ST6002 SmartPilot Controller Operating Guide Document reference: 81269-1 Date: December 2005
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. Raymarine and SeaTalk are trademarks of Raymarine Ltd Handbook contents © Raymarine Ltd. 2005.
i Important Information About the documentation provided Welcome to Raymarine SmartPilot. The autopilot system that will steer your boat to a heading automatically, accurately, reliably and comfortably. SmartPilot documentation is arranged so that you can install, commission and quickly use your SmartPilot, keeping to hand only the information necessary. • Installation Sheets - One per element of the system, these easy to understand sheets guide you through the installation process.
ii ST6002 SmartPilot Controller Operating Guide Your Raymarine SmartPilot 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: • Ensure that someone is present at the helm AT ALL TIMES, to take manual control in an emergency. • Make sure that all members of crew know how to disengage the autopilot.
Important Information iii Handbook information To the best of our knowledge, the information in this handbook was correct when it went to press. However, Raymarine cannot accept liability for any inaccuracies or omissions it may contain. In addition, our policy of continuous product improvement may change specifications without notice. As a result, Raymarine cannot accept liability for any differences between the product and the handbook.
iv ST6002 SmartPilot Controller Operating Guide
v Contents Important Information ................................................................................................. i About the documentation provided ........................................................................ i Warranty ................................................................................................................. i Safety notices ..........................................................................................................
vi ST6002 SmartPilot Controller Operating Guide Chapter 2: Advanced Operation ...............................................................................13 2.1 How do I follow a route set on a Chartplotter? ...............................................13 How do I activate Track mode?........................................................................13 CAUTION: Make suitable preparations for entering track mode.13 How do I leave Track mode?........................................................
vii Chapter 3: Fault Finding & Maintenance ............................................................... 27 3.1 Fault finding ................................................................................................... 27 SmartPilot alarm messages ............................................................................ 28 3.2 General maintenance ..................................................................................... 30 Routine checks................................................
viii ST6002 SmartPilot Controller Operating Guide
1 Chapter 1: SmartPilot Operation 1.1 Introduction DIS P STA ND -1 BY +1 -10 TR AC K 10 AU TO 1 27D87 The SmartPilot controller is a SeaTalk® 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.
2 ST6002 SmartPilot Controller Operating Guide : S1G, S2G and S3G systems (with GyroPlus) Non-G systems (without GyroPlus) Internal GyroPlus yaw sensor provides Full basic functionality: uses Raymarine enhanced course keeping using AST steering algorithm without AST (Advanced Steering Technology) Steering to true and apparent wind in Wind Vane mode Steering to true and apparent wind in Wind Vane mode Equipped with AutoLearn, Raymarine’s self-learning calibration system Extended systems You can connec
Chapter 1: SmartPilot Operation 3 When the power supply is switched off, the SmartPilot controller buttons have no effect. Notes: (1) Each time power to the SmartPilot controller is switched on, the control- disp ler is initially in the on condition. You do not need to use the button to switch the controller on. (2) When the SmartPilot controller is on, the operation of the disp button will perform other operating functions, as described below.
4 ST6002 SmartPilot Controller Operating Guide What does the display tell me? The SmartPilot display screen provides the following information: Variable text region (up to 9 characters/digits) nm SM MAG TRUE Distance units: • no units = kilometres • nm = nautical miles • SM = statute miles Heading indicators Port and Starboard direction-to-steer indicators Rudder position indicator D5457-3 The bar graph at the bottom of the screen indicates the current position of the rudder, as measured by the rudde
Chapter 1: SmartPilot Operation 5 TRUE D3560-6 How do I return to hand steering? Press standby to disengage the SmartPilot: • in STANDBY mode, you have manual control of the boat and the display shows the boat’s current compass heading. TRUE D3561-6 How do I change course in Auto mode? In Auto mode, use the -1 and -10 (port) and +1 and +10 (starboard) buttons to change the locked heading in steps of 1° or 10°. For example: press -10 three times for a 30° course change to port.
6 ST6002 SmartPilot Controller Operating Guide Can I dodge an obstacle and then resume course? To avoid an obstacle when your boat is under autopilot control, you can dodge the obstacle and then resume your previous course. Obstacle Original course Dodge D3303-3P 1. Select a course change in the appropriate direction. For example, press -10 three times for a 30°dodge to port. 2. When safely clear of the obstacle, reverse the previous course change (for example, press +10 three times). 1.
Chapter 1: SmartPilot Operation 7 Note: You will lose these temporary changes to response level whenever the system is powered off. You can make permanent adjustments in User Calibration (See page 24). This determines the default power-up response level. Adjusting performance – S1G, S2G and S3G systems S1G, S2G and S3G systems have 9 levels of response: • level 9 to 7 give the tightest course keeping and greatest rudder activity (and power consumption).
8 ST6002 SmartPilot Controller Operating Guide • Response Level 2: AutoSeastate off (Minimum deadband) This setting provides tighter course keeping but will lead to increased power consumption and drive unit activity. • Response Level 3: AutoSeastate off + yaw damping This setting provides the tightest possible course keeping by introducing counter rudder yaw damping You can adjust the counter rudder setting in Dealer Calibration (see SmartPilot Commissioning Guide).
Chapter 1: SmartPilot Operation 9 1.5 Using the SmartPilot with sail boats Using the SmartPilot to automatically tack (AutoTack) CAUTION: Allow time for course changes When making major course changes, the trim on the boat may change substantially. Due to this, the SmartPilot may take some time to settle accurately onto the new course. The SmartPilot has a built in automatic tack facility (AutoTack) that turns the boat through 100° in the required direction.
10 ST6002 SmartPilot Controller Operating Guide With gybe inhibit off: • you can perform an AutoTack into or away from the wind. Note: Gybe inhibit is switched on as a default but can be disabled in User Calibration (see page 34). Gusty conditions In gusty conditions, the course may tend to wander slightly, particularly if the sails are badly balanced.
Chapter 1: SmartPilot Operation 11 2. Press the disp button to cycle through the possible illumination settings: LAMP 3 (the brightest setting), LAMP 2, LAMP 1, OFF, LAMP 1, LAMP 2, LAMP 3 and so on: • as you change the setting, the illumination on any other SeaTalk instruments or control units will also change. 3.
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13 Chapter 2: Advanced Operation 2.1 How do I follow a route set on a Chartplotter? CAUTION: Safety in Track mode Track mode provides accurate track keeping even in complex navigational situations. However, it is still the skipper’s responsibility to ensure the safety of their boat at all times through careful navigation and frequent position checks. Track mode assists precise navigation and removes the tasks of compensating for wind and tidal drift.
14 ST6002 SmartPilot Controller Operating Guide 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. • the display will show the heading required to achieve the required track. Notes: (1) The rate of turn when in Track mode is set using the TURN RATE cali- bration setting. Adjust this as appropriate for optimum comfort. (2) If the boat is more than 0.
Chapter 2: Advanced Operation 15 Cross track error (XTE) more than 0.3 nm Waypoint 2 e out A al r ctu d ro nn e ute D5415-4 Pla Waypoint 1 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.
16 ST6002 SmartPilot Controller Operating Guide What happens when I arrive at a waypoint? As the boat arrives at the target waypoint the chartplotter will select the next target waypoint and transmit this to the SmartPilot. It will then detect the new target waypoint name, sound a Waypoint Advance warning and display the Waypoint Advance (NEXT WPT) screen. This shows the new bearing to the next waypoint and the direction the boat will turn to acquire the new track.
Chapter 2: Advanced Operation 17 WARNING: Ensure navigation safety Skipping a waypoint will take you straight to the next waypoint. Check your navigation before making the turn. What is the Waypoint Advance warning? The SmartPilot activates the Waypoint Advance warning (NEXT WPT?) in Track mode whenever the target waypoint name changes.
18 ST6002 SmartPilot Controller Operating Guide 2.2 Using Wind Vane mode – sail boats Note: 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 fluxgate compass 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.
Chapter 2: Advanced Operation 19 • if the SmartPilot does not enter Wind Vane mode, it is not receiving wind data - check the instrument and connections + MAG D3565-6 3. In Wind Vane mode, the SmartPilot will then adjust the boat’s heading to maintain the locked wind angle. How do I leave Wind Vane mode? You can leave Wind Vane mode by: • pressing auto to return to Auto mode. • pressing standby to return to manual control.
20 ST6002 SmartPilot Controller Operating Guide What is a Wind Shift warning? If the autopilot detects a wind shift of more than 15° it will sound the wind shift warning and display the WIND SHIFT message: • To cancel the warning, and retain the existing wind angle and new heading, press standby and auto together. • Alternatively, to cancel the warning and return to the previous heading: • adjust the locked wind angle using the -1, +1, -10 and +10 buttons.
Chapter 2: Advanced Operation 21 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. 2.
22 ST6002 SmartPilot Controller Operating Guide Can I display Waypoint names? If waypoints have been given names, the SmartPilot controller will display them on the Cross Track Error (XTE), Bearing To Waypoint (BTW) and Distance To Waypoint (DTW) data pages: • waypoint names of five characters or less are displayed together with the page name (as shown by screen A below). • waypoint names of more than five characters alternate with the page name (as shown by screen B below).
Chapter 2: Advanced Operation 23 How do I access User Calibration settings? You can only access the calibration mode from Standby mode: 1. With the SmartPilot in Standby mode, press and hold the standby button for 2 seconds. The display will change to show DISPLAY CAL. 2. Press the disp button once, the display will now show USER CAL. 3. Press auto to enter User Calibration. The first page of User Calibration will now be displayed. 4.
24 ST6002 SmartPilot Controller Operating Guide Wind selection (SAILBOAT only) This screen determines whether the boat steers to apparent or true wind in Wind Vane mode. Options WIND APP (Default) SmartPilot steers to apparent wind angle WIND TRUE SmartPilot steers to true wind angle WindTrim (SAILBOAT only) WindTrim controls how quickly the SmartPilot responds to changes in the wind direction. Higher wind trim settings will result in a system that is more responsive to wind changes.
Chapter 2: Advanced Operation 25 Non-G SmartPilot systems Screen Text Options RESPONSE 1 AutoSeastate on (Automatic deadband). The SmartPilot will gradually ignore repetitive boat movements and only react to true variations in course. This provides the best compromise between power consumption and course keeping accuracy. RESPONSE 2 AutoSeastate off (minimum deadband). This setting provides tighter course keeping but will lead to increased power consumption and drive unit activity.
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27 Chapter 3: Fault Finding & Maintenance 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. This chapter provides information about identifying problems, interpreting alarm messages, maintaining your SmartPilot and obtaining product support. If a fault occurs with your SmartPilot, use the fault finding tables in this section to help identify the problem and provide a solution.
28 ST6002 SmartPilot Controller Operating Guide SYMPTOM POSSIBLE CAUSE and SOLUTION The SmartPilot appears to be unstable on Northerly headings in the Northern hemisphere (or Southerly headings in the Southern hemisphere) Northerly/Southerly heading correction (AutoAdapt) is not set up (see SmartPilot Commissioning Guide). [Does not apply to S1G, S2G and S3G systems.
Chapter 3: Fault Finding & Maintenance 29 ALARM MESSAGE POSSIBLE CAUSE and SOLUTION AUTO RELEASE Possible fault with rudder position sensor – check connections. OR Stern (I/O) drives only – you have taken manual control of steering with AutoRelease on. The alarm cancels automatically after 10 seconds. CURRENT LIMIT Serious drive failure – the drive is taking too much current due to short-circuit or jamming. Check the drive unit.
30 ST6002 SmartPilot Controller Operating Guide ALARM MESSAGE POSSIBLE CAUSE and SOLUTION RG FAIL GyroPlus yaw sensor has failed: • If you have a S1G, S2G or S3G course computer with internal GyroPlus sensor – call a Raymarine service agent. • If you have a Non-Gscourse computer with external GyroPlus yaw sensor – check the sensor and connections, then call a Raymarine service agent. SEATALK and FAIL 1 or 2 SeaTalk data problem on one of the SeaTalk lines – check connections.
Chapter 3: Fault Finding & Maintenance 31 EMC advice • When powered up, all electrical equipment produces electromagnetic fields. These can cause adjacent pieces of electrical equipment to interact with one another, with a consequent adverse effect on operation.
32 ST6002 SmartPilot Controller Operating Guide Help us to help you When requesting service, please quote the following product information: • Equipment type. • Model number. • Serial number. • Software issue number.
Chapter 3: Fault Finding & Maintenance 33 Product details table For future reference, you may want to use this table to record serial and software information for your SmartPilot: Serial Number Software Version SmartPilot Controller SmartPilot Computer Hours Used hours
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35 Specifications ST6002 control unit Nominal supply voltage: 12 V DC via SeaTalk Operating voltage range: 10 V to 15 V DC Current consumption (in Standby mode) 60 mA (less than 200 mA with full lighting) Operating temperature: 0 °C to +70 °C (32 °F to 158 °F) Water protection: waterproof to CFR46 Overall dimensions: width height depth 110 mm (4.33 in) 115 mm (4.53 in) 41 mm (1.
36 ST6002 SmartPilot Controller Operating Guide Glossary Term Meaning AST Advanced Steering Technology (AST) is Raymarine’s unique advanced steering algorithm. It uses inputs from a wide variety of sensors to tune the autopilot’s operation to provide superior control of the boat in any condition. AutoLearn Self-learning calibration feature available on S1G, S2G and S3G autopilot systems.
Glossary 37 Term Meaning 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. response The autopilot response level controls the relationship between course keeping accuracy and the amount of helm/drive activity.
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39 Index A Alarms, 28 AUTO RELEASE, 29 CURRENT LIMIT, 29 DRIVE STOPPED, 29 LARGE XTE, 14 LOW BATT, 29 LRN FAIL, 29 MOB, 22 MOT POW SWAPPED, 29 NEXT WPT, 17 NO DATA, 29 NO PILOT, 29 OFF COURSE, 8 RG FAIL, 30 SEATALK FAIL 1 or 2, 30 SEATALK/STLK FAIL, 30 SHALLOW, 22 WINDSHIFT, 20 Auto mode, 4 AutoTack, 9 Changing course, 5 Dodging obstacles, 6 Off course warning, 8 AutoRelease Alarm, 29 AutoTack, 9, 23 in wind vane mode, 20 C Contrast, 11 Controller Specifications, 35 Course changes, 5 Cross track error Exp
40 ST6002 SmartPilot Controller Operating Guide O T Off course warning Description, 8 Technical support, 31 Track mode, 13 Cross track error, 14 Dodge, 15 Next waypoint, 17 Route completed, 17 Safety, 13 Tidal compensation, 15 Waypoint names, 22 P Performance adjustment, 6 non-G systems, 7 S1G, S2G and S3G systems, 7 Power steer, 6 Preventing gybes, 9 Product support, 31 R Response level, 24 RG fail alarm, 30 Rotary Control, 3 Route completed, 17 S Safety notices, i Track mode, 13 Sailboats AutoTack
Raymarine World Wide Warranty I Raymarine World Wide Warranty Raymarine Inc. APPLICABLE TO PRODUCTS SOLD THROUGH OFFICIAL RAYMARINE INC. DEALERS, DISTRIBUTORS AND BOAT BUILDERS WITHIN THE AMERICAS AND CARIBBEAN. Limited warranty Subject to the terms, conditions and limitations set forth in this U.S.
II Upon the expiration of the On Board Warranty Period, you are still eligible to receive standard warranty service for the remaining term of the Warranty Period, but will not be eligible for continued On Board Warranty Service.
Raymarine World Wide Warranty III Raymarine UK Ltd. APPLICABLE TO PRODUCT SOLD THROUGH OFFICIAL RAYMARINE UK LTD. DEALERS, DISTRIBUTORS AND BOAT BUILDERS WITHIN EUROPE, THE MIDDLE AND FAR EAST, AFRICA AND AUSTRALASIA. Limited Warranty The Raymarine warranty terms and conditions as described below do not affect the customers legal rights and complies with EU Directive 1999/44/EC.
IV 3.2 In cases where the customer is requesting a warranty service and a Raymarine certified installer has not installed the product; i.e. Product warranty, the affected product must be returned to the customer’s local Raymarine approved service agent or direct to Raymarine with: 3.2.1 proof of purchase showing the date of purchase and the name of the supplier of the product; and 3.2.2 the serial number of the affected product; or 3.2.
Raymarine World Wide Warranty V 4.10 If repairs are necessary under the warranty, the affected product must be forwarded to a Raymarine facility or a Raymarine approved service agent, at the owner’s expense. 4.11 The Raymarine warranty does not cover any differences in material, coloring or size between those alluded to in corporate advertising, literature or published on the internet, which are not specifically objected to at the time of delivery. 4.
VI Raymarine Service Centers North and South America Europe, Middle East, Africa and Australasia Raymarine Technical Support 1-800-539-5539 or, +1 603-881-5200 Raymarine Technical Support +44 (0) 23 9271 4713 Product Repair and Service Raymarine Product Repair Center 21 Manchester Street, Merrimack, NH 03054-4801 USA Product Repair and Service Raymarine plc Anchorage Park Portsmouth PO3 5TD England Help us to help you To allow us to respond to your needs faster, please quote the Equipment type, Mode
