ST70 Autopilot Controller User Reference Guide Document reference: 81288-2 Date: May 2010
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iii Preface Contents Warnings and cautions WARNING: Product installation & operation This equipment must be installed, commissioned and operated in accordance with the Raymarine instructions provided. Failure to do so could result in personal injury, damage to your boat and/or poor product performance. CAUTION: Before commissioning the SmartPilot X system, check that individual components are the correct voltage for your boat’s supply.
iv EMC installation guidelines Raymarine equipment and accessories conform to the appropriate Electromagnetic Compatibility (EMC) regulations. This minimizes electromagnetic interference between equipment, which could otherwise affect the performance of your system. Correct installation is required to ensure that EMC performance is not compromised.
Preface v EMC Servicing and maintenance • • Undue noise and interference may be a symptom of an EMC-related problem. Please report any EMC-related problem to your nearest Raymarine dealer. We use such information to improve our quality standards. To minimize any EMC related problems and ensure the best possible performance from your Raymarine equipment, follow the guidelines given in the installation instructions.
vi Product documents The following documents are available from www.raymarine.com/handbooks to help you install and operate an autopilot system based around the SPX SmartPilot: Document Part number ST70 Autopilot Controller User Reference Guide (this document). Supplied with the ST70 Autopilot Controller. 81288 ST70 Pilot Operating Guide. Supplied with the ST70 autopilot controller. 81289 SPX System Installation Guide.
Contents Contents Chapter 1:ST70 Overview ................................................................................ 1 1.1 Functions ............................................................................................... 1 1.2 Display and controls ............................................................................... 2 Controls.................................................................................................. 2 Display ..................................................
viii ST70 Pilot Controller Reference Guide Waypoint Advance warning .................................................................. 30 Route completion.................................................................................. 30 3.7 Using the SmartPilot with sail boats ..................................................... 31 Using Wind Vane mode......................................................................... 31 What is Wind Vane mode? ...................................................
1 Chapter 1: ST70 Overview 1.1 Functions The ST70 Autopilot controller is used to control your autopilot system. It can be used with Raymarine SPX, S1, S2 and S3 SmartPilot systems (although it cannot be used to calibrate an S1, S2 or S3 system).
2 ST70 Pilot Controller Reference Guide 1.2 Display and controls Controls STANDBY When in Standby mode: - Press momentarily to display the Brightness popup. - Hold down to power off. When in Auto mode: Press momentarily to put unit in standby DODGE Activate Dodge mode. TRACK Activate Track mode. AUTO Activate Auto mode. MENU Open the control menus.
Chapter 1: ST70 Overview 3 Auto mode The ST70 Pilot can display current pilot data in one of three ways: • Heading 225 • D10931-1 Mag 2D - Compass rose N 19.1 TWS KTS 6.2 W E Depth M S 14.8 M D10935-1 SOG KTS • 3D - Isometric Refer to Section 3.3, Pilot view. N M 6.2 14.8 TWS KTS Depth M SOG KTS D10930-1 19.1 1.3 Operating principles The ST70 Pilot has two main modes of operation: Standby and Auto.
4 ST70 Pilot Controller Reference Guide Setup procedures Setup procedures are carried out during Commissioning to set: • Language • Vessel Type • Time format • Date format • Method used for ground wind calculation • Magnetic variation • Response rate If you need to change any of these after the pilot has been commissioned, refer to the appropriate procedure in the ST70 Autopilot Controller/SmartPilot X Commissioning Instructions. 1.
5 Chapter 2: Setup Procedures Many operating parameters are set during commissioning and may not need to be changed again. However, if any of these parameters are not as you want them, you can change: • The response levels of the pilot. • The language. • The time/date format. Refer to the ST70 Autopilot Controller/SmartPilot X Commissioning Instructions for the appropriate procedures. Other setup procedures may be useful on a day-to-day basis.
6 ST70 Pilot Controller Reference Guide 2.2 Dockside and open water procedures WARNING: Dockside and open water procedures. The ST70 Pilot must be prepared for use in accordance with the Commissioning Procedures before it is used for operational purposes. Failure to comply with this could result in death, personal injury, damage to your boat and/or poor product performance.
Chapter 2: Setup Procedures 1. Press MENU. 2. Use < and > to scroll to the Display Settings screen and press ENTER. 3. Use < and > to scroll to the setting you want to change. Main Menu Display Settings Press ENTER to select. Brightness D9328-1 Display settings 7 Display Settings 1. Use < and > to scroll to the Brightness box and press ENTER. Brightness Adjust the display brightness. Press ENTER to select. Brightness 100 % < & > adjust brightness. CANCEL i exits without saving.
8 ST70 Pilot Controller Reference Guide Units Display Settings 1. Use < and > to scroll to the Units box and press ENTER. Units Change the default unit settings. D10839-1 i Press ENTER to select. Units Speed Distance Depth Wind Speed Heading Flow Rate Temperature Press ENTER to continue Units Wind Speed Units Press ENTER to select. D10918-1 3. Press ENTER to display the Units menu. 4. Use < and > and press ENTER to select a unit to change.
Chapter 2: Setup Procedures Time and date 9 Display Settings Note that only if a GPS is connected to the system, the time, date and time offset will be retrieved from the GPS and cannot be changed here. Time & Date Press ENTER to select. 2. The summary box shows the current settings. These are: • Time • Date • Time offset • Time format (12- or 24-hour) • Date format (dd/mm/yy or dd/mm/yy) 3. Press ENTER to display the Time & Date menu. 4. Use < and > and press ENTER to select a setting to change.
10 ST70 Pilot Controller Reference Guide Data Boxes You can define which data are displayed in each of the three data boxes in the 2D and 3D pilot views.
Chapter 2: Setup Procedures 1. Use < and > to scroll to the Data Boxes box and press ENTER. 11 Display Settings Data Boxes Select data for the data boxes. Press ENTER to select. 2. Use < and > to scroll to the box whose contents you want to change. D10818-1 i Data Boxes Box 1 Select the data for box 1. Press ENTER to select. Data Boxes SOG i Select data to be shown. Press CANCEL to exit without saving. Press ENTER to select. D10934-1 3. Use < and > to select the data you want to be displayed.
12 ST70 Pilot Controller Reference Guide Display Response The response setting determines the rate at which data readings update. You can adjust the response at each pilot head to best suit the conditions under which you are operating. You can independently adjust the response at each pilot head for individual data types: • • • • • • 1. Speed Depth Heading Wind Speed Wind Angle Use < and > to scroll to the Response box and press ENTER. Display Settings Response Select display response.
Chapter 2: Setup Procedures About Display There are a number of parameters of which you may need to make a note if you experience problems with the pilot controller. 1. Use < and > to scroll to the About Display box and press ENTER. 2. A list of current display parameters is displayed. These are: • Software, hardware and bootcode versions • Temperature • Volts • Peak volts • Current • Peak current consumption • Run time 3. Press ENTER or CANCEL to exit. Display Self Test For factory use only.
14 ST70 Pilot Controller Reference Guide 2.4 Response Levels The response level controls the relationship between course keeping accuracy and the amount of helm/drive activity. You can make temporary changes to response during normal operation, as described in Chapter 3:Operating instructions . Setting the Response level determines how quickly the pilot responds to a change in conditions. Setting Options Levels1 to 3 Minimize the amount of pilot activity.
Chapter 2: Setup Procedures 15 2.5 Sailboat setup procedures Auto Tack Angle Sailboat Settings 1. Press MENU, then use < and > to scroll to Autopilot Calibration and press ENTER. Auto Tack Angle 2. Use < and > to scroll to Vessel Settings and press ENTER. 3. Use < and > to scroll to Sailboat Settings and Press ENTER to select. press ENTER. 4. Use < and > to scroll to Auto Tack Angle and press ENTER. 5. Use < and > to increase or decrease the auto Auto Tack Angle tack angle. 6.
16 ST70 Pilot Controller Reference Guide Wind Trim 1. Press MENU, then use < and > to scroll to Autopilot Calibration and press ENTER. 2. Use < and > to scroll to Vessel Settings and press ENTER. 3. Use < and > to scroll to Sailboat Settings and press ENTER. 4. Use < and > to scroll to Wind Trim and press ENTER. 5. Use < and > to increase or decrease the auto tack delay. 6. Press ENTER to accept the change or CANCEL to exit without making any changes. Sailboat Settings Wind Trim Press ENTER to select.
Chapter 2: Setup Procedures 17 2.6 Power boat and fishing boat setup procedures Patterns A number of sailing patterns are provided, each with one or more parameters which can be set to the desired value. Main Menu All Patterns Press ENTER to select.
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19 Chapter 3: Operating instructions The SmartPilot controller is a SeaTalkng-compatible autopilot control unit. It is designed as the main controller for the SmartPilot system. The SmartPilot controller operates in the following modes: • • • Standby: SmartPilot off. You have manual control of the boat. Auto: The SmartPilot steers the boat to maintain a locked heading. Track: The SmartPilot steers the boat to maintain a track between two waypoints created on a navigation aid.
20 ST70 Pilot Controller Reference Guide Extended systems You can connect the SmartPilot controller to other Raymarine SeaTalk equipment so it can send and receive SeaTalk data: • it can use waypoint information from a SeaTalk navigation instrument to provide track control. • it can use boat speed from a SeaTalk speed instrument to optimize track-keeping performance. • it can use wind information from a SeaTalk wind instrument for Wind Vane steering.
Chapter 3: Operating instructions • • • • Vessel Type • Boatshow Mode (simulated data - boat show use only) • Factory Reset Autopilot Calibration (only when connected to a compatible course computer): • Vessel settings • Drive settings • Sailboat settings • Commissioning Diagnostics Tack Port Power and fishing boat menus The menu options available for vessel types power and fishing boat are: • • • • • • • • • Pattern 1 (fishing boat only; only when connected to a compatible course computer) Pattern
22 ST70 Pilot Controller Reference Guide 3.3 Pilot view The pilot display can be formatted as Plain, 2D or 3D. Setting the default Pilot View 1. Press MENU. 2. Use < and > to scroll to the Pilot View screen and press ENTER. 3. Use < and > to scroll to the required view option.The options are: • Heading 225 D10931-1 Mag • 2D - Compass rose N 19.1 TWS KTS 6.2 W E Depth M S 14.8 M D10935-1 SOG KTS • 3D - Isometric N 4.
Chapter 3: Operating instructions 23 3.4 Using the SmartPilot to steer your boat CAUTION: Maintain a permanent watch Automatic course control makes it easier to sail a boat, but it is NOT a substitute for good seamanship. ALWAYS maintain a permanent watch by the helm. Engaging a tiller drive • Place the pushrod over the tiller pin. If necessary, extend or retract the pushrod using the -1, +1, -10 and +10 keys. Steering automatically to a heading? 1. Steady the boat on the required heading. 2.
24 ST70 Pilot Controller Reference Guide Using Dodge in Track mode When in Track mode, press DODGE. 19.1 DODGE TWS KTS • • Press DODGE to track from here to the next waypoint, or Press AUTO to return to the previous track. 6.2 TRACK Depth M Track from here W E Resume current Track 14.8 S SOG KTS M D10932-1 Once you have finished steering manually you can: N DODGE The DODGE popup will appear over whichever pilot view you have currently selected.
Chapter 3: Operating instructions 25 Waypoint arrival Next Waypoint Example1: Cross track error (XTE) due to waypoint arrival circle Bearing to next waypoint Track leg Waypoint arrival circle D10922-1 XTE Track mode is available only if you have connected the SmartPilot to a suitable navigation system providing SeaTalk or NMEA information.
26 ST70 Pilot Controller Reference Guide Start with the SmartPilot in AUTO mode and your chartplotter following a route. 1. Press TRACK to enter Track mode. 2. Wait for the warning to sound. The display will show the bearing to the next planned waypoint and the direction in which the boat will turn to reach this waypoint. 3. If it is safe for the boat to turn onto the new course, press the TRACK button: • the SmartPilot will turn the boat onto the new course.
Chapter 3: Operating instructions 27 Cross track error Cross track error (XTE) is the distance between the current position and a planned track leg. There are a number of reasons why you may have a cross track error (XTE), for example: • • • Pressing the track button at a position some distance from the route. Course change to avoid an obstacle.
28 ST70 Pilot Controller Reference Guide Tidal stream compensation Under most conditions, the SmartPilot will hold the selected track to within ±0.05 nm (300 ft) or better. It takes account of the boat’s speed when computing course changes to ensure optimum performance. Waypoint 2 Boat's speed over ground Tidal component D10924-1 Boat's speed through water Waypoint 1 Using Dodge in Track mode The DODGE popup will appear over whichever pilot view you have currently selected.
Chapter 3: Operating instructions 29 Waypoint arrival circle The NEXT WPT screen and acknowledgement occur within a circle around the actual waypoint (and hence a distance from the next track leg). If you have manually changed the default waypoint arrival circle value to 0.3Nm or greater this can result in a cross track error alarm and associated course correction.
30 ST70 Pilot Controller Reference Guide WARNING: Ensure navigation safety Skipping a waypoint will take you straight to the next waypoint. Check your navigation before making the turn. Waypoint Advance warning The SmartPilot activates the Waypoint Advance warning in Track mode whenever the target waypoint name changes.
Chapter 3: Operating instructions 31 3.7 Using the SmartPilot with sail boats Using Wind Vane mode You can only select Wind Vane mode if the SmartPilot is receiving suitable SeaTalk or NMEA wind direction information. What is Wind Vane mode? When the SmartPilot is in Wind Vane mode it uses the wind angle as the primary heading reference. As changes in the true or apparent wind angle occur, it adjusts the locked heading to maintain the original wind angle. Selecting Wind Vane mode 1.
32 ST70 Pilot Controller Reference Guide The default setting is apparent wind. If required, you can change this to true wind in User Calibration. See Wind Selection on page 16. WindTrim In Wind Vane mode the SmartPilot uses WindTrim to eliminate the effects of turbulence and short term wind variations. This provides smooth and precise performance with minimal power consumption.
Chapter 3: Operating instructions 33 Operating hints for Wind Vane mode • • • • • Always trim your sails carefully to minimize the amount of standing helm. Reef the headsail and mainsail a little early rather than too late. In Wind Vane mode the SmartPilot will react to long-term wind shifts, but will not correct for short-term changes such as gusts. In gusty and unsteady inshore conditions, it is best to sail a few degrees further off the wind so that changes in wind direction can be tolerated.
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35 Chapter 4: Maintenance and troubleshooting 4.1 Maintenance Servicing and safety Unless specific instructions are given to the contrary, Raymarine equipment should be serviced only by authorized Raymarine service technicians. They will ensure that service procedures and replacement parts used will not affect performance. Some products generate high voltages, so never handle the cables/connectors when power is being supplied to the equipment.
36 ST70 Pilot Controller Reference Guide 4.2 Troubleshooting In the unlikely event that you encounter problems using your ST70 autopilot controller, use this section to resolve the situation. First considerations If your ST70 is not performing as you think it should, be sure you are operating it correctly as described in the ST70 Pilot Operating Guide. Then: • Ensure that any data you think may be missing is available on your boat.
Chapter 4: Maintenance and troubleshooting 37 ST70 user troubleshooting Nothing on screen Chart 1 Are the pilot buttons back-lit? NO YES Is power on at any other product in the system?* * The system to which the instrument is connected (either SeaTalk, SeaTALK2 or SeaTalkng ) NO YES Switch on power to the system At faulty pilot, carry out switch-on procedure Is problem still present? Are the pilot buttons back-lit? NO YES NO Return to normal operation YES Is the display lit? Ensure all syst
38 ST70 Pilot Controller Reference Guide ST70 user troubleshooting Chart 2 Data missing Is the display lit? Refer to Chart 1 NO YES Are some data types present? NO YES At 'suspect' pilot, run the About System diagnostic function Are the same data types missing from more than one product in the system? Is resultant product list empty? NO YES NO Ensure all system connections are satisfactory. YES Ensure connections to 'suspect' pilot head are satisfactory.
Chapter 4: Maintenance and troubleshooting 39 ST70 user troubleshooting Garbled information on screen Chart 3 Are other instruments in system working OK? NO YES Ensure all system connections are satisfactory. Is problem still present? NO YES Obtain technical assistance Return to normal operation Figure 4-3 ST70 troubleshooting – Chart 3 Using the About Display feature The About Display function provides information about the instrument on which it is run.
40 ST70 Pilot Controller Reference Guide To run the About Display function: 1. With the instrument switched on, press MENU to display the Main Menu, then use < and > to select the Diagnostics option. 2. Press ENTER to display the Diagnostics menu. Main Menu Press ENTER to select. D10095-1 Diagnostics D10097-1 3. With the Diagnostics menu displayed, use < About Display and > to select the About Display option, then V0.20 Software Ver. V2.00 Hardware Ver. press ENTER. Note that: V0.10 Bootcode Ver.
Chapter 4: Maintenance and troubleshooting 41 Telephone help line If you do not have access to the world wide web, please call the Raymarine help line. In the USA, call: • +1 603 881 5200 extension 2444 In the UK, Europe the Middle East or the Far East, call: • +44 (0) 23 9271 4713 (voice) • +44 (0) 23 9266 1228 (fax) Help us to help you When requesting service, please have the following product information to hand: • Equipment type. • Model number. • Serial number. • Software version.
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43 Chapter 5: Alarms N AUTO OFFCOURSE W Steer to STARBOARD 6.2 E Press CANCEL to silence alarm S SOG KTS The following alarm functions are supported by the ST70, although they may not all be applicable to your system. M Alarm Description Action Calibration required The pilot has not been fully calibrated. This will appear for a few seconds after initial power-up. Self-cancelling. Change mode. Off course Vessel is off course by more than the predetermined limit.
44 ST70 Pilot Controller Reference Guide Alarm Description Rate gyro fault Safety alarm. Current limit Safety alarm. Action Rudder feedback unit fault Safety alarm. Autolearn fail 1 (not carried out) Safety alarm. Autolearn fail 2 (manual intervention) Safety alarm. Autolearn fail 3 (compass Safety alarm. or drive error) Autolearn fail 4 Safety alarm. Autolearn fail 5 Safety alarm. Autolearn fail 6 Safety alarm. Turn rate too high Safety alarm.
45 Chapter 6: Data List This section lists the data supported by the ST70 Autopilot Controller. Please note that these data are dependent on the configuration of individual systems, so will be not all be available on all systems.
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47 Chapter 7: Vessel Settings The following table gives possible values for the various vessel settings and their effect on performance. For full details refer to the ST70 Autopilot Controller/ SmartPilot X Commissioning Instructions.
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49 Chapter 8: Technical specifications Supply voltage 12 V dc (nominal) 16 V dc (maximum) 9 V dc (minimum) Current Nominal: dependent upon screen brightness Maximum: not more than 220 mA Physical dimensions (excluding studs) 4.33(W) x 4.53 (H) x 1.28 (D) 110 mm x 115 mm x 32.5 mm Weight 250 g (approx.) Connections Two SeaTalkng Operating temperature -20ºC to +70ºC Illumination Sliding scale. Individual unit and system illumination.
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51 Index A About Display function, 39 Alarms, 43 Apparent wind, 16 Auto mode, 3 changing course, 23 Auto Tack, 32 change angle, 15 Auto Tack Angle, 15 C Cable checking, 35 Chartplotter following a track, 24 Cleaning, 35 Controls, 2 Course changes, 23 Cross track errors, 27 D Data boxes, 10 Date format, 9 Depth display response level, 12 response level, 14 units, 8 Diagnostics, 12 Display brightness, 7 colors, 7 response level, 12 settings, 7 Disposing of the product, v Distance units, 8 Documentation, vi
52 Specifications, 49 Speed display response level, 12 response level, 14 units, 8 Speed, wind units, 8 T Technical support, 40 Temperature units, 8 Tidal stream compensation, 28 Time format, 9 offset, 9 Time and date setting, 9 Track mode, 24 activating, 26 leaving, 26 tidal compensation, 28 Troubleshooting, 36 charts, 36 symptoms, 36 data missing from screen, 37 garbled information, 38 nothing on screen, 36 technical support, 40 using About Display, 39 True wind, 16 U Units depth, 8 distance, 8 flow rat
