Raymarine ST6002 User Manual

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.

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. Supplied with systems only.

• 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. You can also register online at

www.raymarine.com

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

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.

SmartPilot Commissioning Guide

before use.

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.

• 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.

Product disposal

Waste Electrical and Electronic (WEEE) Directive

The WEEE Directive requires the recycling of waste electrical and electronic equipment.

Whilst the WEEE Directive does not apply to some of Raymarine's products, we support its policy and ask you to be aware of how to dispose of this product.

The crossed out wheelie bin symbol, illustrated above, and found on our products signifies that this product should not be disposed of in general waste or landfill.

Please contact your local dealer, national distributor or Raymarine Technical Services for information on product disposal.

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.

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

Contents

Important Information ................................................................................................. i

About the documentation provided ........................................................................ i

Warranty ................................................................................................................. i

Safety notices .......................................................................................................... i

WARNING: Calibration ................................................................................. i

WARNING: Navigation aid .......................................................................... i

Product disposal ..................................................................................................... ii

EMC Conformance ................................................................................................. ii

Handbook information .......................................................................................... iii

Contents ................................................................................................................ v

Chapter 1: SmartPilot Operation ............................................................................... 1

1.1 Introduction ..................................................................................................... 1

SmartPilot Functions ........................................................................................ 1

Extended systems ............................................................................................. 2

1.2 Using the control unit ....................................................................................... 2

Switching on and off......................................................................................... 2

Start-up mode.......................................................................................... 3

Keypad functions .............................................................................................. 3

What does the display tell me? ......................................................................... 4

1.3 Using the SmartPilot to steer your boat ............................................................ 4

CAUTION: Maintain a permanent watch................................................. 4

How do I automatically steer to a heading?...................................................... 4

How do I return to hand steering? .................................................................... 5

How do I change course in Auto mode?............................................................ 5

Can I dodge an obstacle and then resume course? ........................................... 6

1.4 How do I adjust the performance of my SmartPilot? ........................................ 6

Off Course warning........................................................................................... 8

1.5 Using the SmartPilot with sail boats ................................................................. 9

Using the SmartPilot to automatically tack (AutoTack)..................................... 9

CAUTION: Allow time for course changes .............................................. 9

How do I prevent accidental gybes? ................................................................. 9

Gusty conditions ............................................................................................. 10

1.6 Can I adjust the display lighting& contrast? ................................................... 10

How do I adjust the lights? ............................................................................. 10

How do I adjust the contrast? ......................................................................... 11

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?............................................................................ 14

What is Cross track error? ...............................................................................14

Tidal stream compensation .............................................................................15

How do I dodge an obstacle in Track mode?.................................................... 15

What happens when I arrive at a waypoint? ................................................... 16

How do I skip a waypoint? (SeaTalk chartplotters) ................................ 16

WARNING: Ensure navigation safety17

What is the Waypoint Advance warning? ............................................. 17

What happens when I get to the end of the route?..........................................17

2.2 Using Wind Vane mode – sail boats ...............................................................18

What is Wind Vane mode? ..............................................................................18

Wind information............................................................................................ 18

True and apparent wind......................................................................... 18

WindTrim ...............................................................................................18

How do I select Wind Vane mode? ..................................................................18

How do I leave Wind Vane mode? ...................................................................19

How do I dodge an obstacle in Wind Vane mode?........................................... 19

What is a Wind Shift warning? ........................................................................20

How do I use AutoTack in Wind Vane mode? ..................................................20

Operating hints for Wind Vane mode .............................................................. 21

2.3 How do I display boat data? ...........................................................................21

Can I display Waypoint names?.......................................................................22

Warning messages..........................................................................................22

Shallow warning (SHALLOW).............................................................. 22

Man Overboard warning (MOB) ........................................................... 22

2.4 User Calibration Options ................................................................................22

How do I access User Calibration settings? .....................................................23

User Calibration pages....................................................................................23

AutoTack angle (SAILBOAT only) ........................................................... 23

Gybe inhibit (SAILBOAT only)................................................................. 23

Wind selection (SAILBOAT only)......................................................................24

WindTrim (SAILBOAT only)..................................................................... 24

Response level .......................................................................................24

vii

Chapter 3: Fault Finding & Maintenance ............................................................... 27

3.1 Fault finding ................................................................................................... 27

SmartPilot alarm messages ............................................................................ 28

3.2 General maintenance ..................................................................................... 30

Routine checks................................................................................................ 30

CAUTION: Do not dismantle SmartPilot products ............................. 30

Cleaning the display ....................................................................................... 30

CAUTION: Avoid damage when cleaning.............................................. 30

EMC advice..................................................................................................... 31

Product support .............................................................................................. 31

World wide web..................................................................................... 31

Telephone help line................................................................................ 31

Help us to help you ................................................................................ 32

Product details table .............................................................................. 33

Specifications ................................................................................................................ 35

ST6002 control unit .............................................................................................. 35

SmartPilot computer functions ............................................................................. 35

Glossary........................................................................................................................... 36

Index ................................................................................................................................. 39

viii ST6002 SmartPilot Controller Operating Guide

Chapter 1: SmartPilot Operation

1.1 Introduction

DISP

ANDBY

The SmartPilot controller is a SeaTalk® compatible autopilot control unit. It is designed as the main controller for the SmartPilot system.

TRACK

AUT

D8727-1

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.

SmartPilot Functions

The functions provided with your SmartPilot system depend on whether the SmartPilot computer contains an internal GyroPlus yaw sensor.

2 ST6002 SmartPilot Controller Operating Guide

S1G, S2G and S3G systems (with GyroPlus)

Non-G systems (without GyroPlus)

Internal GyroPlus yaw sensor provides enhanced course keeping using AST (Advanced Steering Technology)

Steering to true and apparent wind in Wind Vane mode

Equipped with AutoLearn, Raymarine’s self-learning calibration system

Full basic functionality: uses Raymarine steering algorithm without AST

Steering to true and apparent wind in Wind Vane mode

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.

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

Commissioning Guide.

SmartPilot

1.2 Using the control unit

Switching on and off

All the time that power is applied to the SmartPilot controller, you can use the

disp button to switch the instrument off and on as follows:

• To switch the SmartPilot controller off, ensure it is in the Standby mode, then hold down the switch off count down of 4 seconds occurs. Keep the during this period, to switch off the instrument.

• To switch the instrument back on, hold down the imately 1 second.

disp button for approximately 5 seconds. After this time, a

disp button pressed

disp button for approx-

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-

ler is initially in the on condition. You do not need to use the

disp

button to switch the controller on.

(2)

When the SmartPilo t controller is on, the operation of the

disp

button

will perform other operating functions, as described below.

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-button functions, there are several dual-button operations.

-1 plus +1

-1 plus -10

Press together for AutoTack to port

DISP

Press to display data pages

Press for 1 second for lamp adjust

Press for 3 seconds for contrast adjust

Press for 9 seconds (in Standby mode) for power down

When powered down, press for 1 second to power up

STANDBY

Press for Standby mode

Press for 2 seconds to enter Calibration mode

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

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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)

Distance units:

• no units = kilometres

n S

MAG

TRUE

m M

• nm = nautical miles

• SM = statute miles

Heading indicators

Port and Starboard direction-to-steer indicators

Rudder position indicator

The bar graph at the bottom of the screen indicates the current position of the rudder, as measured by the rudder position sensor.

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”.

D5457-3

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 times for a 30° course change to port.

-10 three

Port Starboard

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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).

1.4 How 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 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.

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.

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). 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 buttons together

momentarily.

Note:

The

RESPONSE

sioning Guide) so you can also access it by pressing

screen is set as a default data page (see SmartPilot Commis-

disp

and then scrolling through the

data pages.

2. Press -1 or +1 to change the response level.

Decrease response

Increase response

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.

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