\version "2.10.5"
#(ly:set-option 'old-relative)

\header{
    texidoc="When using automatic staff changes for the one voice, the
other voice must be given a name explicitely."
}

global = {
    \key a \minor
    \time 6/4
}

melody = \relative c''{
    r2 r r 
    r2 r r
    r4 a'8-- \< a-- a-- a-- c-- b\!-- a-\> gis f e\!
    es8 \grace b c r4 r2 r
}

basloopje = \relative c{
    d,8( a' d f a d f d a f d a)
}

accompany = \repeat unfold 4  \basloopje

\score{
     \context PianoStaff<<
		\context Staff=up <<
	    		\global
	    		\context Voice=foo{
			\voiceOne
			\melody 
	    		}
				>>
		\context Staff=down<<
	    		\global
	    		\clef bass
	    		\autochange Staff \context Voice \accompany
			>>
    		>>

    \paper {
	\translator{ 
	    \StaffContext
	    autoBeamSettings \override #'(end * * * *)
	    = #(ly:make-moment 1 2)
	}
    }
    \midi {
	\tempo 4 = 54
    }
}