Raymarine ST6001 - Zanshin

Chapter 6: Commissioning the Autopilot 71
Manual set-up: Type 150/400 & Type 100/300
If you have a Type 150/400 (non-GyroPlus) or Type 100/300
autopilot system you need to manually adjust the rudder gain,
counter rudder and AutoTrim settings, based on your observations
of the boat’s performance under autopilot control.
Adjust these settings when motoring your boat at cruising speed.
On sail boats, repeat if necessary under sail to optimize the pilot.
Checking autopilot operation
Before manually adjusting any of these settings, familiarize yourself
with basic autopilot operation:
1. Steer onto a compass heading and hold the course steady.
If necessary, control the boat manually for a while to check how
the boat steers.
2. Press auto to lock onto the current heading. The autopilot should
hold a constant heading in calm sea conditions.
3. Use the -1, +1, -10 and +10 keys to check how the autopilot alters
the course to port and starboard in multiples of 1° and 10°.
4. Press standby to return to hand steering.
6 Commissioning the Autopilot
Adjusting the rudder gain
Boats can vary widely in their response to helm, and by adjusting the
rudder gain you can change the autopilot’s steering characteristics.
Rudder gain is a measure of how much helm the autopilot applies to
correct course errors – higher settings mean more rudder is applied.
Complete the following test to determine whether the rudder gain is
set correctly:
1. Set RESPONSE to level 2:
• press the resp key, use the -1 or +1 key to adjust the setting,
then press disp
2. Sail your boat at cruising speed in clear water:
• you will find it easiest to recognize the steering response in
calm sea conditions where wave action does not mask basic
steering performance
3. Press auto to enter Auto mode, then alter course by 40°:
• if the rudder gain is adjusted correctly, the 40° course change
should result in a crisp turn followed by an overshoot of no
more than 5°