ST7002 SmartPilot Controller Operating Guide Document reference: 81270-1 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 ST7002 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 ST7002 SmartPilot Controller Operating Guide
v Contents Important Information ................................................................................................. i About the documentation provided ........................................................................ i Warranty ................................................................................................................. i Safety notices ..........................................................................................................
vi ST7002 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 ST7002 SmartPilot Controller Operating Guide
1 Chapter 1: SmartPilot Operation 1.1 Introduction DIS P -1 RE SP +1 TRA -10 CK MO +1 0 DE RE S'M STA ND BY AU TO D85 24- 1 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 ST7002 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 ST7002 SmartPilot Controller Operating Guide What does the display tell me? The SmartPilot display screen provides the following information: Autopilot mode indicators GyroPlus indicator (appears if a yaw sensor is connected to the autopilot) Variable text area (up to 9 characters) Distance units: • no units = kilometres • nm = nautical miles • SM = statute miles Heading indicators Port and Starboard direction-to-steer indicators Calibration mode indicator (displayed on calibration pages) Rudder posit
Chapter 1: SmartPilot Operation 5 1.3 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. How do I automatically steer to a heading? 1. Steady the boat on the required heading. 2. Press auto. The SmartPilot is now in AUTO mode and will steer to the chosen heading, shown on the display. This mode is often known as “point-and-shoot”.
6 ST7002 SmartPilot Controller Operating Guide Port Starboard or or D3320-3 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.
Chapter 1: SmartPilot Operation 7 The response level controls the relationship between the SmartPilot’s course keeping accuracy and the amount of helm/drive activity. When you turn on your SmartPilot it will always be at the default level. (This level can be adjusted in User Calibration see page 24) When you require extra tight course keeping (e.g. for pilotage in confined and sheltered waters), increase the setting. If you want to minimize drive activity and conserve battery power, decrease the setting.
8 ST7002 SmartPilot Controller Operating Guide Decrease response Increase response D5453-2 3. Press disp or wait for 5 seconds to return to the previous display. Adjusting performance – Non-G systems Non-G SmartPilot systems have three different response levels: • Response Level 1: AutoSeastate on (Automatic deadband) The SmartPilot will gradually ignore repetitive boat movements and only react to true variations in course.
Chapter 1: SmartPilot Operation 9 Off Course warning = deviation to port = deviation to starboard D4229-3 The SmartPilot warns you when you have been off course from the locked heading for longer than 20 seconds. It shows whether the deviation is to port or starboard. Note: The default off course angle is set at 20º. You can adjust this angle in Dealer Calibration (see SmartPilot Commissioning Guide). 1. To cancel the off course warning, press standby to return to manual steering. 2.
10 ST7002 SmartPilot Controller Operating Guide AutoTack - Port AutoTack - Starboard Wind Wind AutoTack angle AutoTack angle D5399-1 How do I prevent accidental gybes? The gybe inhibit feature stops the boat from performing an AutoTack away from the wind – this will prevent accidental gybes. This feature can be disabled if required (see page 24). Note: For the gybe inhibit feature to work, the SmartPilot needs suitable wind informa- tion.
Chapter 1: SmartPilot Operation 11 • In very strong winds and large seas, you should avoid sailing with the wind dead astern: • ideally, bring the wind at least 30° away from a dead run. • in severe conditions, you may also need to remove the mainsail and sail under headsail only. 1.6 Can I adjust the display lighting & contrast? How do I adjust the lights? You can adjust the display and keypad lighting by: 1. Pressing disp for 1 second from any mode to access the LAMP screen and turn on the lights. 2.
12 ST7002 SmartPilot Controller Operating Guide How do I adjust the contrast? To set the display contrast level: 1. With the autopilot in Standby mode, press the disp button for one second to access the LAMP screen. 2. Press the disp button for one second again, to display the CONTRAST screen. 3. Use the up and down arrow buttons to set the required contrast level (from 1 to 15). 4.
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 ST7002 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 e out al r u Act Waypoint 2 ed nn Pla te rou D4231-3P 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 ST7002 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 ST7002 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 + 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. How do I adjust the locked wind angle You can adjust the locked wind angle by using the -1, +1, -10 and +10 buttons to change course.
20 ST7002 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 ST7002 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 2.4 User Calibration Options The calibration information in this handbook relates to only those settings that can be adjusted during normal operation (USER CAL). For information on all available calibration settings, see SmartPilot Commissioning Guide. Note: Many of the settings are sailboat specific and will only be displayed if your vessel type is set to SAILBOAT. How do I access User Calibration settings? You can only access the calibration mode from Standby mode: 1.
24 ST7002 SmartPilot Controller Operating Guide Gybe inhibit (SAILBOAT only) With gybe inhibit on: • you will be able to perform an AutoTack into the wind • to prevent accidental gybes, the SmartPilot will prevent the boat from performing an AutoTack away from the wind With gybe inhibit off, you can perform an AutoTack into or away from the wind.
Chapter 2: Advanced Operation 25 S1G, S2G and S3G systems Screen Text Options RESPONSE Range = 1 to 9 levels 9 to 7 gives the tightest course keeping and greatest rudder activity (and power consumption). This can lead to a rough passage in open waters as the SmartPilot may ‘fight’ the sea. levels 6 to 4 should give good course keeping with crisp, well controlled turns under normal operating conditions. levels 3 to 1 minimizes the amount of pilot activity.
26 ST7002 SmartPilot Controller Operating Guide
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 ST7002 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 ST7002 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 ST7002 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
34 ST7002 SmartPilot Controller Operating Guide
35 Specifications ST7002 control unit Nominal supply voltage: 12 V DC via SeaTalk Operating voltage range: 10 V to 15 V DC Current consumption (in Standby mode) 50 mA (less than 120 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 175 mm (6.9 in) 115 mm (4.53 in) 41 mm (1.
36 ST7002 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.
38 ST7002 SmartPilot Controller Operating Guide
39 Index A Alarms, 28 AUTO RELEASE, 29 CURRENT LIMIT, 29 DRIVE STOPPED, 29 LARGE XTE, 15 LOW BATT, 29 LRN FAIL, 29 MOB, 22 MOT POW SWAPPED, 29 NEXT WPT, 17 NO DATA, 29 NO PILOT, 29 OFF COURSE, 9 RG FAIL, 30 SEATALK FAIL 1 or 2, 30 SEATALK/STLK FAIL, 30 SHALLOW, 22 WINDSHIFT, 20 Auto mode, 5 AutoTack, 9 Changing course, 5 Dodging obstacles, 6 Off course warning, 9 AutoRelease Alarm, 29 AutoTack, 9, 23 in wind vane mode, 20 C Contrast, 12 Controller Specifications, 35 Course changes, 5 Cross track error Exp
40 ST7002 SmartPilot Controller Operating Guide P T Performance adjustment, 6 non-G systems, 8 S1G, S2G and S3G systems, 7 Power steer, 6 Preventing gybes, 10 Product support, 31 Technical support, 31 Track mode, 13 Cross track error, 15 Dodge, 15 Next waypoint, 17 Route completed, 17 Safety, 13 Tidal compensation, 15 Waypoint names, 22 R Response level, 24 RG fail alarm, 30 Rotary Control, 3 Route completed, 17 U User Calibration, 23 S W Safety notices, i Track mode, 13 Sailboats AutoTack, 9 Prev
41
42
