ST6002
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 under-
stand sheets guide you through the installation process. These can be dis-
carded once the installation is complete.
• SmartPilot Commissioning Guide - Describes how to connect, commis-
sion 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
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.
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 naviga-
tion 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 sig-
nals can produce significant errors under some circumstances and the autopi-
lot 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
v
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
1
Chapter 1: SmartPilot Operation
1.1 Introduction
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 way-
points 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.
D8727-1
1
-
-
10
1
10
+
DISP
TRACK
ST
ANDBY
AUT
O
2 ST6002 SmartPilot Controller Operating 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 pro-
vide track control.
• it can use boat speed from a SeaTalk speed instrument to optimize track-keep-
ing 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.
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
disp button for approximately 5 seconds. After this time, a
switch off count down of 4 seconds occurs. Keep the
disp button pressed
during this period, to switch off the instrument.
• To switch the instrument back on, hold down the
disp button for approx-
imately 1 second.
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)
Full basic functionality: uses Raymarine
steering algorithm without AST
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
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.
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
DISP
STANDBY
Press for
Standby mode
Press for 2 seconds
to enter Calibration mode
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 +1
Press for Response level
Press for 1 second
for Rudder Gain
+1 plus +10
Press together
for AutoTack
to starboard
-1 plus -10
D5449-3
Press to display data
pages
When powered down, press
for 1 second to power up
Press for 9 seconds (in
Standby mode) for power
down
Press for 1 second for
lamp adjust
Press for 3 seconds for
contrast adjust
Press together for
AutoTack to port
4 ST6002 SmartPilot Controller Operating Guide
What does the display tell me?
The SmartPilot display screen provides the following information:
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”.
Rudder position indicator
Port and Starboard
direction-to-steer
indicators
Distance units:
• no units = kilometres
• nm = nautical miles
• SM = statute miles
Heading indicators
Variable text region (up to 9 characters/digits)
D5457-3
n
m
S
M
MAG
TRUE
Chapter 1: SmartPilot Operation 5
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.
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.
D3560-6
TRUE
D3561-6
TRUE
Port Starboard
or
or
D3320-3
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.
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.
D3303-3P
Original
course
Dodge
Obstacle
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
screen is set as a default data page (see SmartPilot Commis-
sioning 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.
D5452-3
Increase
response
Decrease
response
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