Raymarine SmartPilot Series User manual

SmartPilot
Series
S1WheelPilot
S1 TillerPilot
Commissioning Guide
Document reference: 812821
Date: Sept2006
81282_1.book Page 1 Monday, October 2, 2006 1:58 PM

© Handbook contents copyright Raymarine plc
Autohelm, HSB (High Speed Bus), SailPilot, SeaTalk and SportPilot are registered trademarks of Raymarine Ltd.
Raymarine, SmartPilot, AST (Advanced Steering Technology), AutoAdapt, AutoLearn, AutoRelease, AutoSeastate, AutoTack,
AutoTrim, FastTrim, GyroPlus, RayGyro, RayPilot and WindTrim are trademarks of Raymarine Ltd
81282_1.book Page 2 Monday, October 2, 2006 1:58 PM

i
SmartPilot Settings
As you work throughthis book, please use this section to record your calibration
settings.
In the event of a systemreset this information can be used to reconfigure the
AutoPilot. You mayalso be asked for this information if you contact your
RayMarine support centre.
System information
Display calibration settings
SystemType
(S1WheelPilot/ S1 TillerPilot) _______________________________________
GyroPlusinstalled? Yes/No
(WheelPilot only) _______________________________________
Date Commissioned _______________________________________
Parameter Your settings Parameter Your settings
Display Bar _______________ Heading Selection _______________
Datapage 1 _______________ Data page9 _______________
Data page 2 _______________ Data page 10 _______________
Data page 3 _______________ Data page 11 _______________
Data page 4 _______________ Data page 12 _______________
Data page 5 _______________ Data page 13 _______________
Data page 6 _______________ Data page 14 _______________
Data page 7 _______________ Data page 15 _______________
Data page 8 _______________
81282_1.book Page i Monday, October 2, 2006 1:58 PM

ii S1 Wheel and Tiller Pilots Commissioning Guide
Dealer calibration settings
Parameter Your settings Parameter Your settings
Calibration Lock _______________ Off Course Angle _______________
Vessel Type _______________ AutoTack Angle _______________
DriveType _______________ GybeInhibit _______________
Rudder Alignment _______________ Wind Type _______________
Rudder Limit _______________ Wind Trim _______________
Rudder Gain _______________ Cruise Speed _______________
Counter Rudder _______________ AutoAdapt _______________
Rudder Damping _______________ Latitude _______________
AutoTrim _______________ Variation _______________
Response:
Gyro / NonGyro _______________
81282_1.book Page ii Monday, October 2, 2006 1:58 PM

iii
Important information
Aboutthe documentation provided
Welcome to Raymarine SmartPilot. The autopilot system that will steer yourboat
accurately, reliably andcomfortably.
SmartPilot documentation is arranged so that you can install,commission and
quickly use your SmartPilot, keepingto 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.
• Commissioning Guide Thisbook.Describeshowto connect,commission
and configure the system.
• Quick Start Guide  Once commissioned, use your autopilot right away
with this handy guide to the main operations.
• Operating Guide  Detailed operating information about your autopilot.
Note: Thishandbookcontainsimportant informationabouttheinstallation andcommis
sioningofyournewRaymarineproduct.Atthebackthereis anindexandglossaryofterms.
To getthe best fromthe product please read this handbook thoroughly.
SmartPilot controller compatibility
The SmartPilot S1 Wheel and Tiller systems are supplied with the ST6002
controller as standard. The systems are also compatible with the following
SmartPilot controllers:
ST6001/ST6002
Controller ST7001/ST7002 Controller ST8001/ST8002 Controller
• standby & auto
function keys
• +1, 1, +10 & 10 course
changekeys
• disp & track extended
function keys
• standby & auto
function keys
• +1, 1, +10 & 10 course
changekeys
• resp, track, mode,
res’m, disp , up &
down extendedfunction
keys
• standby & auto
function keys
• Rotary course change
control
• resp, track, mode,
res’m, disp , up &
down extendedfunction
keys
81282_1.book Page iii Monday, October 2, 2006 1:58 PM

iv S1 Wheel and Tiller Pilots Commissioning Guide
Safety notices
WARNING: Product installation
This equipment must be installed and operated inaccordance
with the instructions contained in this handbook. Failure to do so
could resultin poor product performance,personal injury and/or
damage to your boat.
CAUTION:
Before installing the SmartPilot computer and drive unit, check
that they are the correct voltage for your boat’s supply.
Ascorrectperformanceof the boat’ssteeringis critical forsafety, we STRONGLY
RECOMMEND that an Authorized Raymarine Service Representative fits this
product. You will onlyreceive full warranty benefits if you can show that an
Authorized Raymarine ServiceRepresentative hasinstalledor commissionedthis
product.
WARNING: Electrical safety
Makesure the power supply isswitched off before youmakeany
electrical connections.
WARNING: Potential ignition source
Contains a possible source of ignition NOT protected for use in
engine compartments.
WARNING: Calibration requirement
Wesupply this product calibrated to default settings that should
provideinitial stable performance for most boats. To ensure
optimum performance on your boat, you must complete
Chapter 2: .
WARNING: Navigation aid
Althoughwe have designed this product to be accurate and
reliable, many factors can affect its performance. As a result, it
should onlybe used as an aid to navigation and should never
replace common sense and navigational judgement. Always
maintain apermanentwatchso you can respond to situations as
they develop.
YourSmartPilotwilladda newdimensiontoyourboatingenjoyment.However,it
is the skipper’s responsibilityto ensure the safety of the boat at all times by
following these basic rules:
81282_1.book Page iv Monday, October 2, 2006 1:58 PM

Important information v
• 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.
• Regularlycheck for other boats and any obstacles to navigation – no matter
how clear the sea may appear, a dangerous situation can develop rapidly.
• Maintainan accurate record of the boat’s position by using either a naviga
tion aidor visual bearings.
• Maintaina 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
nalscan produce significant errors under some circumstances and the autopi
lot will not be able to detect these errors.
EMC installation guidelines
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) regulations,butcorrectinstallationisrequiredtoensurethat
performance is not compromised.
TheguidelinesgivenheredescribetheconditionsforoptimumEMCperformance,
butit is recognized that itmaynotbe possible tomeetall of theseconditions inall
situations.ToensurethebestpossibleconditionsforEMCperformancewithinthe
constraints imposedby any location, always ensure the maximum separation
possible between different items of electrical equipment.
For optimum EMC performance, it is recommended that wherever
possible :
• Raymarine equipment and the cables connected to it are:
• At least 3 ft (1 m) from any equipment transmitting or cables carrying
radio signals e.g. VHF radios, cables and antennas. In the case of SSB
radios, the distance should be increased to 7ft (2 m).
• Morethan 7ft (2m) fromthepath of a radar beam. Aradarbeamcan nor
mally be assumed to spread20 degrees above and below the radiating
element.
• The product is supplied froma separate battery fromthat used for engine
start. Power supplyvoltages belowthe minimum specifiedfor a product, and
starter motor transients, can cause the product toreset. This will notdamage
81282_1.book Page v Monday, October 2, 2006 1:58 PM

vi S1 Wheel and Tiller Pilots Commissioning Guide
the product,but may causethe lossof someinformationandmay change the
operating mode.
• Raymarine specified cables are used. Cutting and rejoiningthese cables can
compromise EMC performance and must be avoided unless doing so is
detailed inthe installation manual.
Suppression Ferrites
If a supplied cable is fitted with a suppression ferrite, the ferrite must not be
removed, unless it is necessary to facilitate installation. Anyferrite thus removed
must be replaced in the original position immediately installation is complete.
If additional suppression ferrites are required, use only ferrites supplied by
Raymarine.
Connections to Other Equipment
If Raymarine equipment is tobe connected toother equipment using a cable not
supplied by Raymarine, a Raymarine suppression ferrite MUST always be
attached to the cable near the Raymarine unit.
Waste from Electrical and Electronic Equipment
(WEEE) Directive
The Waste from Electrical andElectronic Equipment(WEEE) Directive requires the
recycling of waste electrical and electronic equipment. Whilst the WEEEDirective
doesnotapplytosomeofRaymarine’sproducts,wesupportitspolicyandaskyou
to be aware of how to dispose of this product.
The crossedoutwheelie binsymbol, illustrated above,andfoundon 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.
Handbook information
To the best of our knowledge,the information inthis handbook wascorrectwhen
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.
81282_1.book Page vi Monday, October 2, 2006 1:58 PM

vii
Contents
Important Information ................................................................................................. i
About the documentation provided ........................................................................ i
WARNING: Product installation .............................................................. ii
WARNING: Electrical safety ..................................................................... ii
WARNING: Calibration requirement ..................................................... ii
WARNING: Navigation aid ........................................................................ ii
EMC Guidelines ..................................................................................................... iii
EMC suppression ferrites .........................................................................iv
Connections to other equipment..............................................................iv
Handbook information .......................................................................................... iv
Contents ............................................................................................................................ v
Chapter 1: System Connections .................................................................................1
1.1 Before you start ................................................................................................ 1
1.2 The SmartPilot computer .................................................................................. 2
SmartPilot types................................................................................................2
1.3 Removing and replacing the connector cover ..................................................3
WARNING: Electrical safety .....................................................................3
Computer inputs, outputs and fuses ........................................................ 4
1.4 Connecting the Power and the Drive unit .........................................................5
Grounding the SmartPilot ........................................................................ 7
1.5 Fuse Protection ................................................................................................ 8
1.6 How to connect SmartPilot system elements ...................................................8
Securing the Cables.................................................................................. 9
1.7 How to connect SeaTalk equipment .................................................................9
Single control unit, single power supply .................................................. 9
Isolated control unit, single power supply (S2 and S3 computers only) . 10
Separate SmartPilot computer and instrument power ........................... 10
WARNING: Use correct fuse ...................................................................10
Connecting SeaTalk or NMEA compasses .............................................. 11
1.8 How to connect NMEA equipment .................................................................12
WARNING: Connections to other equipment ..................................12
SmartPilot computer NMEA inputs/outputs....................................................13
NMEA connectivity overview ................................................................. 13
1.9 How to connect optional components ...........................................................14
GyroPlus yaw sensor....................................................................................... 14
Handheld remotes ..........................................................................................14
External alarm ................................................................................................ 15
Wind vane (sail boats) ....................................................................................15
81282_1.book Page vii Monday, October 2, 2006 1:58 PM

viii S1 Wheel and Tiller Pilots Commissioning Guide
Off switch (S2 and S3 only)..............................................................................15
Connecting spool valves (S2 and S3 only).............................................. 15
Selecting clutch voltage (S3 & S3G only)................................................16
1.10Secure the cables ...........................................................................................17
S1 systems ......................................................................................................17
S2 and S3 systems...........................................................................................17
Chapter 2: SmartPilot Commissioning ...................................................................19
WARNING: Calibration requirement ...................................................19
SmartPilot Controller Compatibility ................................................................19
2.1 Dockside Checks ............................................................................................19
WARNING: Ensure safe control .............................................................19
Step 1  Switch on............................................................................................20
Troubleshooting .....................................................................................20
Step 2  Check the SeaTalk and NMEA connections.........................................20
SeaTalk connections............................................................................... 20
NMEA navigator connections................................................................. 21
Wind instrument connections.................................................................21
Step 3  Check the autopilot operating sense ..................................................21
Check the rudder position sensor........................................................... 21
Check the autopilot steering sense ........................................................22
Step 4  Adjust key SmartPilot settings ............................................................22
Enter Dealer Calibration mode ...............................................................23
Set the vessel type ................................................................................. 23
Set the drive type ...................................................................................25
Align the rudder position sensor ............................................................ 26
Set the rudder limits...............................................................................26
Save the new settings ............................................................................26
2.2 Seatrial Calibration .........................................................................................27
Seatrial safety .................................................................................................27
Calibratingthe compass..................................................................................28
Initial procedure..................................................................................... 28
Adjusting the heading alignment........................................................... 31
Adjusting SmartPilot steering settings ............................................................31
AutoLearn .............................................................................................. 31
WARNING: AutoLearn safety .................................................................31
Manual setup: NonG Systems.......................................................................34
Checking SmartPilot operation...............................................................34
Response level ....................................................................................... 34
Adjusting the rudder gain ......................................................................35
Adjusting the counter rudder ................................................................. 36
Further adjustments (NonG) ................................................................. 37
81282_1.book Page viii Monday, October 2, 2006 1:58 PM

Contents ix
Chapter 3: Adjusting SmartPilot Settings ............................................................. 39
3.1 Calibration basics ........................................................................................... 39
Calibration groups.......................................................................................... 39
Accessing the Calibrationmodes.................................................................... 40
3.2 Display Calibration ......................................................................................... 41
DisplayCalibration screens............................................................................. 42
Display bar selection .............................................................................. 42
Heading selection................................................................................... 42
Popup pilot timeout (ST7001, ST7002, ST8001 & ST8002 only) .......... 42
Data pages ............................................................................................ 43
3.3 User Calibration .............................................................................................44
3.4 Seatrial Calibration ........................................................................................45
3.5 Dealer Calibration ..........................................................................................45
Accessing Dealer Calibration..........................................................................45
Dealer Calibration screens and settings..........................................................47
SeaTrial Calibration lock ....................................................................... 47
Vessel type ............................................................................................ 47
Drive type .............................................................................................. 48
Align rudder ........................................................................................... 48
Rudder limit .......................................................................................... 49
Rudder gain .......................................................................................... 49
Counter rudder....................................................................................... 49
Rudder damping .................................................................................... 50
AutoTrim ............................................................................................... 50
Response level ...................................................................................... 51
Turn rate limit ........................................................................................ 51
Off course warning angle....................................................................... 52
Joystick mode (PWR STEER) ................................................................... 52
AutoRelease (I/O drives only)................................................................. 53
AutoTack angle ...................................................................................... 53
Gybe inhibit ........................................................................................... 53
Wind selection ....................................................................................... 54
WindTrim (wind response) ..................................................................... 54
Cruise speed........................................................................................... 54
AutoAdapt ............................................................................................. 55
Latitude.................................................................................................. 55
System reset ................................................................................................... 56
WARNING: Losing settings at system reset ..................................... 56
Dealer Calibration defaults.............................................................................57
Dealer Calibration options.............................................................................. 58
81282_1.book Page ix Monday, October 2, 2006 1:58 PM

x S1 Wheel and Tiller Pilots Commissioning Guide
Chapter 4: FaultFinding & Maintenance ...............................................................59
4.1 Fault finding ...................................................................................................59
SmartPilot alarm messages.............................................................................60
4.2 Maintenance ..................................................................................................62
EMC, servicing andsafety guidelines ..............................................................62
Product support ..............................................................................................63
World wide web.....................................................................................63
Telephone help line................................................................................63
Help us to help you ................................................................................63
SmartPilot Specifications ..........................................................................................65
WARNING: Potential ignition source ..................................................66
Glossary ...........................................................................................................................67
Index ..................................................................................................................................69
81282_1.book Page x Monday, October 2, 2006 1:58 PM

1
Chapter 1: System connections
This chapter describes how to connect the elements of the SmartPilot system
together and integrate connections from other equipment on your boat.
1.1 Before you start
Ensure the following core elements of the systemhave been fitted in accordance
with the supplied installation guides:
• Compass
• Rudder reference (S1 WheelPilot only)
• SmartPilot computer
• SmartPilot controller, ST6002 (supplied as standard).
• Wheel or Tiller drive unit
The remainder of this chapter covers the connection of these units.
81282_1.book Page 1 Monday, October 2, 2006 1:58 PM

2 S1 Wheel and Tiller Pilots Commissioning Guide
When complete, the core system will be connected like this:
1.2 The SmartPilot computer
The SmartPilot computer (course computer) lies at the heart of the autopilot
system.It processes information from thesensorsin thesystem soit cansteer the
boat using the drive unit:
• it contains a microprocessor and electronic circuitry to control the drive unit
and the drive motor.
OR
OR
Tiller drive
SmartPilot computer
ST6002
Fluxgate compass
Rudder position sensor
(S1 WheelPilot only)
Wheel drive
D9319-1
The SmartPilot system - key components
81282_1.book Page 2 Monday, October 2, 2006 1:58 PM

Chapter 1: System connections 3
• it is the central distribution point for the autopilot system, withterminals to
take powerfrom theboat’s distributionpanel and inputs/outputs forall other
autopilot components
• it has inputs/outputs for SeaTalk and NMEA so youcan connect it to Rayma
rine and other manufacturer’s equipment.
SmartPilot Gyro plus
The S1 TillerPilot has a built in Gyro (yaw sensor) which measures the boat’s rate
of turn.This allows the autopilot to operate without a rudder reference unit.
The S1 WheelPilot does not contain a builtin Gyro. This can be upgraded with a
dealerfittedGyro plus unit.
SmartPilot
Version Supply voltage Builtin Gyro?
S1 TillerPilot
12 V Yes
S1 WheelPilot
12 V No (available as dealerfitted upgrade)
81282_1.book Page 3 Monday, October 2, 2006 1:58 PM

4 S1 Wheel and Tiller Pilots Commissioning Guide
1.3 Removing and replacingthe connector cover
WARNING: Electrical safety
Before you make any electrical connections, ensure the power
supply is switched off and you have read theEMC installation
guidelines (see page v .)
To open the cover: Toclose the cover:
• hold the bottom ofthe connector cover
• gently lift the connector cover away from
the base and the lid will come free
•replacethecover
• gently press the sides of the cover until
you hear it click
PULL
D6385-1
To open
1
2
2
To close
D6386-1
81282_1.book Page 4 Monday, October 2, 2006 1:58 PM

Chapter 1: System connections 5
Computer inputs, outputs and fuses
RF GND
POWER IN
SEATALK
Fluxgate
compass inputs
Rudder position
sensor inputs
External GyroPlus
yaw sensor inputs
SeaTalk
inputs/outputs
Power
inputs
(12 V)
RF ground
connection
NMEA 0183
input/ouput
Drive motor
outputs
D9321-1
SeaTalk fuse
(2 A)
Power fuse
(10 A)
Note: Spare fuses located
in the connector cover
81282_1.book Page 5 Monday, October 2, 2006 1:58 PM

6 S1 Wheel and Tiller Pilots Commissioning Guide
1.4 Connecting the Power andthe Drive unit
CAUTION:
Use of incorrect power cable size could cause your SmartPilot to
malfunction and will reduce the power supplied to the drive unit.
Ensure the correct size is used and if in doubt, use a heavier gauge
cable.
OR
OR
Tiller drive
SmartPilot computer
Power
Power
Wheel drive
D9322-1
Connecting the power and the Drive Unit
Boat's electrical
distribution panel
81282_1.book Page 6 Monday, October 2, 2006 1:58 PM

Chapter 1: System connections 7
To connect the power and drive unit connections to the SmartPilot computer,
follow the steps below:
Power supply to SmartPilot computer
(CABLE NOT SUPPLIED)
1. Measurethe totallengthofcablerunfromtheboat’sdistributionpaneltothe
SmartPilot computer.
2. Obtain the appropriate cable as specified.
3. Ensure you use an appropriate circuit breaker or fuse:
4. Route the cable from the distributionpanel back to the SmartPilot computer.
5. Connect the cables to the POWER inputs.
Cable length Cable gauge Copper area
up to 6m (23ft) 14 AWG 2.5 mm
2
Fuse = 15 A
Circuitbreaker= 10A
Toconnect the power cables:
• Strip 8–10 mm ( ½ “) of insulation from theendof each cable.
• Usea smallscrewdriver to loosen the screws on theterminal block.
• Insert the stripped cableinto the terminaland tighten the screws.
D6390-2
81282_1.book Page 7 Monday, October 2, 2006 1:58 PM

8 S1 Wheel and Tiller Pilots Commissioning Guide
Wheel / Tiller drive cable connection
(CABLE SUPPLIED)
1. Ensure the Wheel or Tiller drive is installed with the drive cable routed in
accordance with the installation instructions supplied.
2. Connect the drive cable supplied to the MOTOR inputs at the SmartPilot
computer. For more information refer to the installation guide supplied with
your Wheel or Tiller drive unit.
Grounding the SmartPilot
CAUTION:
S1 systems MUST beconnectedto ships ground.
Failure toconnect the SmartPilot toshipsground maycause it,or other onboardelec
tronicsto function incorrectly.
• Useflat tinned copper braid, 30A rating (¼ “) or greater. Equivalent stranded wire diame
ter 4mm or greater.
• Using the supplied yellow (¼ “) female spade connector, connect the braid to RF GND on
the SmartPilot computer.
• Theother end of the earth strap should be connected to metal in contact with the water. If
this is not possible, it can be connected to the negativepole of thebattery (ideally at the
battery itself).
• Keepthe length ofthe earth strap as short as possible
MOTOR
AB
D9296-1
RF GND
MOTOR
AB
POWER
D6378-1
OR
S1 systems only
81282_1.book Page 8 Monday, October 2, 2006 1:58 PM