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

Raymarine ST4000+ Owner's Handbook Manual

Wheel & tiller autopilots
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81131_7.book Page i Wednesday, March 17, 2004 3:59 PM
ST4000+
Wheel & Tiller
Autopilots
Owner's
Handbook
Document number: 81131-7
Date: April 2004

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  • Page 1 81131_7.book Page i Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots Owner’s Handbook Document number: 81131-7 Date: April 2004...
  • Page 2 81131_7.book Page ii Wednesday, March 17, 2004 3:59 PM 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 3: Table Of Contents

    81131_7.book Page iii Wednesday, March 17, 2004 3:59 PM Preface Contents Important Information ............vii Warranty ..................vii Safety notices ................vii EMC conformance ..............viii Handbook information .............viii Chapter 1: Introduction ............1 1.1 Features ..................1 1.2 Extended systems ..............2 Chapter 2: Basic Operation ............3 2.1 Using the control unit ..............
  • Page 4 81131_7.book Page iv Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Adjusting the locked wind angle ..........23 Dodges in Wind Vane mode ............ 23 Wind shift alarm ..............24 Using AutoTack in Wind Vane mode ........24 Operating hints for Wind Vane mode ........
  • Page 5 81131_7.book Page v Wednesday, March 17, 2004 3:59 PM Preface 5.6 Rudder position sensor (wheel pilot) ........71 Ensuring correct alignment ............. 71 Securing the sensor to the boat ..........73 Attaching the sensor to the tiller arm ........73 Checking alignment ..............
  • Page 6 81131_7.book Page vi Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Off course alarm (OFF COURSE) .......... 97 AutoTack angle (AUTOTACK) ..........97 AutoTrim (AUTOTRIM) ............98 Drive type (DRIVE TYP) ............98 Magnetic variation (VARIATION) ......... 98 AutoAdapt (AUTOADAPT) ..........

  • Page 7: 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 8: Emc Conformance

    ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Your Raymarine autopilot will add a new dimension to your boating enjoyment. However, it is the skipper’s responsibility to ensure the safety of the boat at all times by following these basic rules: •...

  • Page 9: Chapter 1: Introduction

    Chapter 1: Introduction Chapter 1: Introduction 1.1 Features ® The Raymarine ST4000 Plus (ST4000+) is a SeaTalk compatible 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 10: Extended Systems

    81131_7.book Page 2 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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 42).

  • Page 11: Chapter 2: Basic Operation

    81131_7.book Page 3 Wednesday, March 17, 2004 3:59 PM Chapter 2: Basic Operation Chapter 2: Basic Operation This chapter explain how to use the basic functions of your autopilot: 2.1 Using the control unit Key functions • The autopilot always powers up in Standby mode. •...

  • Page 12: Display Layout

    81131_7.book Page 4 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Display layout The ST4000+ autopilot display provides the following information: Variable text region (up to 9 characters/digits) Heading indicators Distance units Response level indicator Autopilot mode indicators Port and Starboard...

  • Page 13: Using Auto Mode

    81131_7.book Page 5 Wednesday, March 17, 2004 3:59 PM Chapter 2: Basic Operation 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).

  • Page 14: Disengaging The Autopilot (Standby Mode)

    81131_7.book Page 6 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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 15: Changing Course In Auto Mode

    81131_7.book Page 7 Wednesday, March 17, 2004 3:59 PM Chapter 2: Basic Operation 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°...

  • Page 16: Automatic Tack (Autotack)

    81131_7.book Page 8 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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.

  • Page 17: Gusting Conditions

    81131_7.book Page 9 Wednesday, March 17, 2004 3:59 PM 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 18: Changing The Rudder Gain

    81131_7.book Page 10 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook provides the best compromise between power consumption and course keeping accuracy, and is the default calibration setting. • Response Level 2: AutoSeastate off (Minimum deadband) This setting provides the tightest course keeping possible.

  • Page 19: Autopilot Alarms

    81131_7.book Page 11 Wednesday, March 17, 2004 3:59 PM Chapter 2: Basic Operation To make a temporary change to the rudder gain: 1. Press the -1 and +1 keys together for 1 second to display the rudder gain (RUDD GAIN) screen Note: If you have set up the RUDD GAIN screen as a default data page (see page 92) you can also access it by pressing disp and then scrolling through the data pages.
  • Page 20 81131_7.book Page 12 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook The ST4000+ activates this alarm when the boat has been off course from the locked heading by more than the specified angle* for longer than 20seconds.

  • Page 21: Shallow Alarm (Shallow)

    81131_7.book Page 13 Wednesday, March 17, 2004 3:59 PM Chapter 2: Basic Operation • the position sensor (GPS, Loran, Decca) is receiving a low strength signal – this will clear as soon as the signal improves The autopilot stops adjusting the heading as soon as it loses data. Waypoint Advance alarm NEXT WPT?) The ST4000+ activates the Waypoint Advance alarm whenever the...

  • Page 22: Adjusting Display And Keypad Lighting

    81131_7.book Page 14 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook system. It displays the text MOB instead of the waypoint number for the XTE, DTW and BTW data pages. If the autopilot is in Track mode, it will sound the Waypoint Advance alarm to notify you of the change in waypoint.

  • Page 23: Chapter 3: Advanced Operation

    81131_7.book Page 15 Wednesday, March 17, 2004 3:59 PM Chapter 3: Advanced Operation Chapter 3: Advanced Operation This chapter explain how to use the more advanced functions on your autopilot: 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.
  • Page 24 81131_7.book Page 16 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Automatic track acquisition If cross track error and bearing to waypoint information are both available (via SeaTalk or NMEA), the autopilot can acquire a track automatically: 1.

  • Page 25: Exiting Track Mode

    81131_7.book Page 17 Wednesday, March 17, 2004 3:59 PM Chapter 3: Advanced Operation 1. Steer the boat to within 0.1 nm of track. 2. Bring the heading to within 5° of the bearing to the next waypoint. 3. Press auto. 4.

  • Page 26: Tidal Stream Compensation

    81131_7.book Page 18 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Cross track error (XTE) more than 0.3 nm Waypoint 2 Waypoint 1 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.

  • Page 27: Waypoint Arrival And Advance

    81131_7.book Page 19 Wednesday, March 17, 2004 3:59 PM Chapter 3: Advanced Operation Waypoint 2 Boat's speed over ground Tidal component Boat's speed through water Waypoint 1 D3261-3 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.

  • Page 28: Dodges In Track Mode

    81131_7.book Page 20 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Note: If you do not press track to accept the Waypoint Advance, the ST4000+ will maintain the current heading and continue sounding the alarm. Waypoint arrival and advance Waypoint arrival Waypoint advance...

  • Page 29: Safety In Track Mode

    81131_7.book Page 21 Wednesday, March 17, 2004 3:59 PM Chapter 3: Advanced Operation Initiating a dodge maneuver In Track mode, you can make a dodge maneuver by using the course change keys (-1, +1, -10 or +10) to select the desired course change. Cancelling a dodge maneuver After you have avoided the hazard, you can cancel the dodge course change by making an equal course change in the opposite direction.

  • Page 30: 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 31: Exiting Wind Vane Mode

    81131_7.book Page 23 Wednesday, March 17, 2004 3:59 PM Chapter 3: Advanced Operation D3565-2 The ST4000+ will then adjust the boat’s heading to maintain the locked apparent wind angle. Exiting Wind Vane mode You can return to Auto or Standby mode from Wind Vane mode by: pressing auto to return to Auto mode •...

  • Page 32: Wind Shift Alarm

    81131_7.book Page 24 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Initiating a dodge maneuver In Wind Vane mode, you can make a dodge maneuver by using the course change keys (-1, +1, -10 or +10) to select the desired course change.

  • Page 33: Operating Hints For Wind Vane Mode

    81131_7.book Page 25 Wednesday, March 17, 2004 3:59 PM Chapter 3: Advanced Operation Apparent wind angle After tacking, you may need to make minor course changes to achieve the desired apparent wind angle AutoTack angle AutoTack to Port D4373-2 Operating hints for Wind Vane mode •...
  • Page 34 81131_7.book Page 26 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 2. Select the data page you want to use as the principle display on the control unit: • the current autopilot mode is shown at the left of the display and the autopilot bar graph remains in use •...

  • Page 35: Chapter 4: Maintenance & 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 36: 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...
  • Page 37 81131_7.book Page 29 Wednesday, March 17, 2004 3:59 PM Chapter 4: Maintenance & Fault Finding Cleaning the wheel drive CAUTION: Do not use mineral-based solvents (such as WD40) to lubricate or clean the wheel drive as they will damage the material. We recommend that you complete the following steps each season to prevent the build-up of salt on the wheel drive bearings and drive belt: 1.
  • Page 38 (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 39: Control Unit

    • To minimize these effects and enable you to get the best possible performance from your Raymarine equipment, guidelines are given in the installation instructions, to enable you to ensure...

  • Page 40: Product Support

    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 41: Chapter 5: Installing The St4000

    81131_7.book Page 33 Wednesday, March 17, 2004 3:59 PM Chapter 5: Installing the ST4000+ Chapter 5: Installing the ST4000+ ST4000+ autopilot system layout Wheel drive Tiller drive Boat's electrical distribution panel ST4000+ control unit Fluxgate compass Rudder position sensor (optional fit for wheel pilot only) SeaTalk instrument NMEA instrument...

  • Page 42: Planning The Installation

    81131_7.book Page 34 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook This chapter explain how to install and connect the components of your autopilot system: 5.1 Planning the installation Before you start installing the autopilot system, read this chapter. thoroughly, with particular regard to the EMC installation guidelines.
  • Page 43 81131_7.book Page 35 Wednesday, March 17, 2004 3:59 PM Chapter 5: Installing the ST4000+ Control unit and compass (all systems) Thumb screw (x2) Control unit terminal cover (if desired, attach to rear of control unit Control unit Gasket Stud (x2) after connecting all cables) M4 x 25 mm...

  • Page 44: Emc Installation Guidelines

    Optional: Bulkhead/box pedestal fitting kit E15017 (if required) 5439-2 D5439-1 EMC installation guidelines All Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine environment. Their design and manufacture conforms to the appropriate Electromagnetic Compatibility (EMC) standards, but correct installation is required to ensure that performance is not compromised.

  • Page 45: Connections To Other Equipment

    Raymarine equipment. Always use the ferrites supplied by Raymarine. D3548-2 Connections to other equipment If your Raymarine equipment is to be connected to other equipment using a cable not supplied by Raymarine, a suppression ferrite MUST always be attached to the cable near to the Raymarine unit.

  • Page 46: Control Unit

    81131_7.book Page 38 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 5.2 Control unit Control unit dimensions 24 mm 17 mm 110 mm (4.33 in) (0.95 in) (0.67 in) D3242-3 Location Locate the ST4000+ control unit so it is: •...

  • Page 47: Mounting Procedure

    81131_7.book Page 39 Wednesday, March 17, 2004 3:59 PM 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 48 81131_7.book Page 40 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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 ( in) thick.

  • Page 49: Cable Connectors

    81131_7.book Page 41 Wednesday, March 17, 2004 3:59 PM 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 50: 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 51: Nmea Connections

    81131_7.book Page 43 Wednesday, March 17, 2004 3:59 PM Chapter 5: Installing the ST4000+ Typical SeaTalk connections Autopilot control unit (rear) SeaTalk bus Power supply D3392-2 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...
  • Page 52 81131_7.book Page 44 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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).

  • Page 53: Fluxgate Compass

    81131_7.book Page 45 Wednesday, March 17, 2004 3:59 PM 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 54 81131_7.book Page 46 Wednesday, March 17, 2004 3:59 PM 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 55: Mounting

    81131_7.book Page 47 Wednesday, March 17, 2004 3:59 PM 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 56: 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 57: Tiller Drive (Tiller Pilots Only)

    81131_7.book Page 49 Wednesday, March 17, 2004 3:59 PM 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: •...

  • Page 58: Basic Installation

    81131_7.book Page 50 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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.

  • Page 59: 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 60 81131_7.book Page 52 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Dimension C Pushrod extension length L Part no. 620 mm (24.5 in) Standard dimension 648 mm (25.5 in) 25 mm (1 in) D003 673 mm (26.5 in) 51 mm (2 in) D004 699 mm (27.5 in)
  • Page 61 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 62 81131_7.book Page 54 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook D286-2 D287-2...
  • Page 63 D309-2 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 64 81131_7.book Page 56 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook D288-2 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.
  • Page 65 81131_7.book Page 57 Wednesday, March 17, 2004 3:59 PM 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 D289-2 1.

  • Page 66: 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 Size Part no.
  • Page 67 81131_7.book Page 59 Wednesday, March 17, 2004 3:59 PM Chapter 5: Installing the ST4000+ Brown Blue D3284-2 Installing the socket 1. Apply the template (supplied at the rear of this handbook) to the bulkhead. 2. Carefully drill a 18 mm ( in) clearance hole and two 2.5 mm in) pilot holes.

  • Page 68: Wheel Drive (Wheel Pilots Only)

    ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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.

  • Page 69: Drilling The Spoke Clamp Holes

    81131_7.book Page 61 Wednesday, March 17, 2004 3:59 PM 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 70 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 71 81131_7.book Page 63 Wednesday, March 17, 2004 3:59 PM 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 72: Securing The Wheel Drive To The Wheel

    81131_7.book Page 64 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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.

  • Page 73: 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 74 81131_7.book Page 66 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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 75 81131_7.book Page 67 Wednesday, March 17, 2004 3:59 PM 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 76 81131_7.book Page 68 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 154 mm (6.1 in) D5346-2 8. When the pedestal bracket is correctly positioned and aligned, mark around the inside of the slots, then remove the bracket. 9.

  • Page 77: Connecting To The Control Unit

    81131_7.book Page 69 Wednesday, March 17, 2004 3:59 PM 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 78 81131_7.book Page 70 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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 D5338-1 3.

  • Page 79: Rudder Position Sensor (Wheel Pilot)

    81131_7.book Page 71 Wednesday, March 17, 2004 3:59 PM Chapter 5: Installing the ST4000+ 5.6 Rudder position sensor (wheel pilot) The rudder position sensor connects directly to the boat’s tiller arm or quadrant. Installing the sensor involves five main steps: •...
  • Page 80 81131_7.book Page 72 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Front view - rudder amidships Ball joints (level) Connecting rod Sensor arm Parallel Rudder position sensor Tiller arm Mounting base or quadrant Top view - rudder amidships Parallel Cable entry 60˚...

  • Page 81: Securing The Sensor To The Boat

    81131_7.book Page 73 Wednesday, March 17, 2004 3:59 PM 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 82: 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 83: Chapter 6: Setting-Up The St4000

    81131_7.book Page 75 Wednesday, March 17, 2004 3:59 PM 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. This chapter provide instructions for the following post-installation procedures: Note: You can perform further customization after the sea trial, as...

  • Page 84: Autopilot Steering Direction

    81131_7.book Page 76 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Autopilot steering direction The autopilot steering direction defines which way the autopilot applies helm when you press a course change key or when the boat goes off course.

  • Page 85: Checking Connections

    81131_7.book Page 77 Wednesday, March 17, 2004 3:59 PM Chapter 6: Setting-up the ST4000+ D3568-2 3. If the helm produces a turn to port, reverse the drive connections on the back of the control unit. 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 86 81131_7.book Page 78 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook D3565-2 • if the ST4000+ is not receiving wind data, it will display a NO DATA message: check the wind instrument and connections SeaTalk interface If you have connected the ST4000+ to other SeaTalk instruments or control units, check the links as follows: 1.

  • Page 87: Check Rudder Sensor Operation (If Fitted)

    81131_7.book Page 79 Wednesday, March 17, 2004 3:59 PM Chapter 6: Setting-up the ST4000+ 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:...

  • Page 88: Initial Sea Trial

    81131_7.book Page 80 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 6.3 Initial sea trial 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: •...

  • Page 89: Correcting The Compass Deviation

    81131_7.book Page 81 Wednesday, March 17, 2004 3:59 PM Chapter 6: Setting-up the ST4000+ 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 90 81131_7.book Page 82 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook D3460-2 4. Press the -1 or +1 key to change the setting from OFF to YES. You will then see the TURN BOAT page. D3451-2 5.
  • Page 91 81131_7.book Page 83 Wednesday, March 17, 2004 3:59 PM Chapter 6: Setting-up the ST4000+ D3452-2 Can I cancel the process? You can abort the correction process by pressing the disp key to move onto the DEVIATION screen. 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.

  • Page 92: Adjusting The Heading Alignment

    81131_7.book Page 84 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook D3459-2 8. Use -1 and +1 or -10 and +10 to adjust the displayed heading until it matches boat’s steering compass or a known transit bearing. Autopilot heading Steering compass Known...

  • Page 93: Checking Autopilot Operation

    81131_7.book Page 85 Wednesday, March 17, 2004 3:59 PM Chapter 6: Setting-up the ST4000+ Checking autopilot operation After calibrating the compass, familiarize yourself with autopilot operation: 1. Steer onto a compass heading and hold the course steady. 2. Wheel Pilot: Engage the wheel drive clutch. Tiller Pilot: Place the push rod end over the tiller pin.
  • Page 94 81131_7.book Page 86 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook there will be no overshoot (B) Correct this understeer by increasing the rudder gain setting. heading heading Rudder gain too low Rudder gain heading too high Correct rudder gain...

  • Page 95: Autopilot Calibration Techniques

    81131_7.book Page 87 Wednesday, March 17, 2004 3:59 PM Chapter 6: Setting-up the ST4000+ 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.

  • Page 96: Step 3 - Adjust The Rudder Damping

    81131_7.book Page 88 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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: •...

  • Page 97: Chapter 7: Customizing The St4000

    81131_7.book Page 89 Wednesday, March 17, 2004 3:59 PM 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 98: User Setup

    81131_7.book Page 90 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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.
  • Page 99 81131_7.book Page 91 Wednesday, March 17, 2004 3:59 PM Chapter 7: Customizing the ST4000+ SECONDS Quitting User setup Adjusting User setup values SECONDS D3341-2...

  • Page 100: Bar Selection (Rudd Bar/Steer Bar/No Bar)

    81131_7.book Page 92 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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 •...
  • Page 101 81131_7.book Page 93 Wednesday, March 17, 2004 3:59 PM 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 Displayed as...

  • Page 102: Dealer Setup

    81131_7.book Page 94 Wednesday, March 17, 2004 3:59 PM 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 103 81131_7.book Page 95 Wednesday, March 17, 2004 3:59 PM Chapter 7: Customizing the ST4000+ SECONDS Adjusting Dealer setup values Quitting Dealer setup SECONDS D5333-1...

  • Page 104: Calibration Lock (Cal Lock)

    81131_7.book Page 96 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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 105: Rudder Limit (Rud Limit)

    81131_7.book Page 97 Wednesday, March 17, 2004 3:59 PM 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.

  • Page 106: Autotrim (Autotrim)

    81131_7.book Page 98 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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 Effect No trim correction...

  • Page 107: Autoadapt (Autoadapt)

    81131_7.book Page 99 Wednesday, March 17, 2004 3:59 PM 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 108: Rudder Damping (Rudd Damp)

    81131_7.book Page 100 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook 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.

  • Page 109: Specifications

    81131_7.book Page 101 Wednesday, March 17, 2004 3:59 PM Specifications Specifications ST4000+ autopilot system Nominal supply voltage: 12 V DC Operating voltage range: 10 V to 15 V DC Note: reduced voltages will severely degrade drive performance. Autopilot power consumption Standby: 0.72 W Auto: 10 W at 25% duty cycle (depending on boat trim, helm load and sailing conditions)

  • Page 110: St4000+ Wheel & Tiller Autopilots: Owner's Handbook

    81131_7.book Page 102 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Control unit dimensions 24 mm 17 mm 110 mm (4.33 in) (0.95 in) (0.67 in) D3242-3 Tiller drive dimensions 468 mm (18.4 in) 38 mm (1.5 in) midstroke 620 mm (24.5 in)

  • Page 111: 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 112 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 113: Index

    81131_7.book Page 105 Wednesday, March 17, 2004 3:59 PM Index Index Connections 58 Deviation correction 102 Adjusting autopilot performance Deviation display 102 Response level 12 Installation 55 Rudder gain 13 Steel-hulled boats 56 Alarms 14 Control unit installation 48 DRIVESTOP 15 Course changes 8 LARGE XTE 15 Major course changes 10...
  • Page 114 81131_7.book Page 106 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook Connections 53 Data formats 54 Gusty conditions 11 No data alarm (NO DATA) 15 Heading 9 Off course alarm (OFFCOURSE) 14 Heading alignment 102 Default angle 109 Adjustment 95 Operating modes 1...
  • Page 115 81131_7.book Page 107 Wednesday, March 17, 2004 3:59 PM Index 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...
  • Page 116 81131_7.book Page 108 Wednesday, March 17, 2004 3:59 PM ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook...
  • Page 117 81131_7.book Page 109 Wednesday, March 17, 2004 3:59 PM Drill 5 mm (3/16 inch) Control unit - surface mount template diameter hole Machine hole 90 mm (3.55 inch) diameter Drill 5 mm (3/16 inch) diameter hole D3441-3 Tiller drive - plug template Drill 2.5 mm (3/32 inch) Drill 18 mm (23/32 inch) diameter hole (2 positions)
  • Page 118 81131_7.book Page 110 Wednesday, March 17, 2004 3:59 PM...
  • Page 119 81131_7.book Page 111 Wednesday, March 17, 2004 3:59 PM 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 120 81131_7.book Page 112 Wednesday, March 17, 2004 3:59 PM...
  • Page 121 81131_7.book Page 113 Wednesday, March 17, 2004 3:59 PM Wheel drive - spoke clamp template Spoke clamp Spoke clamp Spoke diameters insert Center of wheel D5410-1...
  • Page 122 81131_7.book Page 114 Wednesday, March 17, 2004 3:59 PM...
  • Page 123 81131_7.book Page 115 Wednesday, March 17, 2004 3:59 PM Rudder position sensor template Rudder positioned amidships Drill 3 mm (1/8 in) diameter hole (3 positions) Maximum permitted travel: +/- 60˚ Cable position D3440-2...
  • Page 124 81131_7.book Page 116 Wednesday, March 17, 2004 3:59 PM...
  • Page 125 2 years (24 months) from date of sale to end user, or 30 months from date of shipment from Raymarine - whichever expires first, except as provided below.
  • Page 126 Overtime/premium labour portion of services outside of normal working hours is not covered by this warranty. When or if repairs are necessary, these products must be forwarded to a Raymarine facility or an approved Raymarine service agent, at owner's expense.
  • Page 127 81131_7.book Page 3 Wednesday, March 17, 2004 3:59 PM Factory Service Centers United States of America UK, Europe, Middle East, Far East Raymarine Inc Raymarine Ltd 22 Cotton Road, Unit D Anchorage Park, Portsmouth Nashua, NH 03063-4219, USA PO3 5TD, England...
  • Page 128 81131_7.book Page 4 Wednesday, March 17, 2004 3:59 PM...

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