Raymarine ST6002 SmartPilot Controller Operating Guide

Below you will find brief information for SmartPilot Controller ST6002. The ST6002 is a SeaTalk® compatible autopilot control unit that allows you to steer your boat automatically to a heading, follow a route set on a Chartplotter, or maintain a course relative to a true or apparent wind angle.

PDF

Document

81269_2.book Page i Wednesday, August 9, 2006 3:29 PM

ST6002

SmartPilot

Controller

Operating Guide

Document reference: 81269-2

Date: August 2006

81269_2.book Page ii Wednesday, August 9, 2006 3:29 PM

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.

81269_2.book Page i Wednesday, August 9, 2006 3:29 PM

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

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. i

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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.

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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.

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81269_2.book Page v Wednesday, August 9, 2006 3:29 PM

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

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

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

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

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

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

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

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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

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

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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

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81269_2.book Page 1 Wednesday, August 9, 2006 3:29 PM

Chapter 1: SmartPilot Operation

1.1 Introduction

DIS

STANDB

TRA

AUT

D8727-1

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.

• 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.

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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)

Full basic functionality: uses Raymarine steering algorithm without AST

Steering to true and apparent wind in

Wind Vane mode

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

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

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 approximately 1 second.

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

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 -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

-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

D5449-3

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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) nm

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 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”.

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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.

Port or or

Starboard

D3320-3

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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.

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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 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.

Decrease response

Increase response

D5452-3

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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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

To make a temporary change to the response setting:

1. Display the RESPONSE screen by pressing the -1 and +1 buttons 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 24).

Off Course warning

= deviation to port

= deviation to starboard

D3315-5

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: course.

The SmartPilot also clears the warning if the heading recovers or if you change

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Chapter 1: SmartPilot Operation

1.5 Using the SmartPilot with sail boats

Using the SmartPilot to automatically tack (Auto-

Tack)

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. If you have set the vessel type to

SAIL BOAT, you can adjust the default AutoTack angle in User Calibration (see

page 23

• to AutoTack to port: press the -1 and -10 buttons together

• to AutoTack to starboard: press the +1 and +10 buttons together

AutoTack - Port AutoTack - Starboard

Wind Wind

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 23).

Note: For the gybe inhibit feature to work, the SmartPilot needs suitable wind information.

With gybe inhibit on:

• you will be able to perform an AutoTack into the wind.

• the autopilot will prevent the boat from performing an AutoTack away from the wind, to prevent accidental gybes.

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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 22).

Gusty conditions

In gusty conditions, the course may tend to wander slightly, particularly if the sails are badly balanced. If you take the following precautions, the SmartPilot will be able to maintain competent control even in gale force conditions:

• You can improve course keeping by improving the sail balance:

• do not allow the boat to heel over excessively.

• ease the mainsheet traveller to leeward to reduce heeling and weather helm.

• if necessary, reef the mainsail a little early.

• 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.

1 second

D3313-5

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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. The display automatically returns to the previous mode if you do not press a button for 10 seconds:

• if you press another mode button within 10 seconds you will select the mode assigned to that button (for example: auto selects Auto mode, standby selects Standby mode).

Notes: (1) You can also adjust the lighting level from any other SeaTalk instrument or control unit.

(2) When you switch off the unit you lose any changes you have made to the lighting level.

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. The display automatically returns to the previous mode if you do not press a button for 10 seconds:

Note: if you press another mode button within 10 seconds you will select the mode assigned to that button (for example: auto selects Auto mode, standby selects Standby mode).

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12 ST6002 SmartPilot Controller Operating Guide

81269_2.book Page 13 Wednesday, August 9, 2006 3:29 PM

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. However, you MUST still maintain an accurate log with regular plots.

Track mode is available only if you have connected the SmartPilot to a suitable navigation system providing SeaTalk or NMEA information.

(See SmartPilot

Commissioning Guide for connection details)

Your SmartPilot system can receive route information from:

• a SeaTalk navigation instrument or chartplotter.

• a navigation system transmitting data in NMEA 0183 format.

How do I activate Track mode?

CAUTION: Make suitable preparations for entering track mode

When you enter Track mode, the SmartPilot will bring the boat onto the track in a controlled way. The closer the boat is to the correct heading and track, the quicker it will settle the boat onto the new course. To avoid an unexpected turn, align the boat approximately with the required track before entering Track mode.

Starting with the SmartPilot in AUTO mode and your chartplotter following a route.

1. Press track to enter Track mode.

2. Wait for the warning to sound.

The display will show the bearing to the next planned waypoint and the direction in which the boat will turn to reach this waypoint.

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14 ST6002 SmartPilot Controller Operating Guide

Current heading

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 calibration setting. Adjust this as appropriate for optimum comfort.

(2) If the boat is more than 0.3 nm from the track, the Large Cross Track Error warning will sound (see page 14).

Automatic track acquisition

Waypoint at 270˚ Waypoint at 270˚

Previous heading

TRUE

From auto mode, press track to enter Track mode . . . . . . then press track again to turn boat to waypoint.

How do I leave Track mode?

You can leave Track mode at any time by:

• pressing auto to return to Auto mode.

• pressing standby to steer manually in Standby mode.

What is Cross track error?

(SM) or kilometres (km).

If the cross track error is greater than 0.3 nm, the SmartPilot will sound the Large

Cross Track Error warning and show whether you are to the port (Pt) or starboard

(Stb) of the planned track.

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Chapter 2: Advanced Operation 15

Cross track error (XTE) more than 0.3 nm

Waypoint 2

Actual rou te

Planned route

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.

Waypoint 2

Boat's speed over ground

Tidal component

Boat's speed through water

Waypoint 1

D3261-4

How do I dodge an obstacle in Track mode?

In Track mode you still have full control from the keypad.You can make a dodge maneuver by using the course change buttons (-1, +1, -10 or +10) to select the desired course change.

On making a dodge maneuver, the autopilot will revert to AUTO mode. Once you are safely past the obstacle, reinitiate Track mode to continue on your planned route.

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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.

Waypoint arrival and advance

Next target

Waypoint at 270˚

New target waypoint at 270˚

Target

Waypoint

Old target

Waypoint

TRUE

Waypoint arrival Waypoint advance

How do I get to the next waypoint in a route?

When the Waypoint Advance warning sounds, the SmartPilot suspends Track mode and maintains the current boat heading.To advance to the next waypoint:

1. Check that it is safe to turn onto the new track.

2. Press the track button. This will cancel the Waypoint Advance warning and turn the boat towards the next waypoint.

Note: If you do not press track to accept the Waypoint Advance, the SmartPilot will maintain the current heading and continue sounding the warning.

How do I skip a waypoint? (SeaTalk chartplotters)

If you want to advance to the next waypoint before you have arrived at the target waypoint, you can skip a waypoint by pressing track for 1 second. The display will then show the Waypoint Advance screen for the next waypoint. Check it is safe to turn, then press track to turn the boat towards the next waypoint.

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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. This occurs when:

• you select automatic acquisition by pressing track from Auto

• you request waypoint advance by pressing track for 1 second in Track mode

(with SeaTalk navigators only)

• the boat arrives at the target and the navigator accepts the next waypoint

• you activate the Man Overboard (MOB) function (see

page 22

)

When the warning sounds, the SmartPilot continues on its current heading but displays:

• the bearing to the next waypoint

• the direction the boat will turn to take up that bearing

How do I respond to a Waypoint Advance warning?

To respond to a Waypoint Advance warning:

• check that it is safe to turn onto the new track, then press track to accept the waypoint advance

• alternatively, you can cancel the warning without accepting the waypoint advance by pressing:

• auto to continue on the same heading, or

• standby to return to manual control

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

The SmartPilot displays the ROUTE COMPLETED warning when you have reached the last waypoint on a route in Track mode.

• press auto to continue on the same heading.

• or press standby to return to manual control.

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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?

Wind information

To use Wind Vane mode, the SmartPilot must receive wind information from one of the following sources:

• SeaTalk wind instrument connected to the autopilot via SeaTalk

• NMEA wind instrument

• Raymarine pushpit wind vane connected via a SeaTalk interface

True and apparent wind

SmartPilots can maintain a course relative to either an apparent or true wind angle in Wind Vane mode

The default setting is apparent wind. If required, you can change this to true wind in User Calibration (see

page 24

WindTrim

In Wind Vane mode the SmartPilot uses WindTrim to eliminate the effects of turbulence and short term wind variations. This provides smooth and precise performance with minimal power consumption. You can adjust the wind response (WindTrim) level in User Calibration (see

page 24

) to control how quickly the SmartPilot responds to changes in the wind direction. Higher wind trim settings will result in a pilot that is more responsive to wind changes.

How do I select Wind Vane mode?

You can select Wind Vane mode from either Standby or Auto mode:

1. Steady the boat onto the required wind angle.

2. Press standby and auto together to select Wind Vane mode and lock the current wind angle:

• the display shows the locked heading (e.g. 128°) and the wind angle

(e.g. WIND 145P indicates an wind angle of 145° to port)

81269_2.book Page 19 Wednesday, August 9, 2006 3:29 PM

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.

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. For example, to bear away by 10° when the boat is on a starboard tack:

• press -10 to turn the boat 10° to port – the locked wind angle and locked heading will both change by 10°.

• the autopilot will then adjust the locked heading as required to maintain the new wind angle.

Note: Because turning the boat affects the relationship between the true and apparent wind angles, you should only use this method to make minor adjustments to the wind angle. For major changes, return to Standby mode, steer onto the new heading, then reselect

Wind Vane mode.

How do I dodge an obstacle in Wind Vane mode?

In Wind Vane mode you still have full control from the keypad. You can make a dodge maneuver by using the course change buttons (-1, +1, -10 or +10) to select the desired course change.

After you have avoided the hazard, you can cancel the dodge course change by making an equal course change in the opposite direction.

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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.

• press standby to return to hand steering, steer onto the required heading, and press standby and auto together to return to Wind Vane mode with the new wind angle.

How do I use AutoTack in Wind Vane mode?

Note: If you use the AutoTack function in Wind Vane mode, make sure the wind vane has been centered accurately.

The SmartPilot has a built in automatic tack facility (AutoTack) that turns the boat through 100° in the required direction:

• to AutoTack to port: press the -1 and -10 buttons together.

• to AutoTack to starboard: press the +1 and +10 buttons together.

AutoTack - Port AutoTack - Starboard

Wind Wind

AutoTack angle

D5399-2

Note: If you have set the vessel type to SAIL BOAT, you can adjust the default Auto-

Tack angle in User Calibration (see page 23).

When you AutoTack in Wind Vane mode, the boat turns through the AutoTack angle. The SmartPilot will then trim the heading to mirror the locked wind angle from the previous tack.

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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.

2.3 How do I display boat data?

Use the disp button to show ‘data pages’ of SeaTalk or NMEA data:

1. Press disp to access the first data page, and press it again to cycle through each data page in turn:

• when you cycle past the last data page, the display returns to the current

SmartPilot mode screen (for example, AUTO).

• 4 data pages are set in the factory as a default (see diagram): within User setup you can select up to 15 pages and control the information they display (see

SmartPilot Commissioning Guide

Notes: (1) If the SmartPilot system cannot obtain the required information, the data page will show dashes instead of a value.

(2) The direction-to-steer arrows relate to the data page information.

(3) Most data pages show repeated data so you cannot adjust them: the exceptions are the RESPONSE and RUDDER GAIN data pages, which you can adjust using the -1 and +1 buttons

Default data pages

Data page 4 Data page 1

Autopilot mode

Data page 3

Press for 1 sec to return to previous data page Data page 2

D5455-3

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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).

• if the waypoint name has more than nine characters, the display only shows the first nine characters.

TRUE TRUE

TRUE

D8561-1

Warning messages

Shallow warning ( SHALLOW )

The SmartPilot shows the Shallow warning if it receives a shallow depth message from an instrument on the SeaTalk system. Press standby or disp to cancel the warning.

Man Overboard warning ( MOB )

The SmartPilot activates the Man Overboard warning if it receives a man overboard (MOB) message from another instrument on the SeaTalk system. It displays the text MOB instead of the waypoint number for the XTE, DTW and

BTW data pages.

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 .

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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. To access other User Calibration pages, press disp to scroll down through the items within that grouping:

5. When you reach an item you wish to adjust, use the -1, +1, -10 and +10 buttons (as appropriate) to change the value.

6. When you have made all the changes you want to make, press and hold standby for two seconds to exit calibration mode and save changes.

User Calibration pages

AutoTack angle (SAILBOAT only)

The AutoTack angle is the angle through which the boat will turn when you select an automatic tack.

Screen Text Options

AUTO TACK 40° to 125° in 1° steps

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.

Screen Text

GYBE STOP

Options

ON (Default) = Gybe inhibit on (gybes prevented)

OFF = Gybe inhibit off (gybes permitted)

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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)

WIND TRUE

SmartPilot steers to apparent wind angle

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.

Screen Text Options

WIND TRIM Range = 1 to 9

1 to 3 - Least responsive to wind changes (less system activity)

4 to 6 - Moderate response to wind changes

7 to 9 - Most responsive to wind changes (more system activity)

Response level

This sets the default SmartPilot response level setting. The response level controls the relationship between course keeping accuracy and the amount of helm/drive activity. You can make temporary changes to response during normal operation, as described in

Chapter 1, SmartPilot Operation

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. This conserves power, but may compromise short-term coursekeeping accuracy.

81269_2.book Page 25 Wednesday, August 9, 2006 3:29 PM

Chapter 2: Advanced Operation 25

Non-G SmartPilot systems

Screen Text Options

RESPONSE 1

RESPONSE 2

RESPONSE 3

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.

AutoSeastate off (minimum deadband).

This setting provides tighter course keeping but will lead to increased power consumption and drive unit activity.

AutoSeastate off + counter rudder yaw damping.

This setting provides the tightest possible course keeping by introducing counter rudder yaw damping.

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26 ST6002 SmartPilot Controller Operating Guide

81269_2.book Page 27 Wednesday, August 9, 2006 3:29 PM

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. If you cannot resolve the problem yourself, refer to the product support information.

3.1 Fault finding

SYMPTOM POSSIBLE CAUSE and SOLUTION

Display is blank

Data page display shows stationary dashes

No power – check the power and SeaTalk fuses on course computer, then check main fuse/circuit breaker.

The control unit is not receiving necessary data from other instruments – check cabling.

Display shows rotating dashes Compass calibration in progress (see SmartPilot

Commissioning Guide).

Displayed compass heading does not agree with the boat’s compass

You have not calibrated the compass. Carry out the deviation and alignment procedures (see SmartPilot

Commissioning Guide).

No display bar on the display Rudder bar switched off in Display Calibration – select RUDD BAR or STEER BAR .

Rudder bar display moves in opposite direction to rudder

Reverse the red and green rudder position sensor connections at the course computer.

Boat turns slowly and takes a long time to come onto course

Rudder gain too low. Complete AutoLearn or increase gain setting.

Boat overshoots when turning onto a new course

Rudder gain too high. Complete AutoLearn or decrease gain setting.

The SmartPilot ‘hunts’ when trying to position the rudder

Adjust the RUDD DAMP setting (see SmartPilot

Commissioning Guide). Increase the damping one level at a time until the autopilot stops hunting, and always use the lowest acceptable value.

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28 ST6002 SmartPilot Controller Operating Guide

SYMPTOM

The SmartPilot appears to be unstable on Northerly headings in the Northern hemisphere (or Southerly headings in the Southern hemisphere)

You cannot enter Seatrial

Calibration

POSSIBLE CAUSE and SOLUTION

Northerly/Southerly heading correction (AutoAdapt) is not set up (see SmartPilot Commissioning Guide).

[Does not apply to S1G, S2G and S3G systems.]

The SmartPilot will not ‘talk’ to other SeaTalk instruments

Seatrial calibration lock is on – turn off the calibration protection feature in Dealer Calibration (see SmartPilot Commissioning Guide ).

Cabling problem – make sure all the cables are connected properly.

Position information not received

Navigator not transmitting the correct position data.

The SmartPilot will not auto advance to the next waypoint

No bearing to waypoint information received from the navigator.

Non-Raymarine 24 V autopilots clutch slipping

Check that the clutch fuse is in the correct position.

E.g. 24 V position for 24 V clutches.

When holding a constant course in STANDBY mode, the heading continuously changes

The Autopilot is connected to a Raymarine Pathfinder unit with the “Bridge NMEA Heading” option switched on. Disable this feature on the Pathfinder unit.

SmartPilot alarm messages

When the SmartPilot detects a fault or failure on the system, it will activate one of the alarm messages listed in the following table.

• Unless otherwise stated, you should respond to the alarm by pressing standby to clear the alarm and return to manual control, before you attempt to resolve the problem.

• In some situations, the SmartPilot will raise more than one alarm. When you have dealt with the first alarm, it will display the next alarm.

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Chapter 3: Fault Finding & Maintenance 29

ALARM MESSAGE POSSIBLE CAUSE and SOLUTION

AUTO RELEASE Possible fault with rudder position sensor – check connections.

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.

DRIVE STOPPED The autopilot is unable to turn the rudder (this occurs if the weather load on helm is too high, or if the rudder position sensor has passed beyond the preset rudder limits or rudder end-stops).

Check drive and rudder position sensor.

LOW BATTERY Supply voltage has dropped below acceptable limits.

To respond to a Low Battery alarm:

• press standby to clear the alarm and return to hand steering

• start the engine to recharge the battery

LRN FAIL 1 , 2 or 4 AutoLearn not completed successfully.

Failure codes:

1 = AutoLearn has not been carried out (default setting)

2 = AutoLearn failed, usually due to manual interruption

4 = AutoLearn failed, probably due to drive or compass failure

Repeat the AutoLearn procedure.

MOT POW

SWAPPED

Motor cables are connected to power terminals (and power cables are connected to motor terminals) at course computer. Turn off power and swap over connections.

NO DATA

NO PILOT

Caused by any of the following situations:

• the compass is not connected

• the autopilot is in Wind Vane mode and it has not received wind angle data for 30 seconds

• the autopilot is in Track mode and:

• the autopilot is not receiving SeaTalk navigation data, or

• the position sensor (GPS, Loran, Decca) is receiving a low strength signal – this will clear when the signal improves

Check connections to the compass, wind instrument and navigator.

Note: The autopilot stops adjusting the heading as soon as it loses data.

The controller is not receiving data from the SmartPilot computer.

Check connections and check course computer is switched on.

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30 ST6002 SmartPilot Controller Operating Guide

ALARM MESSAGE POSSIBLE CAUSE and SOLUTION

RG FAIL

SEATALK

FAIL 1 or 2

and

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-G s course computer with external GyroPlus yaw sensor – check the sensor and connections, then call a Raymarine service agent.

SeaTalk data problem on one of the SeaTalk lines – check connections.

SEATALK and FAIL The control unit cannot transmit data to the SeaTalk system. Make sure all SeaTalk cables are connected properly.

3.2 General maintenance

Routine checks

CAUTION: Do not dismantle SmartPilot products

The SmartPilot computer and controller should be serviced only by authorized Raymarine service technicians. These products do not contain any user serviceable parts.

The SmartPilot computer does NOT contain user-serviceable parts. If you remove the main cover you will invalidate the warranty. The controller is also a sealed unit, so user maintenance is limited to the following checks

• make sure all cable connectors are firmly attached

• examine for signs of wear or damage – replace any damaged cables

Note: Do not use chemical or abrasive materials to clean the SmartPilot computer. If the case is dirty, wipe it with a clean, damp cloth.

Cleaning the display

CAUTION: Avoid damage when cleaning

Take care when cleaning the display. Avoid wiping the display screen with a dry cloth as this could scratch the screen coating. If necessary, use only a mild detergent.

• Never use chemical or abrasive materials to clean the controller. If it is dirty, wipe it with a clean, damp cloth.

• In certain conditions, condensation may appear inside the display screen. This will not harm the unit, and you can clear it by switching on the illumination for a short time.

81269_2.book Page 31 Wednesday, August 9, 2006 3:29 PM

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.

• To minimize these effects and enable you to get the best possible performance from your Raymarine equipment, guidelines are given in the installation instructions, to enable you to ensure minimum interaction between different items of equipment, i.e. ensure optimum Electromagnetic Compatibility (EMC).

• Always report any EMC-related problems to your nearest Raymarine dealer.

We use such information to improve our quality standards.

• In some installations, it may not be possible to prevent the equipment from being affected by external influences. In general this will not damage the equipment but it can lead to spurious resetting action, or momentarily may result in faulty operation.

Product support

Raymarine provides a comprehensive customer support service, on the world wide web and by telephone help line. Please use either of these facilities if you are unable to rectify a problem.

World wide web

Please visit the Customer Support area of our web site at:

www.raymarine.com

As well as providing a comprehensive Frequently Asked Questions section and servicing information, the web site gives e-mail access to the Raymarine Technical

Support Department and a details of the locations of Raymarine agents, worldwide.

Telephone help line

If you do not have access to the world wide web, please call our help line.

In the USA, call:

• +1 800 539 5539, extension 2444 or

• +1 603 881 5200 extension 2444

In the UK, Europe the Middle East or the Far East, call:

• +44 (0) 23 9271 4713 (voice)

• +44 (0) 23 9266 1228 (fax)

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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.

The following illustration shows how to display the software information:

• press and hold standby for 4 seconds:

• after 2 seconds you will see the DISPLAY CAL screen

• then after another 2 seconds you see controller software version

• press disp to display the computer software version

• press disp again to display the total number of hours the SmartPilot has been used in Auto mode.

Software information

TRUE

4 seconds

1 second

Control unit software version

1 second

Time autopilot used in Auto

Course computer software version

1 second

D5493-3

81269_2.book Page 33 Wednesday, August 9, 2006 3:29 PM

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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34 ST6002 SmartPilot Controller Operating Guide

81269_2.book Page 35 Wednesday, August 9, 2006 3:29 PM

Specifications

ST6002 control unit

Nominal supply voltage:

Operating voltage range:

12 V DC via SeaTalk

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) waterproof to CFR46 Water protection:

Overall dimensions: width height depth

110 mm (4.33 in)

115 mm (4.53 in)

41 mm (1.62 in)

Keypad:

Liquid Crystal Display (LCD):

8 button illuminated keypad shows heading, locked course and navigational data, and up to 7 data pages

LCD illumination:

Input connections:

Output connections:

CE approvals:

3 brightness levels + off

SeaTalk (x2) and NMEA 0183

SeaTalk (x2)

conforms to: 89/336/EC (EMC), EN60945:1997

SmartPilot computer functions

SmartPilot computer

S1G, S2G and S3G systems

• Internal GyroPlus yaw sensor

• Enhanced course keeping using AST

• FastTrim

• Full access to AutoLearn, providing automatic steering calibration

• Improved track-keeping

• Steers to true and apparent wind in Wind

Vane mode

• Improved calibration access

Non-G systems

• Full basic functionality

• Improved track-keeping

• Steers to true and apparent wind in Wind Vane mode

• Improved calibration access, but without

AutoLearn

• Uses Raymarine steering algorithm without AST

• No FastTrim

81269_2.book Page 36 Wednesday, August 9, 2006 3:29 PM

Glossary

ST6002 SmartPilot Controller Operating Guide

AutoLearn

AutoTrim

AWG

CE counter rudder

Fluxgate

GPS

GyroPlus

I/O drive

MOB nm

Term

AST

CR pump

EMC

(Electromagnetic

Compatibility)

Meaning

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.

Self-learning calibration feature available on S1G, S2G and S3G autopilot systems.

The AutoTrim setting determines the rate at which the autopilot applies ‘standing helm’ to correct for trim changes caused by varying wind loads on the sails or superstructure.

American Wire Gauge.

Marked on Raymarine products that comply with defined European Community standards.

Counter rudder is the amount of rudder the autopilot applies to try to prevent the boat from yawing off course. Higher counter rudder settings result in more rudder being applied.

Constant Running hydraulic pump.

Direct current.

When powered up, all electrical equipment produces electromagnetic fields.

These can cause adjacent pieces of electrical equipment to interact with one another, and this can degrade their performance. By following the EMC guidelines in this handbook, you can minimize these effects by ensuring optimum

Electromagnetic Compatibility (EMC) between equipment.

Standard Raymarine compass supplied with course computer core pack.

Global Positioning System.

Raymarine’s GyroPlus yaw sensor that measures the boat’s rate of turn. It is built into the S1G, S2G and S3G course computers.

Inboard/Outboard or stern drive.

Man overboard.

Nautical mile.

81269_2.book Page 37 Wednesday, August 9, 2006 3:29 PM

Glossary

Term

NMEA response rudder gain

SeaTalk

SeaTalk bus

VHF

WindTrim

XTE

Yaw

Meaning

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.

The autopilot response level controls the relationship between course keeping accuracy and the amount of helm/drive activity.

Rudder gain is a measure of how much helm the autopilot will apply to correct course errors. The higher the setting the more rudder will be applied.

SeaTalk is Raymarine’s proprietary communication system. It links the products to provide a single, integrated system sharing power and data.

This refers to the continuous SeaTalk system connecting together a series of

Raymarine units.

Statute (land) mile.

Very High Frequency (radio).

WindTrim (wind response) controls how quickly the autopilot responds to changes in the wind direction. Higher wind trim settings will result in a pilot that is more responsive to wind changes.

Cross track error.

The boat’s rate of turn (°/sec).

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38 ST6002 SmartPilot Controller Operating Guide

81269_2.book Page 39 Wednesday, August 9, 2006 3:29 PM

Index

Alarms

AUTO RELEASE

CURRENT LIMIT

DRIVE STOPPED , 29

LARGE XTE

LOW BATT

, 29

LRN FAIL

MOB , 22

MOT POW SWAPPED , 29

NEXT WPT , 17

NO DATA

NO PILOT

, 30

SEATALK/STLK FAIL

SHALLOW

OFF COURSE

RG FAIL

WINDSHIFT

SEATALK FAIL 1 or 2

, 30

Auto mode

AutoTack

, 9

Changing course , 5

Dodging obstacles

Off course warning

AutoRelease

, 6

Alarm

AutoTack

9 , 23 in wind vane mode , 20

Contrast

Controller

Specifications

Course changes

, 5

Cross track error

Explanation , 14

LARGE XTE warning

Current limit alarm , 29

Data pages , 21

Display

Contrast

Illumination , 10

Dodging obstacles

Drive stopped alarm

, 29

Fault finding , 27

Following a route

Glossary

Gybe inhibit

–

, 9 , 23

GyroPlus fail alarm

Help lines

Illumination

Keypad

Illumination , 10

Keypad functions

Learn fail alarm

Lighting , 10

Low battery alarm

Maintenance

Man Overboard alarm , 22

Motor boats

Power Steer , 6

Motor/Power swapped alarm

Next WPT warning

No data alarm

No pilot alarm

, 29

Off course warning

Description , 8

81269_2.book Page 40 Wednesday, August 9, 2006 3:29 PM

Performance adjustment non-G systems , 7

S1G, S2G and S3G systems , 7

Power steer , 6

Preventing gybes

Product support

Response level

RG fail alarm

, 24

, 30

Rotary Control , 3

Route completed

Safety notices

Track mode

Sailboats

, i

, 13

AutoTack , 9

Preventing gybes

SeaTalk

SeaTalk fail 1 or 2

SeaTalk fail alarm

Service

, 30

Settings

, 31

AutoTack

Gybe inhibit

Response level

User calibration

Wind type

, 22

WindTrim

, 24

Shallow alarm

SmartPilot

Disengaging

Engaging

Functions

Specifications

, 4

Standby Mode

, 35

Switching on/off

, 2

Technical support , 31

Track mode

Cross track error , 14

Dodge

Next waypoint , 17

ST6002 SmartPilot Controller Operating Guide

Route completed

Safety , 13

Tidal compensation

Waypoint names

, 15

, 22

User Calibration

Waypoint

Advance , 16

Advance warning , 17

Arrival

Skipping

Wind angle

Adjusting

Wind type

, 19

, 24

Wind vane mode , 18

Adjusting wind angle

Apparent wind

AutoTack

Dodge

Enabling

, 19

, 18

Operating hints

, 21

True wind

Wind shift warning

WindTrim

, 18 , 24

Key features

SeaTalk® compatible
Auto heading, route and wind angle steering
AutoTack for sailboats
Waypoint Advance feature
WindTrim for smoother wind response
Display SeaTalk and NMEA instrument data
User-adjustable settings
Off Course warning
Shallow and Man Overboard warnings

Frequently asked questions

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.

In Track mode, the SmartPilot maintains a route between waypoints created on a navigation system. It makes any course changes necessary to keep your boat on course, automatically compensating for tidal streams and leeway. Track mode is available only if you have connected the SmartPilot to a suitable navigation system providing SeaTalk or NMEA information.

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. To use Wind Vane mode, the SmartPilot must receive wind information from one of the following sources: SeaTalk wind instrument connected to the autopilot via SeaTalk, NMEA wind instrument, Raymarine pushpit wind vane connected via a SeaTalk interface.

Cross track error (XTE) is the distance between the current position and a planned route. The SmartPilot receives the cross track error information from the navigation equipment, and displays the XTE in nautical miles (nm), statute miles (SM) or kilometres (km). If the cross track error is greater than 0.3 nm, the SmartPilot will sound the Large Cross Track Error warning and show whether you are to the port (Pt) or starboard (Stb) of the planned track.