1 Planning the Installation
This chapter explains how to install and connect the ST6000 Plus autopilot control unit. Before starting the installation, decide how you will site the unit and run the cables.
EMC installation guidelines
All Raytheon equipment and accessories are designed to the best industry standards for use in the leisure 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. To minimise the risk of operating problems, all Raytheon equipment and cables connected to it should be; At least 1m (3 feet) 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 2m (7ft). More than 2m (7ft) 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 should be supplied from a different battery than the one used for engine start. Voltage drops below 10V in the power supply to our products can cause the equipment to reset. This will not damage the equipment, but will cause the loss of some information and can change the operating mode. Raytheon specified cables should be used at all times. Cutting and rejoining these cables can compromise EMC performance and so 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 has to be removed during installation it must be reassembled in the same position.

D187 D188 D284 D285 D286 D287
Flat to a male round connector Flat to a female round connector Flat moulded plugs at both ends Flat moulded plugs at both ends Flat moulded plugs at both ends Flat moulded plugs at both ends

Length

0.15 m (6 in) long 0.3 m (12 in) long 1 m (3 ft 3 in) long 3 m (9 ft 9 in) long 6 m (19 ft 6 in) long 9 m (29 ft 3 in) long

Cable types

The following illustration shows the different types of SeaTalk cables available.

D3445-1

Typical SeaTalk cabling
ST6000 Plus Repeater SeaTalk Instrument 100/300 Course Computer
SeaTalk Bus ST6000 Plus Control Head

D3446-1

6.3 NMEA interface
ST6000 Plus accepts NMEA navigation data for display and use in Track and Vane modes. The required NMEA data formats are shown in the table at the end of this section.
The NMEA port should be connected to a Navigator or Wind instrument.
Navigator with NMEA output

Red (Data In +ve)

Blue (Data In -ve)

D3442-1

NMEA cable connectors
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 boot incorrect fitting will give intermittent contact which will lead to faulty autopilot operation.

NMEA data transmission

If you wish to transmit NMEA information to other equipment a SeaTalk Interface should be installed.
The following NMEA 0183 wind and navigation data can be decoded by the ST6000 Plus. Data NMEA 0183
Latitude and Longitude GLL, RMC, RMA, GLP, GOP, GXP, GGA, GDP Course Over Ground Speed Over Ground Cross Track Error Bearing to Waypoint VTG, RMC, RMA VTG, RMC APB, APA, RMB, XTE APA, APB, BWR, BWC, RMB
Distance to Waypoint BWR, BWC, RMB Waypoint Number APB, APA, BWR, BWC, RMB
Apparent Wind Speed VWR Apparent Wind Angle VWR, MWV Speed Through Water VHW Depth Water Temperature MTW DBT
Transmission of NMEA data on SeaTalk
If any of the above NMEA data is received and the equivalent data is not present on SeaTalk, the autopilot will transmit the data onto SeaTalk to make it available to other SeaTalk compatible instruments. Depth is transmitted in the units defined by the first page in the data page rollover. Water temperature is always transmitted in C.

Chapter 7: Post Installation Procedures
This chapter applies to systems where the ST6000 Plus has been installed as the only control unit for a Type 100/300 Course Computer. Once you have installed the system, you need to confirm that it is wired correctly and is also set up to suit your type of boat. This chapter provides instructions for the following procedures: Functional test, consisting of a few simple tests to confirm that the system is wired correctly Initial sea trial, to swing the compass and align the heading, check the autopilots operation and check the rudder gain Further customisation can be performed after the sea trial, as described in Chapter 5.
7.1 Functional test and initial calibration
Having installed your ST6000 Plus system, switch on the main power breaker. If the control head is active and the system operating, the following will occur: The control head beeps and displays the pilot type as ST6000. After 2 seconds the Standby screen is displayed. This shows that the control head is active. If the head does not beep, check the fuse/circuit breaker. If the SEATALK FAIL or NO LINK alarm is displayed, check the SeaTalk connections.

Initial calibration

Use the Dealer Setup function (see Chapter 5) as soon as you have completed this functional test.

Operating sense

The operating sense defines the direction the helm will be applied when a course change key is pressed or the vessel goes off course. Check the operating sense as follows:
1. Press auto. 2. Press the +10 key. The helm should move to produce a turn to starboard.

D3393-1

3. If the helm produces a turn to port, reverse the motor connections at the course computer. 4. If the helm overshoots and has to drive back or starts to hunt back and forth, you need to increase the Rudder Damping option in Dealer Setup (see Chapter 5).
Wind transducer interface
If the ST6000 Plus is connected to a wind instrument via its NMEA data port or SeaTalk, then the link between the two instruments should be checked as follows: Press standby and auto together.
The ST6000 Plus should display the Vane mode screen, with the locked wind angle and locked heading as shown.
Alternatively, if the wind data is not received , the ST6000 Plus will display a NO DATA error message.

7.2 Initial sea trial

Always check the installation before going to sea to make sure that it is not affected by radio transmissions, engine starting etc. 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 can lead to it resetting, or momentarily may result in faulty operation.

Chapter 9: Fault Finding

All Raytheon products are subjected to a comprehensive test procedure prior to packing and shipping. In the unlikely event that a fault does occur with your autopilot, the following check list should help identify the problem and provide a cure. The autopilot display is blank No power check the fuse/circuit breaker. The autopilot display shows CODE LOCK at power on The CodeLock code must be entered manually (see Chapter 4). The displayed compass heading does not agree with the ships compass The compass has not been corrected for deviation carry out the deviation and alignment procedures. Vessel turns slowly and takes a long time to come on to course Rudder gain too low. Vessel overshoots when turning on to a new course Rudder gain too high. The autopilot appears to be unstable in Track mode, or trackholding 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 Setup to the boats cruising speed. The autopilot appears to be unstable on Northerly headings in the Northern hemisphere and Southerly headings in the Southern hemisphere Northerly/Southerly heading correction not set up. Display shows CAL LOCK when entering calibration Calibration locked out calibration protection feature is turned on in Dealer Setup.
The autopilot will not talk to other SeaTalk instruments Cabling problem make sure all the cables are connected properly. Position information not received Navigator not transmitting the correct position data. The autopilot will not auto advance to the next waypoint No bearing to waypoint information received from the navigator. A series of rotating dashes are displayed on screen Compass deviation correction or dockside rudder calibration is running. The display shows a series of stationary dashes Data is not being received check the cabling. The display shows NO DATA The signals received from the navigator are too weak refer to the navigator handbook for further action.
A Adjusting the Locked Wind Angle 20 Advance 18 Advanced Operation 13 Advice 69 Alarms 24 Apparent wind angle Adjusting 20 Previous 21 Auto mode 5 AutoAdapt 45 Automatic Acquisition 14 Automatic Compass Deviation Correction Automatic Deadband 23 Automatic track acquisition 14 AutoRelease 47 AutoSeastate 23 AutoTack 7 To Port 8 To Starboard 7 Vane mode 22 AutoTrim 43 B Bar graph 4 Bar Selection 35 Basic Operation 3 C Cabling 50, 69 Calibration Lock 40 Cancelling a Dodge Manoeuvre 18 changed, or if the operating mode is changed.Wind Changing course 5 Changing Course in Auto Mode 5 Changing the Response Level 23 Changing the Rudder Gain 24 Checking Autopilot Operation 66 Checking the Rudder Gain 66 Code number 31 Code Number Problems 32

78 V Vane Mode 20 Vane mode 1920 Variation 45 Verifying Computed Positions 19 Version number 31 W Watch alarm 27 Waypoint Advance 26 Waypoint arrival and advance 17 Wind Shift alarm 22 Wind transducer interface 61 Wind Trim 47 WindTrim 19, 1920

Drill 5mm (3/16in)

Machine hole 90mm (3.54in) diameter
Limited Warranty Certificate
Raytheon Marine Company 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 Raytheon Marine Company or an authorized Raytheon dealer. Raytheon Marine Company 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 and travel time of 2 hours, will be assumed by Raytheon Marine Company only on products where proof of installation or commission by authorised service agents, can be shown.

Warranty Limitations

Raytheon Marine Company 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 Raytheon Marine Company 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 Raytheon Marine Company 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), hailer horns and transducers are warranted for 1 year/12 months from date of sale. These items must be returned to a Raytheon Marine Company 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 Raytheon Marine Company facility or an authorized dealer at owners 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 RAYTHEON MARINE COMPANY INCLUDING WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABLE OR FITNESS FOR A PARTICULAR PURPOSE. (2) Raytheon Marine Company shall not be liable for any incidental, consequential or special (including punitive or multiple) damages. All Raytheon Marine Company 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 Raytheon equipment.

ST6000 Plus Autopilot Control Head
Z299, Standard Control Head (dark grey) A12022, Standard Control Head (light grey) E12025, Flush Mount Control Head (light grey)

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Warning
CE Marking of Equipment/Replacement Parts
If the Raytheon equipment under repair, test, calibration, installation or setting to work carries the European CE mark, only parts and components supplied or approved for such use by Raytheon should be used in order to maintain compliance with the relevant CE requirements. Incorporation, use or attachment, by any means, of parts or components not supplied for or not approved for such use by Raytheon or, if supplied or approved for use by Raytheon, not properly fitted in accordance with instructions published, provided or recommended by Raytheon, may cause the equipment to malfunction and, in particular, to become unsafe or to no longer meet the relevant CE requirements. In these circumstances, Raytheon Marine Europe Ltd excludes liability to the fullest extent permissible in law for any loss or damage including any liability for its contribution to such loss or damage by its negligent acts or omissions.
ST6000 Plus Autopilot Control Head Service Manual 83117-1 1

Z299, A12022, E12025

ST6000 Plus Autopilot Control Head Service Manual
Pips Horizontal rib 12 (Note C) 16
Fascia with curved window

3 (Note D)

2 ST6000 Plus Autopilot Control Head Service Manual 83117-1
E12025, Light Grey Flush Mount Control Head
5A 11 (x3) Torque to 0.33 Nm (3 lb in) 11 (x8) Torque to 0.33 Nm (3 lb in) (x2) 8 (Note B) Notes: A. Earlier production units have a shim (17) fitted to aid keypad compression. B. The castellated top edge of the diffuser (8) fits under the legs of the LEDs on the top edge ofthe PCB (10). C. It is recommended that a new case seal (12) is fitted on reassembly. D. Only fitted on units with CURVED window to fascia. 1. 1A. 1B. 2. 3. 3A. 4. 5. 5A. 6. 7. Fascia (dark grey) Fascia (light grey) Flush mount fascia (light grey) Keypad Label (old profile) Label (latest profile) Window insert LCD surround LCD surround LCD Elastomer strip (x2) 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. Diffuser Reflector PCB Retaining screw (x11) Case seal Rear cover Buzzer connector Back cover label (ST6000+) Bulkhead gasket Keypad shim (earlier units only)

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Figure 1: ST6000 Plus Autopilot Control Head exploded view
17 (Note A) 4 (Note D) 5 (Note D)

Fascia with flat window

Chapter 1. Disassembly/Assembly
The item numbers refer to Figure 1: ST6000 Plus Autopilot Control Head exploded view
Item 1 1A 3A 5A 1B 2 Spare/Accessory Description Fascia, dark grey (standard mount) Part No. W115 Comments Z299 only A12022 only
Fascia, light grey (standard mount) kit, including A18018 Fascia, light grey (standard mount) Label (latest profile) LCD surround Flush mount facia, light grey Keypad Display kit, including A18030 Q219 Q220
E12025 only To be obsolete when stocks are used up. Old profile. Curved window only.

5A 3 3A 4 5A 16

Label (4000+,5000+ and 6000+) Window insert LCD surround LCD Elastomer (x2) Universal Display kit, including Label, (4000+,5000+ and 6000+) Label, (4000+,5000+ and 6000+) Window insert LCD surround LCD Elastomer (x2) Diffuser kit, including Diffuser Reflector PCB Fixing kit, including Screw (x11) Case seal Back cover assembly, including Back cover A18012
Old profile. Curved window only. Latest profile. Flat window only.

Q222 W120 W118 W119

Back cover label (selection) Bulkhead gasket Sun cover (standard mount) Sun cover (flush mount) W125 D340 A25005
Comes fitted with, Gortex filter, Sleeving, Buzzer & Buzzer connecter Fit ST6000+ label
Not illustrated Not illustrated
Note: It is recommended that a new case seal (12) is fitted on reassembly.

Fascia replacement

Dark Grey Fascia (there is no printing on this fascia) - use spare no. W115. This is a straight replacement where spare consists of the fascia only.
ST6000 Plus Autopilot Control Head Service Manual 83117-1 3
1.1 ST6000 Plus Autopilot Control Head spare parts list
Light Grey Fascia with CURVED window (these units will have a clear window insert (Item 4) fitted between the LCD surround (Item 5) and the Fascia window) use spare no. A18018. This spare consists of a flat window fascia (Item 1A), latest LCD surround (Item 5A) and a set of latest labels (Item 3A). Discard the window insert (Item 4) and label (Item3) fitted. Select the appropriate label (ST4000+, ST5000+ or ST6000+) If the LCD surround fitted has two pips and a horizontal rib (Item 5), replace with the latest LCD surround (Item 5A) supplied. Light Grey Fascia with FLAT window (these units will NOT have a clear insert fitted) - use spare no. A18018. Fit fascia only. Flush Light Grey Fascia - use spare no. A18030. This is a straight replacement; the spare consists of the fascia only.

LCD Surround replacement for fascias with curved windows

5A Double sided tape

Place double sided tape to the latest LCD Surround (Item5A) and carefully position the Window Insert (Item 4) to the LCD surround. 4 Note: Double sided tape is used as an assembly aid only.

D4600-1

Chapter 2. PCB details

2.1 Input/Output signals

(refer to Figure 2. ST6000 Plus Autopilot Control Head circuit diagram)
Pin No. PL1/1 PL1/2 PL1/3 PL2/1 PL2/2 PL2/3 NMEA in+ NMEA in Signal +12V 0V in SeaTalk +12V 0V in SeaTalk NMEA+ NMEA Description Nominal 12V dc 0V Intermittent streams of (nominal) 12V pulses Nominal 12V dc 0V Intermittent streams of (nominal) 12V pulses Intermittent streams of (nominal) 12V pulses 0V
4 ST6000 Plus Autopilot Control Head Service Manual 83117-1
Figure 2. ST6000 Plus Autopilot Control Head circuit diagram
ST6000 Plus Autopilot Control Head Service Manual 83117-1 5

D4588-1

Circuit diagram

2.2 PCB Layout

Taken from Drawing No. 4331-001 Issue P

D4590-1

6 ST6000 Plus Autopilot Control Head Service Manual 83117-1
Taken from Drawing No: 4331-001 Issue: P

D4589-1

ST6000 Plus Autopilot Control Head Service Manual 83117-1 7

Component List

Raytheon Marine Company Recreational Products Anchorage Park Portsmouth, Hampshire England PO3 5TD Telephone Fax www.raymarine.com
Raytheon Marine Company Recreational Products 676 Island Pond Road Manchester NH 03109-5420, USA Telephone 603.647.7530 Fax 603.634.4756 www.raymarine.com
8 ST6000 Plus Autopilot Control Head Service Manual 83117-1