Raymarine autopilot + ST4000+ Owner's Handbook Manual
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Raymarine autopilot + ST4000+ Owner's Handbook Manual

Raymarine autopilot + ST4000+ Owner's Handbook Manual

Raymarine wheel & tiller autopilot owner's handbook st4000+
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Any reference to Raytheon or
RTN in this manual should be
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The names Raytheon and RTN
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  • Page 1 Distributed by Any reference to Raytheon or RTN in this manual should be interpreted as Raymarine. The names Raytheon and RTN are owned by the Raytheon Company.
  • Page 2 ST4000+ Wheel & Tiller Autopilots Owner’s Handbook Document number: 81131-6 Date: August 2001...
  • Page 3 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Autohelm, HSB (High Speed Bus), SailPilot, SeaTalk and SportPilot are registered trademarks of Raymarine Ltd. Raymarine, AST (Advanced Steering Technology), AutoAdapt, AutoLearn, AutoRelease, AutoSeastate, AutoTack, AutoTrim, FastTrim, GyroPlus, RayGyro, RayPilot and WindTrim are trademarks of Raymarine Ltd.
  • Page 4 Preface ST4000+ autopilot system layout Tiller drive Fluxgate compass SeaTalk instrument Wheel drive Boat's electrical distribution panel ST4000+ control unit Rudder position sensor (optional fit for wheel pilot only) NMEA instrument or navigator D5332-1...
  • Page 5 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook...

  • Page 6: Table Of Contents

    Preface Contents About this handbook ...ix Important Information ...x Chapter 1: Introduction ...1 Chapter 2: Basic Operation ...3 Chapter 3: Advanced Operation ...19 Warranty ... x Safety notices ... x EMC conformance ...xi Handbook information ... xi 1.1 Features ... 1 1.2 Extended systems ...
  • Page 7 Chapter 4: Maintenance & Fault Finding ...33 Chapter 5: Installing the ST4000+ ...43 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 3.2 Using Wind Vane mode ... 27 Selecting Wind Vane mode ... 27 Exiting Wind Vane mode ... 28 Adjusting the locked wind angle ... 28 Returning to the previous apparent wind angle (LAST WND) ...
  • Page 8 Preface Chapter 6: Setting-up the ST4000+ ...85 Chapter 7: Customizing the ST4000+ ...101 5.5 Wheel drive (wheel pilots only) ... 70 Installation stages ... 70 Drilling the spoke clamp holes ... 71 Securing the wheel drive to the wheel ... 74 Attaching the pedestal bracket ...
  • Page 9 viii Specifications ... 113 Glossary ... 115 Index ... 117 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 7.2 Dealer setup ... 106 Calibration lock (CAL LOCK) ... 108 Pilot type (4000 WHL/TILL) ... 108 Rudder gain (RUDD GAIN) ... 108 Response level (RESPONSE) ...

  • Page 10: About This Handbook

    Note: This handbook contains important information about installing, using and maintaining your new Raymarine product. To get the best from the product, please read this handbook thoroughly. page 1...

  • Page 11: Important Information

    Important Information Warranty To register your new Raymarine product, please take a few minutes to fill out the warranty card. It is important that you complete the owner information and return the card to us to receive full warranty benefits.

  • Page 12: Emc Conformance

    EMC conformance All Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine environment. The design and manufacture of Raymarine equipment and...
  • Page 13 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook...
  • Page 14 Part 1: Using the ST4000+...

  • Page 16: Chapter 1: Introduction

    Chapter 1: Introduction Chapter 1: Introduction 1.1 Features The Raymarine ST4000 Plus (ST4000+) is a SeaTalk autopilot available in versions suitable for boats with either tiller or wheel steering systems. This autopilot system will steer your boat to a heading automatically, accurately and reliably.

  • Page 17: Extended Systems

    1.2 Extended systems The ST4000+ is compatible with all other SeaTalk instruments. You can connect it to additional fixed or handheld SeaTalk autopilot control units located at secondary steering and control positions (see page 52). You can also use the ST4000+ autopilot with any navigator (GPS, Decca, Loran) or wind instrument that transmits data in the internationally-accepted National Marine Electronics Association (NMEA) 0183 format.

  • Page 18: Chapter 2: Basic Operation

    Chapter 2: Basic Operation Chapter 2: Basic Operation The sections in this chapter explain how to use the basic functions on your autopilot: Using the control unit Summarizes the key functions and screen layout on the ST4000+ control unit. Using Auto mode Provides instructions for engaging/disengaging the autopilot and using Auto mode.

  • Page 19: Using The Control Unit

    2.1 Using the control unit Key functions • The autopilot always powers up in Standby mode. • You control the autopilot by pressing the buttons on the control unit. The control unit confirms each button press with a short beep. •...

  • Page 20: Display Layout

    Chapter 2: Basic Operation Display layout The ST4000+ autopilot display provides the following information: Variable text region (up to 9 characters/digits) • If the display shows no distance unit all distances are in kilometres (Km), otherwise distances are in nautical miles (nm ) or statute/land miles ( SM ).

  • Page 21: Using Auto Mode

    2.2 Using Auto mode Engaging the autopilot (Auto mode) 1. Steady the boat on the required heading. 2. Wheel Pilot: Engage the wheel drive clutch by rotating the clutch lever clockwise (so the lever engages fully onto the locating pip). Tiller Pilot: Place the pushrod end over the tiller pin.

  • Page 22: Disengaging The Autopilot (Standby Mode)

    Chapter 2: Basic Operation CAUTION: Autopilot course control makes it easier to sail a boat, but it is NOT a substitute for good seamanship. ALWAYS maintain a permanent watch, no matter how clear the sea appears to be. Disengaging the autopilot (Standby mode) 1.

  • Page 23: Changing Course In Auto Mode

    Changing course in Auto mode In Auto mode, use the -1 and -10 (port) and +1 and +10 (starboard) keys to change the locked heading in steps of 1° or 10°. For example: press -10 three times for a 30° course change to port. Port Dodging obstacles in Auto mode To avoid an obstacle when your boat is under autopilot control:...

  • Page 24: Returning To The Previous Locked Heading (Last Hdg)

    Chapter 2: Basic Operation Returning to the previous locked heading (LAST HDG) If you have steered the boat away from the selected locked heading for any reason (for example, executing a dodge maneuver or selecting Standby), you can return to the previous locked heading as follows: 1.

  • Page 25: Automatic Tack (Autotack)

    Automatic tack (AutoTack) The ST4000+ has a built in automatic tack facility (AutoTack) that turns the boat through a pre-determined angle in the required direction. The default AutoTack angle is 100°, but you can adjust this in Dealer setup (see page 109). to AutoTack to port: press the -1 and -10 keys together •...

  • Page 26: Gusting Conditions

    Chapter 2: Basic Operation 1. Note the required new heading. 2. Select standby for manual steering, so you can bring the boat to the new heading MANUALLY. 3. Select auto: allow the boat to settle onto course, then bring the boat to the final course in 1°...

  • Page 27: Adjusting Autopilot Performance

    2.3 Adjusting autopilot performance During normal autopilot operation in any mode you can make temporary adjustments to: • response level • rudder gain Note: You will lose these temporary changes to response level and rudder gain whenever the system is powered off then on again. You can make permanent adjustments in Dealer setup (see page 108).

  • Page 28: Changing The Rudder Gain

    Chapter 2: Basic Operation Note: If you have set up the RESPONSE screen as a default data page (see page 104) you can also access it by pressing disp and then scrolling through the data pages. 2. Press -1 or +1 to change the response level. 3.

  • Page 29: Autopilot Alarms

    2.4 Autopilot alarms Responding to alarms The ST4000+ activates the alarms listed on the following pages: • Unless otherwise stated, you should deal with alarms by pressing standby to clear the alarm and return to hand steering. • In some situations, the autopilot will raise more than one alarm. When you have dealt with the first alarm, the autopilot will display the next alarm.
  • Page 30 Chapter 2: Basic Operation Wind Shift alarm (WINDSHIFT) The ST4000+ activates the Windshift alarm when it detects a change in the apparent wind angle of more than 15° (see page 29). Large Cross Track Error alarm (LARGE XTE) The ST4000+ activates this alarm when the cross track error exceeds 0.3 nm (see page 22).The alarm clears if the heading recovers, if you change the course, or if you change the operating mode.
  • Page 31 • the boat arrives at the target waypoint and the navigator accepts the next waypoint • you activate the Man Overboard (MOB) function in Track mode When the alarm sounds, the pilot continues on its current heading but displays: • the bearing to the next waypoint •...
  • Page 32 Chapter 2: Basic Operation 3. Press the disp key until you see the WATCH data page: • the watch timer will start counting when the timer reaches 3 minutes, the WATCH text starts • flashing to indicate that the timer is in the last minute •...

  • Page 33: Adjusting Display And Keypad Lighting

    2.5 Adjusting display and keypad lighting Note: When the display lighting is off, the control unit still illuminates the keys at a courtesy level. To adjust the display and keypad lighting: 1. Press disp for 1 second from any mode to access the LAMP screen and turn on the lights.

  • Page 34: Chapter 3: Advanced Operation

    Chapter 3: Advanced Operation Chapter 3: Advanced Operation The sections in this chapter explain how to use the more advanced functions on your autopilot: Using Track mode Tracking between waypoints created on navigation equipment connected to the autopilot system. Using Wind Vane mode Using the autopilot to maintain a course relative to the apparent wind angle.

  • Page 35: Using Track Mode

    3.1 Using Track mode Note: You can only use Track mode if you have connected the ST4000+ to a suitable navigation system providing SeaTalk or NMEA navigation information. The ST4000+ can receive track and cross track error information from either: •...
  • Page 36 Chapter 3: Advanced Operation 4. Wait for the Waypoint Advance alarm to sound. The display will show the bearing to the next planned waypoint and the direction the boat will turn to reach this waypoint. Note: If the boat is more than 0.3 nm from the track, the Large Cross Track Error alarm will sound (see page 22).

  • Page 37: Exiting Track Mode

    Note: Tidal streams have a far more significant effect at lower speeds than at higher speeds. If the tidal flow is less than 35% of the boat’s speed, you will not notice any difference in the autopilot’s performance in Track mode. However, you should take extra care during manual acquisition, as follows: •...

  • Page 38: Tidal Stream Compensation

    Chapter 3: Advanced Operation If the cross track error is greater than 0.3 nm, the ST4000+ will sound the Large Cross Track Error alarm and shows whether you are to the port (Pt) or starboard (Stb) of the planned track. To cancel the Large Cross Track Error alarm: press standby to return to hand steering, or •...

  • Page 39: Waypoint Arrival And Advance

    Waypoint arrival and advance Arrival As the boat arrives at the target waypoint the navigation aid should manually or automatically select the next target waypoint. The ST4000+ will then detect the new target waypoint number, sound the Waypoint Advance alarm and display the Waypoint Advance screen. This shows the new bearing to the next waypoint and the direction the boat will turn to acquire the new track.

  • Page 40: Dodges In Track Mode

    Chapter 3: Advanced Operation Note: When you reach the last waypoint in the track, the NO DATA alarm will sound to indicate that there is no further waypoint information. Press auto to continue on the same heading, or standby to return to hand steering. Skipping a waypoint –...

  • Page 41: St4000+ Wheel & Tiller Autopilots: Owner's Handbook

    Confirming position at the start of a journey At the start of a journey you must always use an easily identifiable fixed object to confirm the fix given by the navigation system. Check for fixed positional errors and compensate for them. Verifying computed positions Always verify the computed position with a dead reckoned position, calculated from the average course steered and the distance logged.

  • Page 42: Using Wind Vane Mode

    • NMEA wind instrument • Raymarine wind vane connected through a SeaTalk interface box In Wind Vane mode the ST4000+ maintains a course relative to an apparent wind angle. It uses wind trim to eliminate the effects of turbulence and short term wind variations. This provides smooth and precise performance with minimal power consumption.

  • Page 43: Exiting Wind Vane Mode

    Exiting Wind Vane mode You can return to Auto or Standby mode from Wind Vane mode by: pressing auto to return to Auto mode • pressing standby to steer manually in Standby mode • Adjusting the locked wind angle You can adjust the locked wind angle by using the -1 , +1 , -10 and +10 keys to change course.

  • Page 44: Dodges In Wind Vane Mode

    Chapter 3: Advanced Operation 2. Check that it is safe to turn onto this course. 3. To 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 will lock onto the current apparent wind angle.

  • Page 45: Using Autotack In Wind Vane Mode

    Using AutoTack in Wind Vane mode After using the AutoTack function (see page 10) to tack in Wind Vane mode, you may need to adjust the locked heading until you achieve the required apparent wind angle. Note: Before you use the AutoTack function in Wind Vane mode, you must make sure that the wind vane was centered accurately at installation.

  • Page 46: Displaying Data

    Chapter 3: Advanced Operation 3.3 Displaying data pages Use the disp key to show ‘data pages’ of SeaTalk or NMEA data: 1. Press disp to access the first data page, and press it again to cycle through each data page in turn: to return to a previous data page, press disp for 1 second •...
  • Page 47 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook...

  • Page 48: Chapter 4: Maintenance & Fault Finding

    This section provides a checklist to help you identify and resolve common autopilot problems. General maintenance This section explains how to maintain your autopilot system. Product support This section outlines the product support available from Raymarine worldwide. page 34 page 36 page 40...

  • Page 49: Fault Finding

    4.1 Fault finding All Raymarine products are designed to provide many years of trouble-free operation. We also put them through comprehensive testing and quality assurance procedures before shipping. In the unlikely event that a fault does occur with your autopilot, use the following table to help identify the problem and provide a solution.
  • Page 50 Chapter 4: Maintenance & Fault Finding SYMPTOM The autopilot will not ‘talk’ to other SeaTalk instruments Position information not received The autopilot will not auto advance to the next waypoint The control unit display shows a series of rotating dashes The control unit display shows a series of stationary dashes The control unit display shows...

  • Page 51: General Maintenance

    4.2 General maintenance CAUTION: The control unit, fluxgate compass, tiller drive and rudder position sensor do not contain any user serviceable parts. These products should be serviced only by authorized Raymarine service technicians. Wheel drive Routine maintenance After each trip, flush inside the drive unit by inserting a hose pipe in the free slot on the back cover.
  • Page 52 Chapter 4: Maintenance & Fault Finding Adjusting the clutch You need to adjust the clutch if the drive belt slips in Auto mode or drags in Standby mode. In normal use, you can tell if the clutch is slipping if the motor operates but the drive does not turn the wheel. To adjust the clutch, first make sure that the autopilot is in Standby mode and the clutch is disengaged.

  • Page 53: Control Unit

    (if it is broken, frayed or stretched), you should replace the drive belt. You can obtain a replacement belt from any Raymarine dealer (part number A18083). Fitting instructions are supplied with the belt. User serviceable parts...

  • Page 54: Emc Advice

    Electromagnetic Compatibility (EMC). • Always report any EMC-related problems to your nearest Raymarine dealer. We use such information to improve our quality standards. • In some installations, it may not be possible to prevent the equipment from being affected by external influences.

  • Page 55: Product Support

    4.3 Product support Raymarine products are supported by a worldwide network of distributors and Authorized Service Representatives. If you encounter any difficulties with this product, please contact either your national distributor, service representative, or the Raymarine Technical Services Call Center. Refer to the back cover or the Worldwide Distributor List for contact details.
  • Page 56 Part 2: Installing the ST4000+...

  • Page 58: Chapter 5: Installing The St4000

    Chapter 5: Installing the ST4000+ Chapter 5: Installing the ST4000+ The sections in this chapter explain how to install and connect the components of your autopilot system: Planning the installation Preparation steps, tools required and EMC installation guidelines. Control unit How to install the surface mount and flush mount control units, and connect power, SeaTalk and NMEA.

  • Page 59: Planning The Installation

    5.1 Planning the installation Before you start installing the autopilot system, read through the relevant installation sections in this chapter. After reading through the following EMC installation guidelines, identify suitable locations for each part of the system: • consider how you will run cables to and from each component •...
  • Page 60 Chapter 5: Installing the ST4000+ Control unit and compass (all systems) Control unit No8 x 3/4 in screw (x4) Fluxgate compass with 8 m (26 ft) cable Also packed: Handbook, Quick Reference Card, Worldwide Distributor List Tiller drive parts Cable clip and screw, No 6 x 1/2 in Optional: installation accessories if required...

  • Page 61: Emc Installation Guidelines

    Wheel drive Optional: Bulkhead/box pedestal fitting kit E15017 (if required) EMC installation guidelines All Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine environment. Their design and manufacture conforms to the appropriate...

  • Page 62: Connections To Other Equipment

    Raymarine equipment. Always use the ferrites supplied by Raymarine. Connections to other equipment If your Raymarine equipment is to be connected to other equipment using a cable not supplied by Raymarine, a suppression ferrite MUST always be attached to the cable near to the Raymarine unit.

  • Page 63: Control Unit

    5.2 Control unit Control unit dimensions Location Locate the ST4000+ control unit so it is: • within easy reach from the steering position • viewable straight on, or with a maximum viewing angle of 30° • protected from physical damage •...

  • Page 64: Mounting Procedure

    Chapter 5: Installing the ST4000+ Mounting procedure Control units are available in surface mount and flush mount styles. Surface mount control units To fit a surface mount control unit: 1. Apply the surface mount template (supplied at the back of this handbook) to the selected bulkhead.

  • Page 65: Flush Mount Control Units

    Flush mount control units To fit a flush mount control unit: 1. Ensure that the intended mounting location is between 3 mm in) and 20 mm ( 2. Apply the flush mount template (supplied at the back of this handbook) to the selected location. Mark the aperture into which the control unit will sit, then remove the template.

  • Page 66: Cable Connectors

    Chapter 5: Installing the ST4000+ Cable connectors With the exception of the SeaTalk cables, spade connectors are used to make all connections to the control unit. When fitting the spade connectors, make sure the connector fits securely over the blade and not between the connector and its plastic insulating cover.

  • Page 67: Seatalk Connections

    However, if you want to connect your ST4000+ control unit to other SeaTalk equipment, you will need to purchase the necessary cables from your Raymarine dealer. The following illustration shows the range of available SeaTalk cables. Flat moulded plugs at each end Part no.

  • Page 68: Nmea Connections

    Chapter 5: Installing the ST4000+ Typical SeaTalk connections NMEA connections ST4000+ can receive wind and navigation data in NMEA 0183 format for use in Track and Wind Vane modes. Receiving NMEA data NMEA cabling Connect the NMEA navigator or wind instrument to the NMEA IN terminals on the rear of the ST4000+ control unit.
  • Page 69 Note: If you need to connect more than one item of NMEA equipment, you will need to connect one of them to the SeaTalk system using a SeaTalk/NMEA Interface (part number: E85001). NMEA data formats TheST4000+ can decode the following NMEA 0183 navigation and wind data: Information Course Over Ground...

  • Page 70: Fluxgate Compass

    Chapter 5: Installing the ST4000+ 5.3 Fluxgate compass Location The compass contains a self-levelling mechanism. This enables the compass to provide accurate readings with pitch and roll movements up to +/- 35°. Note: The rattle that the fluxgate compass makes when shaken is normal.
  • Page 71 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook D5401-1 Compass - recommended location for non-steel hulls Finding the most suitable location To identify the best compass location on your boat, start at the pitch and roll center then move the compass up and/or aft until you find a location with minimal magnetic disturbance.

  • Page 72: Mounting

    Chapter 5: Installing the ST4000+ 6 ft (1.8 m) 4 ft (1.2 m) 4 ft (1.2 m) D5383-1 Compass - recommended location for steel-hulls Mounting Fluxgate compass - orientation CAUTION: You must mount the fluxgate compass on a vertical bulkhead, with the cable exiting at the base.

  • Page 73: Connecting To The Control Unit

    Note: Make sure you leave some spare cable so, if necessary, you can re-position the compass to reduce deviation. If the standard cable is not long enough, your Raymarine dealer can supply a 10 m (30 ft) extension cable (part number: D174).

  • Page 74: Tiller Drive (Tiller Pilots Only)

    Chapter 5: Installing the ST4000+ 5.4 Tiller drive (tiller pilots only) Critical dimensions Installing the tiller drive involves mounting it between the tiller and a fixed point on the boat’s structure. Two dimensions are critical for correct installation: • Dimension A = 620 mm (24.5 in): the distance from the mounting socket to the tiller pin.

  • Page 75: Basic Installation

    1. Clamp the tiller on the boat’s center line and mark dimensions A and B.Use masking tape to locate the fixing points for the tiller pin and mounting socket. Note: You can measure dimension A on either the port or starboard side of the cockpit, depending on which side you intend to mount the drive.

  • Page 76: Installation Accessories

    If you need to increase the pushrod length (because of the distance from the mounting socket location to the center line), use a Raymarine pushrod extension. Identifying the correct pushrod extension 1. Clamp the tiller on the boat’s center line.
  • Page 77 Dimension C 620 mm (24.5 in) 648 mm (25.5 in) 673 mm (26.5 in) 699 mm (27.5 in) 724 mm (28.5 in) 749 mm (29.5 in) 775 mm (30.5 in) Mounting the pushrod extension To mount the pushrod extension: 1. Unscrew the end of the tiller drive’s pushrod. 2.
  • Page 78 Chapter 5: Installing the ST4000+ Tiller brackets If the tiller is higher or lower than the mounting socket, you can use a Raymarine tiller bracket to vary the tiller pin offset so the drive is horizontal. Identifying the correct tiller bracket 1.
  • Page 79 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook D286-2 D287-2...
  • Page 80 Chapter 5: Installing the ST4000+ Cantilever mounting If you need to attach the tiller drive to a vertical face (such as the cockpit sidewall), use a Raymarine cantilever socket assembly (part number D031): • the maximum possible extension offset is 254 mm (10 in) •...
  • Page 81 Mounting the cantilever assembly To mount the cantilever assembly: 1. Temporarily assemble the cantilever by screwing the rod into the mounting ring. 2. Ensure the drive unit is horizontal and then mark the location of the mounting ring and its mounting holes. 3.
  • Page 82 Chapter 5: Installing the ST4000+ Pedestal socket mounting If you need to raise the height of the drive unit mounting socket to keep the tiller drive horizontal, use a Raymarine pedestal socket assembly. Identifying the correct pedestal socket 1. Clamp the tiller on the boat’s center line.

  • Page 83: Connecting To The Control Unit

    Note: When the autopilot is not in use, you can unscrew the complete rod assembly to leave the cockpit unobstructed. Tiller pins Your Raymarine dealer can also supply the following lengths of tiller pin for other non-standard installations. Description Small threaded tiller pin...
  • Page 84 Chapter 5: Installing the ST4000+ Installing the socket 1. Apply the template (supplied at the rear of this handbook) to the bulkhead. 2. Carefully drill a 18 mm ( in) pilot holes. Remove the template. 3. Pass the cable through the bulkhead and attach to the socket, making sure you connect each core to the correct pin (as shown).

  • Page 85: Wheel Drive (Wheel Pilots Only)

    5.5 Wheel drive (wheel pilots only) 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 sensor to your wheel drive system (see page 81): •...

  • Page 86: Drilling The Spoke Clamp Holes

    Chapter 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 ‘push-fit’ posts which sit in three sockets on the drive ring •...
  • Page 87 Note: The wheel drive is designed to work with 3 spoke clamps on 4 or 8 spoke wheels. For cosmetic reasons, however, you may want to fit an extra spoke clamp to the fourth spoke. Raymarine dealers can supply an extra spoke clamp (part number A18089).
  • Page 88 Chapter 5: Installing the ST4000+ 4. Align the cover with the wheel drive: • the two pre-drilled holes (marked with an arrow) must line up with their matching pair of threaded inserts on the drive ring (also marked with an arrow) •...

  • Page 89: Securing The Wheel Drive To The Wheel

    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 the wheel and drive both facing up. 2. Using the wheel drive template at the end of this book, select the correct set of spoke clamp inserts for your wheel: •...

  • Page 90: Attaching The Pedestal Bracket

    Note: If your wheel is bulkhead or box pedestal mounted, you will need to obtain a bulkhead fitting kit (part number E15017) from your Raymarine dealer. Fitting instructions are supplied with the kit. Motor tube location Depending on the design of your pedestal and any surrounding obstructions, you can mount the wheel drive in one of two ways: •...
  • Page 91 Pedestal bracket – length and position Note: If you are replacing an existing 4000 wheel drive, you need to: remove the old pedestal bracket, cut the new bracket pin to the correct length (see steps 2 and 3 below), then secure it in the standard orientation using the existing pedestal holes.
  • Page 92 Chapter 5: Installing the ST4000+ Note: You can install the pedestal bracket either way up. In the standard orientation the pin is at the bottom (below the mounting holes – see diagram). If obstructions on the pedestal prevent you from using the standard orientation, you can install the bracket so the pin is at the top (above the mounting holes).
  • Page 93 154 mm (6.1 in) 8. When the pedestal bracket is correctly positioned and aligned, mark around the inside of the slots, then remove the bracket. 9. Use a center-punch to mark the center of each slot, then use the smaller supplied drill bit to drill a 4.0 mm ( Note: Drill at right angles to the pedestal surface.

  • Page 94: Connecting To The Control Unit

    Chapter 5: Installing the ST4000+ Note: If the wheel is bent or the wheel drive is off center, the pin will move up and down in the back plate slot. As long as the pin does not hit the top or bottom of the slot, this pin movement will not affect the drive unit’s performance.
  • Page 95 2. Route the cable through the pedestal (or guard rail) and back to the control unit: • if the pedestal has a cable duct, use this for the drive cable to make sure that it cannot foul the steering mechanism 3.

  • Page 96: Rudder Position Sensor (Wheel Pilot Option)

    Chapter 5: Installing the ST4000+ 5.6 Rudder position sensor (wheel pilot option) If you connect the optional Raymarine rudder position sensor (part number: M81105) to your wheel drive system, the autopilot will use the accurate rudder position information to improve performance.
  • Page 97 Front view - rudder amidships Parallel Tiller arm or quadrant Top view - rudder amidships Horizontal alignment When viewed from above (as shown in the illustration above): • the sensor arm must be between 75 mm (3 in) and 310 mm (12 in) from the tiller arm •...

  • Page 98: Securing The Sensor To The Boat

    Chapter 5: Installing the ST4000+ Securing the sensor to the boat Location Mount the rudder position sensor on a suitable base alongside the rudder stock and tiller arm. Note: If necessary, you can install the sensor upside down. If you mount the sensor in this way, you must swap the red and green cable connections at the control unit.

  • Page 99: Checking Alignment

    2. Connect the four cores of the cable (color for color) to the Rudder terminals on the control unit as shown. Note: If the standard cable is not long enough, your Raymarine dealer can supply a 10 m (30 ft) extension cable (part number: D173).

  • Page 100: Chapter 6: Setting-Up The St4000

    Chapter 6: Setting-up the ST4000+ Chapter 6: Setting-up the ST4000+ When you have installed the system, you need to check that the system is wired correctly and set up to suit your type of boat. The sections in this chapter provide instructions for the following post-installation procedures: Functional test This consists of a few basic tests to confirm that you...

  • Page 101: Functional Test

    6.1 Functional test Switch on 1. When you have installed your ST4000+ autopilot system, switch on the main power breaker. 2. If the control unit is active and the system operating, the control unit will beep and display the pilot type ( 4000 WHL or 4000 TILL ). CAUTION: Wheel drive systems One second after power-on the wheel pilot will drive to starboard for three seconds.

  • Page 102: Wheel Pilots

    Chapter 6: Setting-up the ST4000+ WARNING: Wheel drive clutch Always reach AROUND (not through) the wheel to operate the wheel drive clutch lever. Wheel pilot Tiller pilot 2. Press the +10 key. The helm should move to produce a turn to starboard.

  • Page 103: Checking Connections

    Checking connections Navigation interface (GPS, Decca, Loran) If you have connected the ST4000+ to a NMEA navigator, check the links by displaying the default data pages ( XTE, BTW and DTW ): press disp to display the first data page, and check that this page •...

  • Page 104: Seatalk Interface

    Chapter 6: Setting-up the ST4000+ SeaTalk interface If you have connected the ST4000+ to other SeaTalk instruments or control units, check the links as follows: 1. Press standby . 2. Select display lighting level 3 ( LAMP 3 ) on any other SeaTalk instrument or control unit.

  • Page 105: Check Rudder Sensor Operation (If Fitted)

    6.2 Check rudder sensor operation (if fitted) Note: This procedure is only required if you have fitted a rudder position sensor to a wheel pilot system. If you have fitted a rudder position sensor to a wheel pilot, before commencing the initial sea trial you must make sure that it senses rudder movement in the correct way and is aligned with the rudder: 1.

  • Page 106: Initial Sea Trial

    Chapter 6: Setting-up the ST4000+ 6.3 Initial sea trial Overview When you have checked that the system is functioning correctly, you must complete the setup by taking the boat on a short sea trial to: • correct the compass deviation •...

  • Page 107: Correcting The Compass Deviation

    ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Correcting the compass deviation Depending on your boat type, deviating magnetic fields can cause compass errors up to 15°. The correction procedure reduces these errors to a few degrees, so you MUST perform this procedure as the first item in your initial sea trial.The ST4000+ will then automatically correct the fluxgate compass for most deviating magnetic fields.
  • Page 108 Chapter 6: Setting-up the ST4000+ 4. Press the -1 or +1 key to change the setting from OFF to YES . You will then see the TURN BOAT page. 5. Keeping the boat speed below 2 knots, turn your boat in slow circles.
  • Page 109 Note: If you want to attempt deviation correction again, you can step back to the Swing Compass page or keep pressing disp to cycle through the calibration options until the page is displayed again. (To step back to the previous screen, press and hold the disp key for one second.

  • Page 110: Adjusting The Heading Alignment

    Chapter 6: Setting-up the ST4000+ 9. Press and hold standby for 2 seconds to exit calibration and save the new settings. Note: Setup options are always saved on exit. Adjusting the heading alignment You should always check the compass alignment after completing the deviation correction procedure (swinging the compass).

  • Page 111: Checking The Rudder Gain

    Checking the rudder gain The rudder gain level set at the factory will provide stable control for initial sea trials. However, boats can vary widely in their response to helm, and by adjusting the rudder gain you can improve the autopilot’s steering characteristics.
  • Page 112 Chapter 6: Setting-up the ST4000+ 3. To make a temporary adjustment to the rudder gain: press the -1 and +1 keys together for 1 second to display the • rudder gain ( RUDD GAIN ) screen then press -1 or +1 to change the level •...

  • Page 113: Autopilot Calibration Techniques

    6.4 Autopilot calibration techniques The autopilot’s factory default settings will provide adequate steering for most boats. If you still experience problems with autopilot performance after completing the Post Installation Procedures, follow these six steps to optimize the setup for your boat. Step 1 - Switch on ancillary equipment Make sure you have switched on any ancillary equipment, such as a GPS providing speed over ground (SOG) and latitude (LAT) data, or...

  • Page 114: Step 3 - Adjust The Rudder Damping

    Chapter 6: Setting-up the ST4000+ Step 3 - Adjust the rudder damping If you have connected a rudder position sensor to a wheel drive autopilot system, adjust the rudder damping. Check the rudder damping when your boat is moored dockside: press auto and then +10 •...
  • Page 115 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook...

  • Page 116: Chapter 7: Customizing The St4000

    Chapter 7: Customizing the ST4000+ Chapter 7: Customizing the ST4000+ The ST4000+ provides calibration options that you can use to adjust the settings for the control unit, the compass and the autopilot system. We calibrate the ST4000+ during manufacture to provide stable performance for most boats so you can perform the initial sea trial.

  • Page 117: User Setup

    7.1 User setup User setup allows you to calibrate and align the autopilot compass, select the type of bar graph shown on the ST4000+ display, and control the information shown on the data pages. The flowchart on the following page explains how to access User setup, scroll through the setup displays, adjust the values and quit: •...
  • Page 118 Chapter 7: Customizing the ST4000+ SECONDS Quitting User setup Adjusting User setup values SECONDS D3341-2...

  • Page 119: Bar Selection (Rudd Bar/Steer Bar/No Bar)

    Bar selection (RUDD BAR/STEER BAR/NO BAR) Use this screen to select the type of bar graph shown on the display: STEER BAR: This is the default setting. It uses the bar graph to • indicate different information in different operating modes: Mode Standby Auto...
  • Page 120 Chapter 7: Customizing 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 Speed Knots Trip Average Speed, Knots Wind Direction Wind Speed...

  • Page 121: St4000+ Wheel & Tiller Autopilots: Owner's Handbook

    7.2 Dealer setup Dealer setup allows you to customize the autopilot to your boat. However, the factory default settings will provide safe performance for the initial sea trial, and fine tuning is not normally required. The flowchart on the next page explains how to enter Dealer setup, scroll through the setup displays, adjust the values and quit: •...
  • Page 122 Chapter 7: Customizing the ST4000+ SECONDS Adjusting Dealer setup values Quitting Dealer setup SECONDS D5333-1...

  • Page 123: Calibration Lock (Cal Lock)

    Calibration lock (CAL LOCK) Calibration lock controls whether it is possible to access User setup or display the software version. It is intended for charter boat users. Pilot type (4000 WHL/TILL) Retain the default setting of 4000 WHL for wheel drive systems, and 4000 TILL for tiller pilots.

  • Page 124: Rudder Limit (Rud Limit)

    Chapter 7: Customizing the ST4000+ Rudder limit (RUD LIMIT) Use the rudder limit function to set the limits of autopilot rudder control just inside the mechanical end stops. This will avoid putting the steering system under unnecessary load. The adjustment range is from 15°...

  • Page 125: Autotrim (Autotrim)

    AutoTrim (AUTOTRIM) The AutoTrim setting determines the rate at which the autopilot applies ‘standing helm’ to correct for trim changes caused by varying wind loads on the sails or superstructure. The possible settings are: Setting The default setting (Level 3) should provide optimum performance with the ST4000+ autopilot.

  • Page 126: Autoadapt (Autoadapt)

    Chapter 7: Customizing the ST4000+ AutoAdapt (AUTOADAPT) The patented AutoAdapt feature allows the ST4000+ to compensate for heading errors at higher latitudes, which are caused by the increasing dip of the earth’s magnetic field. The increased dip has the effect of amplifying rudder response on northerly headings in the northern hemisphere, and on southerly headings in the southern hemisphere.

  • Page 127: Rudder Damping (Rudd Damp)

    Rudder damping (RUDD DAMP) Set this option if your system includes a rudder position sensor and the drive ‘hunts’ when trying to position the rudder. Increasing the rudder damping value will reduce hunting. Check the rudder damping when your boat is moored dockside: press auto and then +10 •...

  • Page 128: Specifications

    Specifications Specifications ST4000+ autopilot system Nominal supply voltage: Operating voltage range: Autopilot power consumption CE approvals: Control unit Operating temperature: Water protection: Overall dimensions: Keypad: Liquid Crystal Display (LCD): Input connections: Output connections: Drive unit Maximum boat displacement: Wheel drive: Tiller drive: Helm speed: Wheel drive:...
  • Page 129 Control unit dimensions 110 mm (4.33 in) Tiller drive dimensions Wheel drive dimensions 228 mm (9.0 in) diameter 135 mm (5.3 in) 361 mm (14.2 in) diameter ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 24 mm (0.95 in) 468 mm (18.4 in) midstroke 620 mm (24.5 in) 28 mm...

  • Page 130: Glossary

    Millimeter (1 mm = 0.04 inches) Nautical mile Newton metre NMEA The NMEA (National Maritime Electronics Association) protocol is an internationally accepted serial communication interface standard for sharing data between electronic equipment. Raymarine products can share information with non-SeaTalk equipment using the NMEA 0183 protocol.
  • Page 131 The higher the setting the more rudder will be applied. Revolutions per minute SeaTalk SeaTalk is Raymarine’s proprietary communication system. It links the products to provide a single, integrated system sharing power and data. SeaTalk bus This refers to the continuous SeaTalk system connecting together a series of Raymarine units.

  • Page 132: Index

    Index Index Adjusting autopilot performance Response level 12 Rudder 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 Apparent wind angle Adjusting 28 Previous 28...
  • Page 133 Gusty conditions 11 Heading 9 Heading alignment 102 Adjustment 95 Heading mode 102 Illumination 18 Initial sea trial 91 Installation 43 Compass 55 Control unit 48 EMC guidelines 46 NMEA connections 53 Power supply 51 Rudder position sensor 81 SeaTalk connections 52 Tiller drive 59 Wheel drive 70 Key functions 4...
  • Page 134 Index Steering bar 104 Steering direction 86 Swinging the compass 92 Testing autopilot operation 95 Testing the system 86 Tidal stream compensation 23 Tiller drive installation 59 Track mode 20 Safety advice 25 Turn limit 108 User setup 102 Vane mode see Wind Vane mode Variation 110 Watch mode...
  • Page 135 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook...
  • Page 136 Control unit - surface mount template Drill 5 mm (3/16 inch) diameter hole Tiller drive - plug template Drill 2.5 mm (3/32 inch) diameter hole (2 positions) Drill 5 mm (3/16 inch) diameter hole Machine hole 90 mm (3.55 inch) diameter Drill 18 mm (23/32 inch) diameter hole...
  • Page 138 Control unit - flush mount template 4 holes 6 mm (0.25 in) diameter Remove the shaded area 109 mm (4.3 in) D4437-3...
  • Page 140 Wheel drive - spoke clamp template Spoke clamp Spoke clamp insert Center of wheel Spoke diameters D5410-1...
  • Page 142 Rudder position sensor template Cable position Rudder positioned amidships Drill 3 mm (1/8 in) diameter hole (3 positions) Maximum permitted travel: +/- 60˚ D3440-2...

  • Page 144: Warranty Limitations

    During this period, except for certain products, travel costs (auto mileage and tolls) up to 100 round trip highway miles (160 kilometres) and travel time of 2 hours, will be assumed by Raymarine only on products where proof of installation or commission by authorized service agents, can be shown.
  • Page 145 Factory Service Centers United States of America Raymarine Inc 22 Cotton Road, Unit D Nashua, NH 03063-4219, USA Telephone: +1 603 881 5200 Fax: +1 603 864 4756 www.raymarine.com Sales & Order Services Telephone: +1 800 539 5539 Ext. 2333 or +1 603 881 5200 Ext.

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