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- Commissioning Manual
Raymarine SmartPilot ST6001 Commissioning Manual
Summary of SmartPilot ST6001
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Smartpilot series commissioning guide document reference: 81273-1 date: date: december 2005 81273_1.Book page 1 thursday, november 10, 2005 8:25 am.
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© 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...
Page 3: Important Information
I important information about the documentation provided welcome to raymarine smartpilot. The autopilot system that will steer your boat to a heading automatically, accurately, reliably and comfortably. Smartpilot documentation is arranged so that you can install, commission and quickly use your sma...
Page 4: Safety Notices
Ii smartpilot series commissioning guide safety notices warning: product installation this equipment must be installed and operated in accordance with the instructions contained in this handbook. Failure to do so could result in poor product performance, personal injury and/or damage to your boat. C...
Page 5: Emc Guidelines
Important information iii • maintain an accurate record of the boat’s position by using either a naviga- tion aid or visual bearings. • maintain a continuous plot of your boat’s position on a current chart. Ensure that the locked autopilot heading will steer the boat clear of all obstacles. Make pro...
Page 6: Emc Suppression Ferrites
Iv smartpilot series commissioning guide • raymarine specified cables are used. Cutting and rejoining these cables can compromise emc performance and must be avoided unless doing so is detailed in the installation manual. • if a suppression ferrite is attached to a cable, this ferrite should not be ...
Page 7: Contents
V contents important information ................................................................................................. I about the documentation provided ........................................................................ I warning: product installation ................................
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Vi smartpilot series commissioning guide off switch (s2 and s3 only)..............................................................................15 connecting spool valves (s2 and s3 only).............................................. 15 selecting clutch voltage (s3 & s3g only)........................
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Contents vii chapter 3: adjusting smartpilot settings ............................................................. 39 3.1 calibration basics ........................................................................................... 39 calibration groups................................................
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Viii smartpilot series commissioning guide chapter 4: fault finding & maintenance ...............................................................59 4.1 fault finding ...................................................................................................59 smartpilot alarm messages..........
Page 11: 1.1 Before You Start
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 system have been fitted in accordance with the supplied ins...
Page 12: Smartpilot Types
2 smartpilot series commissioning guide 1.2 the smartpilot computer the smartpilot computer lies at the heart of the autopilot system. It processes information from the sensors in the system so it can steer the boat using the drive unit: • it contains a microprocessor and electronic circuitry to con...
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Chapter 1: system connections 3 1.3 removing and replacing the connector cover warning: electrical safety before you make any electrical connections, ensure the power supply is switched off and you have read the emc installation guidelines (see page iii .) s1 systems s2 and s3 systems • hold the bot...
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4 smartpilot series commissioning guide computer inputs, outputs and fuses s1 systems s2 and s3 systems 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/ou...
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Chapter 1: system connections 5 1.4 connecting the power and the 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. Note: fo...
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6 smartpilot series commissioning guide 3. Select the appropriate circuit breaker or fuse: 4. Route the cables back to the smartpilot computer. 5. Connect the cables to the power inputs. Drive unit s1 s2 & s3 fuse thermal over-current circuit breaker rotary, linear, hydraulic pump, hydraulic linear ...
Page 17: Grounding The Smartpilot
Chapter 1: system connections 7 6. Connect the drive cables to the motor inputs. These cables can be con- nected any way round as their orientation is verified later in the process. Grounding the smartpilot s1 systems s2 & s3 systems caution: s1 systems must be connected to ships ground. Failure to ...
Page 18: 1.5 Fuse Protection
8 smartpilot series commissioning guide 1.5 fuse protection the power and seatalk terminals are fuse protected against short-circuits and misconnections. Your smartpilot computer is supplied with spare fuses. The fuses used in the computer are standard automotive blade fuses, so replacements are eas...
Page 19: Securing The Cables
Chapter 1: system connections 9 securing the cables 1. Strip at least 5 mm ( ¼ in) of insulation from the end of each cable 2. Use a small screwdriver to push the small plastic lever on top of the terminal and release the cable clamp 3. Insert the stripped cable and release the lever to grip the cab...
Page 20: Computers Only)
10 smartpilot series commissioning guide isolated control unit, single power supply (s2 and s3 computers only) if you have two control units, we recommend that you connect one to each seatalk terminal. In the following illustration: • the smartpilot computer provides power to the seatalk system • on...
Page 21
Chapter 1: system connections 11 • computer and instrument power supplies on: the system will function normally. • only computer power supply on: the controller and instruments do not power up. • only instrument power supply on: the controller shows a pilot off or no link message. Connecting seatalk...
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12 smartpilot series commissioning guide 1.8 how to connect nmea equipment if you have equipment on your boat that transmits or receives nmea 0183 data (e.G. Gps), you can connect this equipment to the smartpilot. Nmea equipment can be connected in any combination of these ways: • using the smartpil...
Page 23: Nmea Connectivity Overview
Chapter 1: system connections 13 smartpilot computer nmea inputs/outputs note: do not connect more than one piece of equipment to each smartpilot computer nmea input. Nmea connectivity overview note: when connected to a nmea navigator, s2 & s3 systems look at nmea 1 first. If nmea 1 has no data, it ...
Page 24: Gyroplus Yaw Sensor
14 smartpilot series commissioning guide notes: (1) s1g systems provide fast heading (hdm) output at 5 hz 0.1º resolution (2) s2g & s3g computers provide fast heading (hdm) output at 10 hz 0.1º resolution. This fast heading data is suitable for use with the marpa function on radar equipment. (3) in ...
Page 25: External Alarm
Chapter 1: system connections 15 external alarm the smartpilot sounds all critical alarms from all controllers. On large or noisy boats you can fit a raymarine external alarm (part number: z035, connected through e85001 interface box) as a high volume audible repeater. Wind vane (sail boats) the sma...
Page 26
16 smartpilot series commissioning guide caution: do not connect the solenoid return cables to boat’s negative ground, as this will bypass the current protection devices inside the smartpilot computer. Selecting clutch voltage (s3 & s3g only) you can use the s3 and s3g smartpilot computers with othe...
Page 27: 1.10 Secure The Cables
Chapter 1: system connections 17 1.10 secure the cables s1 systems to prevent strain on the connector blocks, secure the cables to the smartpilot computer with cable ties as shown below. S2 and s3 systems when you have connected all autopilot system components, we recommend that you use the supplied...
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18 smartpilot series commissioning guide 4. Secure the cable clamp using the self-tapping screws supplied (no 8 x 3 / 4 in, pan-head), making sure: • the tie-wrap securing loops are on the right (below the power and motor terminals on the computer) • the clamp securely holds all cables • the legs on...
Page 29: 2.1 Dockside Checks
19 chapter 2: smartpilot commissioning this chapter will guide you through the commissioning process for your raymarine autopilot. This comprises a series of dockside safety checks followed by a short seatrial calibration. Warning: calibration requirement all autopilot systems must be calibrated bef...
Page 30: Step 1 - Switch On
20 smartpilot series commissioning guide step 1 - switch on 1. When you have installed your smartpilot system, switch on the main power breaker. 2. If the smartpilot controller and computer are active, the controller will beep, show the controller type for a few seconds will show the standby screen....
Page 31: Nmea Navigator Connections
Chapter 2: smartpilot commissioning 21 nmea navigator connections if you have connected the smartpilot to a nmea navigator, check the links by displaying the default navigation data pages on the smartpilot controller: • press disp to display the first data page ( xte ), and check that this page show...
Page 32
22 smartpilot series commissioning guide check the autopilot steering sense 1. Manually center the wheel, then press the auto key so the smartpilot is in auto mode.Check that the display shows auto. Be ready to press standby if the rudder moves hardover. 2. Press the +10 key once or turn the rotary ...
Page 33: Set The Vessel Type
Chapter 2: smartpilot commissioning 23 enter dealer calibration mode as improper use of the dealer calibration settings can seriously impair smartpilot performance, we have made entry to the dealer calibration mode more difficult. Ensure you follow the instructions in this step carefully. 1. Start w...
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24 smartpilot series commissioning guide to set the vessel type: 1. Use the disp key to scroll through the dealer calibration pages until the dis- play shows either vessel or one of the vessel types (e.G. Displace ). 2. Use the -1 or +1 keys or the rotary control to select your vessel type: 3. Press...
Page 35: Set The Drive Type
Chapter 2: smartpilot commissioning 25 set the drive type smartpilot systems are designed to operate with a wide range of steering drives. Use this calibration setting to select the fitted drive type. 1. With the smartpilot still in dealer calibration, use the disp key to scroll through the calibrat...
Page 36: Set The Rudder Limits
26 smartpilot series commissioning guide align the rudder position sensor 1. With the smartpilot still in dealer calibration, press the disp key to scroll through the calibration pages until you reach the align rud page. 2. Center the rudder using the wheel. 3. Use the -1 and +1 keys or the rotary c...
Page 37: 2.2 Seatrial Calibration
Chapter 2: smartpilot commissioning 27 2.2 seatrial calibration when you have completed the dockside calibration, you must complete smartpilot setup by taking the boat on a short seatrial to: 1. Calibrate the compass: • complete the automatic deviation correction • align the compass heading 2. Adjus...
Page 38: Calibrating The Compass
28 smartpilot series commissioning guide calibrating the compass note: this section does not apply if you have connected an nmea compass to your smart- pilot. Refer to the handbook supplied with the nmea compass for information about cali- bration. Deviating magnetic fields can cause significant com...
Page 39
Chapter 2: smartpilot commissioning 29 3. When you are ready to start, press +1 , or turn the rotary control clockwise, to select swing compass on . (on st8001 & st8002 systems, you must then press auto to start the compass swing) the controller will display turn boat indicating the start of the cal...
Page 40
30 smartpilot series commissioning guide aligning the compass heading 1. Once the deviation is displayed, press disp to move to the heading align- ment page ( align hdg ). 2. Manually steer the boat on a steady course at a speed which enables you to hold that course. 3. If you have a gps connected t...
Page 41: Autolearn
Chapter 2: smartpilot commissioning 31 adjusting the heading alignment after completing the initial compass calibration, you can make further adjustments to the alignment without having to swing the compass again. Although the compass calibration removes most of the alignment error, small errors (a ...
Page 42
32 smartpilot series commissioning guide 1. Access the autolearn screen in seatrial calibration: i. From standby mode, press standby for 2 seconds, then disp twice to see the seatrial cal screen ii. Then press auto to enter seatrial calibration, and disp 4 times until you see the autolearn page 2. P...
Page 43
Chapter 2: smartpilot commissioning 33 • sail boats: with the sails down, steer straight ahead (rudder centered) and motor the boat at typical cruising speed • if conditions are not calm, head into the wind and waves 3. When you are ready to proceed, press +1 , or turn the rotary control clock- wise...
Page 44: Response Level
34 smartpilot series commissioning guide your smartpilot is now fully calibrated and ready for use. The only additional setting you may need to adjust is the response level (see the appropriate smartpilot operating guide for more information). Manual set-up: non-g systems if you have a non-g system ...
Page 45: Adjusting The Rudder Gain
Chapter 2: smartpilot commissioning 35 to temporarily change the response level: 1. Press -1 and +1 or resp to access the response screen 2. Use the -1 or +1 key or the up and down arrow keys to adjust the setting 3. Press disp to confirm the change adjusting the rudder gain boats can vary widely in...
Page 46
36 smartpilot series commissioning guide to adjust the rudder gain: 1. Access the rudd gain screen in dealer calibration. 2. Use the -1 or +1 keys or the rotary control to adjust the rudder gain. 3. Press and hold standby for 2 seconds to save the changes. 4. Press auto to check smartpilot performan...
Page 47
Chapter 2: smartpilot commissioning 37 to adjust the counter rudder: 1. Access the count rud screen in dealer calibration. (see page 23 ) 2. Use the -1 or +1 keys or the rotary control to adjust the counter rudder. 3. Press and hold standby for 2 seconds to save the changes. 4. Press auto to check t...
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38 smartpilot series commissioning guide 81273_1.Book page 38 thursday, november 10, 2005 8:25 am.
Page 49: 3.1 Calibration Basics
39 chapter 3: adjusting smartpilot settings this chapter explains all of the calibration settings you can adjust on the smartpilot. You will have adjusted many of these settings when commissioning the system, and they should not require further adjustment. Complete the procedures described in chapte...
Page 50
40 smartpilot series commissioning guide accessing the calibration modes you can only access calibration mode from standby mode: 1. With the smartpilot in standby mode, press and hold the standby key for 2 seconds. The display will change to show display cal . 2. Press the disp key to scroll through...
Page 51: 3.2 Display Calibration
Chapter 3: adjusting smartpilot settings 41 difficult than the other groups. After pressing auto , the display will show cal ? . When you see this, press the -1 and +1 keys (or the up and down arrow keys) together to enter dealer calibration. 4. When you have entered one of the calibration groupings...
Page 52: Display Calibration Screens
42 smartpilot series commissioning guide display calibration screens display bar selection this screen allows you to select what information is displayed at the bottom of the smartpilot display. Heading selection this screen allows you to display any heading as either a magnetic or true value. Durin...
Page 53: Data Pages
Chapter 3: adjusting smartpilot settings 43 data pages smartpilot controllers have 15 user-configurable pages. The following screens allow you to modify the settings for the data pages. These define which seatalk/ nmea data pages will be available during normal operation (see smartpilot operating gu...
Page 54: 3.3 User Calibration
44 smartpilot series commissioning guide note: there are 3 depth pages (meters, feet and fathoms) and 2 water temperature pages (°c and °f). The smartpilot will display the depth data or water temperature in the units defined by data page you select. 3.3 user calibration the user calibration group i...
Page 55: 3.4 Seatrial Calibration
Chapter 3: adjusting smartpilot settings 45 3.4 seatrial calibration the seatrial calibration group has been designed specifically for use during the initial seatrial when commissioning your smartpilot. Refer to chapter 2:smartpilot commissioning for full details. Caution: you should not need to acc...
Page 56
46 smartpilot series commissioning guide accessing dealer calibration dealer calibration d6409-2 sail boats only stern drives only not sail boats to exit & save changes 2 seconds 2 seconds (saves changes) + + st8001 & st8002 st6001, st6002 st7001 & st7002 or or to adjust values st6001, st6002, st700...
Page 57: Seatrial Calibration Lock
Chapter 3: adjusting smartpilot settings 47 dealer calibration screens and settings the items in dealer calibration vary according to the vessel type you have selected. See the table on page 57 for default values. Seatrial calibration lock this screen controls whether it is possible to access seatri...
Page 58: Drive Type
48 smartpilot series commissioning guide drive type the drive type setting controls how the smartpilot drives the steering system. The drive type should be set when commissioning the smartpilot (see page 25 ). Align rudder use this setting to calibrate the rudder bar display. This is usually set as ...
Page 59: Rudder Limit
Chapter 3: adjusting smartpilot settings 49 rudder limit use the rudder limit screen to set the limits of the rudder control just inside the mechanical end stops. This will avoid putting the steering system under unnecessary load. You should adjust this setting when commissioning the smartpilot (see...
Page 60: Rudder Damping
50 smartpilot series commissioning guide rudder damping adjust the rudder damping value if the smartpilot ‘hunts’ when trying to position the rudder. Increasing the rudder damping value reduces hunting. Increase the damping one level at a time until the autopilot stops hunting, and always use the lo...
Page 61: Response Level
Chapter 3: adjusting smartpilot settings 51 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 (...
Page 62: Off Course Warning Angle
52 smartpilot series commissioning guide off course warning angle this screen determines the angle used by the off course warning (see smartpilot operating guide ). The off course warning operates if the pilot strays off course by more than the specified angle for more than 20 seconds. Joystick mode...
Page 63: Autotack Angle
Chapter 3: adjusting smartpilot settings 53 autorelease (i/o drives only) only available if vessel type = sterndrv . Autorelease provides emergency manual over-ride in situations when you need to avoid an obstacle at the last moment. If the vessel type is set to stern drv (i/o or stern drive), you w...
Page 64: Wind Selection
54 smartpilot series commissioning guide wind selection note: only available if vessel type = sail boat and appropriate wind data is avail- able. This screen determines whether the boat steers to apparent or true wind in wind vane mode. Windtrim (wind response) note: only available if vessel type = ...
Page 65: Autoadapt
Chapter 3: adjusting smartpilot settings 55 autoadapt the autoadapt feature allows the smartpilot to compensate for heading errors, caused by the increasing dip of the earth’s magnetic field. At higher latitudes. This increased dip has the effect of amplifying rudder response on northerly headings i...
Page 66: System Reset
56 smartpilot series commissioning guide system reset warning: losing settings at system reset do not use this feature unless advised to do so by a raymarine dealer. If you complete a reset you will lose all smartpilot calibration settings. You will then need to repeat the smartpilot commissioning p...
Page 67: Dealer Calibration Defaults
Chapter 3: adjusting smartpilot settings 57 dealer calibration defaults vessel type fa ct or y de faul t di sp la ce me nt se mi - di sp la ce me nt pl an in g st er n d riv e ( i/o ) wo rk b oa t sa il bo at calibration lock off off off off off off off vessel type 0 displace semi displace planing s...
Page 68: Dealer Calibration Options
58 smartpilot series commissioning guide dealer calibration options the following dealer calibration options are available for displacement, semi- displacement, planing, stern drive (i/o), work boat & sail boat vessel types. Parameter options your settings calibration lock off, on vessel type displa...
Page 69: 4.1 Fault Finding
59 chapter 4: 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 a...
Page 70: Smartpilot Alarm Messages
60 smartpilot series commissioning guide 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...
Page 71
Chapter 4: fault finding & maintenance 61 drivestop 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. Check the dri...
Page 72: 4.2 Maintenance
62 smartpilot series commissioning guide 4.2 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. Emc, servicing and safety guidelines • raymarine equipment sh...
Page 73: Product Support
63 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 ...
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64 smartpilot series commissioning guide 81273_1.Book page 64 thursday, november 10, 2005 8:25 am.
Page 75: Smartpilot Specifications
65 smartpilot specifications smartpilot computer specifications nominal supply voltage: s1/s1g s2/s2g s3/s3g 12 v dc (fuse protected at 15a) 12 v dc (fuse protected at 30 a) 12 v or 24 v dc (fuse protected at 40 a) operating voltage range: s1/s1g/s2/s2g s3/s3g 10 v to 16 v dc 10 v to 32 v dc power c...
Page 76
66 smartpilot series commissioning guide warning: potential ignition source contains a possible source of ignition - not protected for use in engine compartments. Outputs s1 systems s2 & s3 systems nmea 0183 v2.3, seatalk (x2), drive motor, drive clutch nmea 0183 v2.3 (x2), seatalk (x2), drive motor...
Page 77: Glossary
67 glossary term meaning ast (advanced steering technology) ast (advanced steering technology) 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. Autolearn self-l...
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68 smartpilot series commissioning guide 81273_1.Book page 68 thursday, november 10, 2005 8:25 am.
Page 79: Index
69 index a alarms , 60 auto release , 60 current limit , 60 drive stopped , 61 low batt , 61 lrn fail , 61 mot pow swapped , 61 no data , 61 no pilot , 61 rg fail , 61 seatalk/stlk fail , 62 autolearn , 31 autorelease alarm , 60 calibration , 53 autotrim , 50 c calibration non-g systems , 34 calibra...
Page 80
70 smartpilot series commissioning guide h help lines , 63 j joystick calibration , 52 l learn fail alarm , 61 low battery alarm , 61 m maintenance , 62 – 63 motor/power swapped alarm , 61 n nmea inputs , 13 outputs , 13 nmea connections , 12 no data alarm , 61 no pilot alarm , 61 p performance , 34...
Page 81: Raymarine Inc.
Raymarine world wide warranty i raymarine world wide warranty raymarine inc. Applicable to products sold through official raymarine inc. Dealers, distributors and boat builders within the americas and caribbean. Limited warranty subject to the terms, conditions and limitations set forth in this u.S....
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Ii upon the expiration of the on board warranty period, you are still eligible to receive standard warranty service for the remaining term of the warranty period, but will not be eligible for continued on board warranty service. Limitations and exclusions in addition to any other limitations and exc...
Page 83: Raymarine Uk Ltd.
Raymarine world wide warranty iii raymarine uk ltd. Applicable to product sold through official raymarine uk ltd. Dealers, distributors and boat builders within europe, the middle and far east, africa and australasia. Limited warranty the raymarine warranty terms and conditions as described below do...
Page 84
Iv 3.2 in cases where the customer is requesting a warranty service and a raymarine certified installer has not installed the product; i.E. Product warranty, the affected product must be returned to the customer’s local raymarine approved service agent or direct to raymarine with: 3.2.1 proof of pur...
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Raymarine world wide warranty v 4.10 if repairs are necessary under the warranty, the affected product must be forwarded to a raymarine facility or a raymarine approved service agent, at the owner’s expense. 4.11 the raymarine warranty does not cover any differences in material, coloring or size bet...
Page 86: Raymarine Service Centers
Vi purchased from purchase date dealer address installed by installation date commissioned by commissioning date owners name mailing address raymarine service centers north and south america raymarine technical support 1-800-539-5539 or, +1 603-881-5200 product repair and service raymarine product r...