ST6001
Smartpilot
Controller
Operating Guide
Document number: 81215-1
Date: July 2003
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ST6001+ Smartpilot Controller Operating Guide |
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.
Handbook contents © Raymarine Ltd. 2003.
Important Information |
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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. These can be discarded once the installation is complete.
•SmartPilot Commissioning Guide - Describes how to connect, commission and configure the system.
•Quick Start Guide - Once commissioned, use your Smart Pilot right away with this handy guide to the main operations.
•Operating Guide - This handbook. Contains a detailed description of the SmartPilot’s features and functions.
Warranty
To register your new Raymarine product, please take a few minutes to fill out the warranty card. It is important that you complete the owner information and return the card to us to receive full warranty benefits.
Safety notices
WARNING: Calibration
We supply this product calibrated to default settings that should provide initial stable performance for most boats. To ensure optimum performance on your boat, you must complete the procedures in SmartPilot Commissioning Guide before use.
WARNING: Navigation aid
Although we have designed this product to be accurate and reliable, many factors can affect its performance. As a result, it should only be used as an aid to navigation and should never replace common sense and navigational judgement. Always maintain a permanent watch so you can respond to situations as they develop.
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ST6001+ 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.
•Regularly check for other boats and any obstacles to navigation – no matter how clear the sea appears, a dangerous situation can develop rapidly.
•Maintain an accurate record of the boat’s position by using either a navigation aid or visual bearings.
•Maintain a continuous plot of your boat’s position on a current chart. Ensure that the locked autopilot heading will steer the boat clear of all obstacles. Make proper allowance for tidal set – the autopilot cannot.
•Even when your autopilot is locked onto the desired track using a navigation aid, always maintain a log and make regular positional plots. Navigation signals can produce significant errors under some circumstances and the autopilot will not be able to detect these errors.
EMC Conformance
All Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine environment. Their design and manufacture conforms to the appropriate Electromagnetic Compatibility (EMC) standards, but correct installation is required to ensure that performance is not compromised.
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.
Contents |
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Contents |
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Important Information ....................................................................................... |
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About the documentation provided ......................................................... |
iii |
Warranty .................................................................................................. |
iii |
Safety notices ........................................................................................... |
iii |
EMC Conformance ................................................................................. |
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Handbook information ............................................................................ |
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Chapter 1: SmartPilot Operation ....................................................................... |
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1.1 Introduction ...................................................................................... |
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1.2 Using the control unit ....................................................................... |
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Start-up mode ................................................................................... |
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Keypad functions ............................................................................. |
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What does the display tell me? ......................................................... |
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1.3 Using the SmartPilot to steer your boat ............................................ |
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How do I automatically steer to a heading? ...................................... |
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How do I return to hand steering? ..................................................... |
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How do I change course in Auto mode? ........................................... |
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Can I dodge an obstacle and then resume course? ............................ |
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1.4 How do I adjust the performance of my SmartPilot? ....................... |
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Off Course warning .......................................................................... |
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1.5 Using the SmartPilot with sail boats ............................................... |
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1.6 Can I adjust the display lighting? ................................................... |
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Chapter 2: Advanced Operation ....................................................................... |
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2.1 How do I follow a route set on a Chartplotter? ............................... |
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How do I activate Track mode? ...................................................... |
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How do I leave Track mode? .......................................................... |
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What is Cross track error? .............................................................. |
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Tidal stream compensation ............................................................. |
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How do I dodge an obstacle in Track mode? .................................. |
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What happens when I arrive at a waypoint? ................................... |
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What happens when I get to the end of the route? ........................... |
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Safety in Track mode ...................................................................... |
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2.2 Using Wind Vane mode – sail boats ............................................... |
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What is Wind Vane mode? ............................................................. |
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How do I select Wind Vane mode? ................................................. |
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How do I leave Wind Vane mode? .................................................. |
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How do I adjust the locked wind angle ........................................... |
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How do I dodge an obstacle in Wind Vane mode? .......................... |
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What is a Wind Shift warning? ....................................................... |
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How do I use AutoTack in Wind Vane mode? ................................ |
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ST6001+ Smartpilot Controller Operating Guide |
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Operating hints for Wind Vane mode ............................................. |
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2.3 |
How do I display boat data? ............................................................ |
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Warning messages .......................................................................... |
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2.4 |
User Calibration Options ................................................................ |
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How do I access User Calibration settings? .................................... |
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User Calibration pages ................................................................... |
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Chapter 3: Fault Finding & Maintenance ......................................................... |
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3.1 |
Fault finding ................................................................................... |
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SmartPilot alarm messages ............................................................ |
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3.2 |
General maintenance ...................................................................... |
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Routine checks ............................................................................... |
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Cleaning the display ....................................................................... |
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EMC advice .................................................................................... |
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Product support .............................................................................. |
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Specifications |
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ST6001 control unit ................................................................................ |
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SmartPilot computer functions ............................................................... |
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Glossary ................................................................................................................. |
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Index ...................................................................................................................... |
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Chapter 1: SmartPilot Operation |
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Chapter 1: SmartPilot Operation
1.1 Introduction
-1 D5460
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
•Track: The SmartPilot steers the boat to maintain a track between two waypoints created on a navigation aid
•Wind Vane: The SmartPilot steers the boat to maintain a course relative to a true or apparent wind angle
The SmartPilot controller also provides:
•automatic tack (AutoTack) in Auto and Wind Vane modes
•waypoint advance feature in Track mode
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ST6001+ Smartpilot Controller Operating Guide |
SmartPilot Functions
The functions provided with your SmartPilot system depend on whether the SmartPilot computer contains an internal GyroPlus yaw sensor
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S1G, S2G and S3G systems |
Non-G systems |
(with GyroPlus) |
(without GyroPlus) |
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Internal GyroPlus yaw sensor provides |
Full basic functionality: uses Raymarine |
enhanced course keeping using AST |
steering algorithm without AST |
(Advanced Steering Technology) |
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Steering to true and apparent wind in |
Steering to true and apparent wind in |
Wind Vane mode |
Wind Vane mode |
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Equipped with AutoLearn, Raymarine’s |
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self-learning calibration system |
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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 trackkeeping performance
•it can use wind information from a SeaTalk wind instrument for Wind Vane steering
You can also use the SmartPilot with any navigator or wind instrument that transmits National Marine Electronics Association (NMEA) 0183 data.
The SmartPilot control unit can display SeaTalk and NMEA instrument data in a user-defined selection of data pages.
For further information on other connections to your system see SmartPilot Commissioning Guide
Chapter 1: SmartPilot Operation |
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1.2 Using the control unit
Start-up mode
The SmartPilot always powers up in Standby mode with the display showing the boat’s current compass heading.
Note: You can press standby at any time to return to manual steering.
Keypad functions
The SmartPilot is controlled using simple push-button operations, all of which are confirmed with a short beep. In addition to the main single-key functions, there are several dual key operations.
-1 plus -10
Press together for AutoTack to port
DISP
Press to display data pages
Press for 1 second for lamp control
STANDBY
Press for Standby mode
Press for 2 seconds
to enter Calibration mode
-1 plus +1
Press for Response level Press for 1 second
for Rudder Gain
Course change keys
Port 1˚ Starboard 1˚ Port 10˚ Starboard 10˚
STANDBY plus AUTO
Press for Wind Vane mode (if a wind vane is connected)
+1 plus +10
Press together for AutoTack to starboard
TRACK
Press for Track mode from Auto (if a navigator is connected)
Press to accept waypoint advance
Press for 1 second to skip waypoint
AUTO
Press for Auto mode
D5449-2
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What does the display tell me?
The SmartPilot display screen provides the following information:
Variable text region (up to 9 characters/digits)
Heading indicators
Distance units:
• no units = kilometres
• nm = nautical miles
• SM = statute miles
Autopilot mode indicators
Port and Starboard direction-to-steer indicators
Calibration mode indicator (displayed on calibration pages)
Rudder position indicator
D5457-2
The bar graph at the bottom of the screen indicates the current position of the rudder, as measured by the rudder position sensor.
Chapter 1: SmartPilot Operation |
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1.3Using the SmartPilot to steer your boat
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”.
D3560-5
CAUTION:
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 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.
D3561-5
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ST6001+ Smartpilot Controller Operating Guide |
How do I change course in Auto mode?
In Auto mode, use the -1 and -10 (port) and +1 and +10 (starboard) keys to change the locked heading in steps of 1° or 10°. For example: press -10 three times for a 30° course change to port.
Port |
Starboard |
or |
or |
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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.When safely clear of the obstacle, reverse the previous course change (for example, press +10 three times).
Chapter 1: SmartPilot Operation |
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1.4How do I adjust the performance of my SmartPilot?
The principal method of adjusting the performance of SmartPilot systems is by changing the response level. This is the only user adjustment you should need to make to your SmartPilot on a regular basis.
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 23)
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.
You can make temporary adjustments to the response level when using your SmartPilot on a day-to-day basis. By doing this you can match performance to conditions as they occur.
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 23). This determines the default power-up response level.
Adjusting performance – S1G, S2G and S3G systems
S1G, S2G and S3G systems systems have 9 levels of response:
•level 9 to 7 give 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
•level 3 to 1 minimizes the amount of pilot activity. This conserves power, but may compromise short-term course-keeping accuracy
With these points in mind, you should use the following procedure to make temporary adjustments to the response level when required:
1.Display the RESPONSE screen by pressing the -1 and +1 keys together momentarily.
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ST6001+ Smartpilot Controller Operating Guide |
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Decrease |
Increase |
response |
response |
D5452-2
Note: The RESPONSE screen is set as a default data page (see SmartPilot Commissioning Guide) so you can also access it by pressing disp and then scrolling through the data pages.
2.Press -1 or +1 to change the response level.
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. This provides the best compromise between power consumption and course keeping accuracy
•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)
To make a temporary change to the response setting:
1.Display the RESPONSE screen by pressing the -1 and +1 keys together
2.Press -1 or +1 to change the response between levels 1 to 3.
3.Press disp or wait for 5 seconds to return to the previous display.
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 23).
Chapter 1: SmartPilot Operation |
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Off Course warning
= deviation to port
= deviation to starboard
D3315-4
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.Check whether your boat is carrying too much sail, or whether the sails are badly balanced. You can usually significantly improve course keeping by improving the sail balance.
Note: The SmartPilot also clears the warning if the heading recovers or if you change course.
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