Raymarine S1 s2 s3 Smart Pilot Installation Commissioning Guide 81273 2
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Document reference 812732Date April 2006812732book Page 1 Monday April 3 2006 347 Copyright Raymarine UK Ltd Autohelm HSB High Speed Bus SailPilot SeaTalk and SportPilot are registered trademarks of Raymarine UKLtd Raymarine SmartPilot AST Advanced Steering Technology AutoAdapt AutoLearn AutoRelease AutoSeastate AutoTack AutoTrim FastTrim GyroPlus RayGyro RayPilot and WindTrim are trademarks of Raymarine Page 2 Monday April 3 2006 347 PMImportant the documentation to Raymarine SmartPilot The autopilot system that will steer your boat to a heading automatically accurately reliably and documentation is arranged so that you can install commission and quickly use your SmartPilot keeping to hand only the information 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 Commissioning Guide This book Describes how to connect commission and configure the systemQuick Start Guide Once commissioned use your Smart Pilot right away with this handy guide to the main Operating Guide Detailed operating information about your SmartPilotNote This handbook contains important information about the installation and commissioning of your new Raymarine product At the back there is an index and glossary of terms To get the best from the product please read this handbook Controller handbook allows you to commission your SmartPilot with any of the available SmartPilot controllers The control method for each controller is detailed below ST6001 ST6002 ST7002 ST8002 autofunction keys1 1 10 course change keysdisp track extended function keysstandby autofunction keys1 1 10 course change keysresp track mode resm dispdown extended function keysstandby autofunction keysRotary course change controlresp track mode resm dispextended function keys812732book Page i Monday April 3 2006 347 PMiiSmartPilot Series Commissioning GuideSafety noticesWARNING Product 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 andor damage to your boat CAUTION Before installing the SmartPilot computer and drive unit check that they are the correct voltage for your boats supply As correct performance of the boats steering is critical for safety we STRONGLY RECOMMEND that an Authorized Raymarine Service Representative fits this product You will only receive full warranty benefits if you can show that an Authorized Raymarine Service Representative has installed or commissioned this product WARNING Electrical safetyMake sure the power supply is switched off before you make any electrical connections WARNING Calibration requirementWe 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 WARNING Navigation aidAlthough 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 Your SmartPilot will add a new dimension to your boating enjoyment However it is the skippers responsibility to ensure the safety of the boat at all times by following these basic rulesEnsure that someone is present at the helm AT ALL TIMES to take manual control in an emergencyMake sure that all members of crew know how to disengage the check for other boats and any obstacles to navigation no matter how clear the sea may appear a dangerous situation can develop Page ii Monday April 3 2006 347 Important an accurate record of the boats position by using either a navigation aid or visual a continuous plot of your boats 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 cannotEven 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 errorsEMC GuidelinesAll 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 Compatibility EMC standards but correct installation is required to ensure that performance is not compromised Although every effort has been taken to ensure that they will perform under all conditions it is important to understand what factors could affect the operation of the productThe guidelines given here describe the conditions for optimum EMC performance but it is recognized that it may not be possible to meet all of these conditions in all situations To ensure the best possible conditions for EMC performance within the constraints imposed by any location always ensure the maximum separation possible between different items of electrical equipmentFor optimum EMC performance it is recommended that wherever equipment and cables connected to it areAt least 3 ft 1 m from any equipment transmitting or cables carrying radio signals eg VHF radios cables and antennas In the case of SSB radios the distance should be increased to 7 ft 2 mMore than 7 ft 2 m from the path of a radar beam A radar beam can normally be assumed to spread 20 degrees above and below the radiating elementThe equipment is supplied from a separate battery from that used for engine start Voltage drops below 10 V and starter motor transients can cause the equipment to reset This will not damage the equipment but may cause the loss of some information and may change the operating mode812732book Page iii Monday April 3 2006 347 PMivSmartPilot Series Commissioning GuideRaymarine 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 manualIf a suppression ferrite is attached to a cable this ferrite should not be removed If the ferrite needs to be removed during installation it must be reassembled in the same positionEMC suppression ferritesThe following illustration shows typical cable suppression ferrites used with Raymarine equipment Always use the ferrites supplied by Raymarine Connections to other equipmentIf your Raymarine equipment is to be connected to other equipment using a cable not supplied by Raymarine a suppression ferrite MUST always be attached to the cable near to the Raymarine unitWaste from Electrical and Electronic Equipment WEEEectiveThe Waste from Electrical and Electronic Equipment WEEE Directive requires the recycling of waste electrical and electronic equipment Whilst the WEEE Directive does not apply to some of Raymarines products we support its policy and ask you to be aware of how to dispose of this productThe 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 landfillPlease contact your local dealer national distributor or Raymarine Technical Services for information on product informationTo 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 812732book Page iv Monday April 3 2006 347 the documentation provided iWARNING Product Electrical Calibration Navigation aidiiEMC Guidelines iiiEMC suppression to other information 1System Connections 111Before you start 112The SmartPilot computer 2SmartPilot and replacing the connector cover 3WARNING Electrical inputs outputs and the Power and the Drive unit 5Grounding the Protection 816How to connect SmartPilot system elements 8Securing the Cables917How to connect SeaTalk equipment 9Single control unit single power control unit single power supply S2 and S3 computers only10Separate SmartPilot computer and instrument power10WARNING Use correct SeaTalk or NMEA to connect NMEA equipment 12WARNING Connections to other computer NMEA connectivity to connect optional components 14GyroPlus yaw alarm15Wind vane sail Page v Monday April 3 2006 347 PMviSmartPilot Series Commissioning GuideOff switch S2 and S3 spool valves S2 and S3 clutch voltage S3 S3G the cables 17S1 systems17S2 and S3 Commissioning 19WARNING Calibration Controller Checks 19WARNING Ensure safe control19Step 1 Switch 2 Check the SeaTalk and NMEA navigator instrument 3 Check the autopilot operating sense21Check the rudder position sensor21Check the autopilot steering sense22Step 4 Adjust key SmartPilot Dealer Calibration mode23Set the vessel type23Set the drive type25Align the rudder position sensor26Set the rudder limits26Save the new Calibration 27Seatrial the the heading SmartPilot steering AutoLearn safety31Manual setup NonG SmartPilot the rudder the counter adjustments Page vi Monday April 3 2006 347 PM SmartPilot Settings basics 39Calibration the Calibration Calibration 41Display Calibration bar pilot timeout ST7001 ST7002 ST8001 ST8002 only42Data pages 4333User Calibration 4434Seatrial Calibration 4535Dealer Calibration 45Accessing Dealer Calibration screens and Calibration lock 47Vessel type 47Drive type 48Align rudder48Rudder limit 49Rudder gain 49Counter rudder49Rudder 50Response level 51Turn rate limit51Off course warning mode PWR IO drives only53AutoTack angle53Gybe inhibit53Wind wind reset56WARNING Losing settings at system reset56Dealer Calibration Calibration Page vii Monday April 3 2006 347 Series Commissioning GuideChapter 4Fault Finding Maintenance 5941Fault finding 59SmartPilot alarm 62EMC servicing and safety support63World wide web63Telephone help line63Help us to help Potential ignition Page viii Monday April 3 2006 347 PMChapter 1System chapter describes how to connect the elements of the SmartPilot system together and integrate connections from other equipment on your boat11Before you startEnsure the following core elements of the system have been fitted in accordance with the supplied installation Computer S1 S1G S2 S2G S3 S3GSmartPilot Controller ST6001 ST6002 ST7001 ST7002 ST8001 or ST8002Drive UnitNote For Volvo Penta IPS autopilot systems the rudder reference and drive units are not required For more information please refer to the Connections guide supplied with the DPUThe remainder of this chapter covers the connection of these units When complete the core system will be connected like this Key Page 1 Monday April 3 2006 347 PMR2SmartPilot Series Commissioning Guide12The SmartPilot computerThe 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 control the drive unit and the drive motorit is the central distribution point for the autopilot system with terminals to take power from the boats distribution panel and inputsoutputs for all other autopilot componentsit has inputsoutputs for SeaTalk and NMEA so you can connect it to Raymarine and other manufacturers typesS1G S2G and S3G Smartpilots have a builtin yaw sensor Gyro which measures the boats rate of turn This information is used to enhance course keeping in adverse weather and sailing conditions NonG systems do not contain a builtin Gyro These can be upgraded with a dealerfitted internal Gyro or connecting an external Gyro unit SmartPilot unit Gyro12 VAll Raymarine Type 1 12 V drives and pumps excluding 12 V Constant Running pumpYes12 VAll Raymarine Type 1 12 V drives and pumps excluding 12 V Constant Running pump12 VAll Raymarine Type 1 12 V drives and pumps including 12 V Constant Running pumpYes12 VAll Raymarine Type 1 12 V drives and pumps including 12 V Constant Running pump12 V or 24 VAll Raymarine 12 V and 24 V Type 1 Type 2 and Type 3 drives and pumps Drive voltage must be matched to boats supply voltageYes12 V or 24 VAll Raymarine 12 V and 24 V Type 1 Type 2 and Type 3 drives and pumps Drive voltage must be matched to boats supply voltage Volvo Penta IPS S3G12 V or 24 VOnly to be used with Volvo Penta IPS Drive Page 2 Monday April 3 2006 347 PMChapter 1 System and replacing the connector coverWARNING Electrical safetyBefore you make any electrical connections ensure the power supply is switched off and you have read the EMC installation guidelines see page iii S1 SystemsS2 and S3 Systemshold the bottom of the connector covergently lift the connector cover away from the base and the lid will come freeuse a flatbladed screwdriver or small coin to rotate the catch turn 90either direction until you hear a click and the slot is horizontallift off the cover replace the covergently press the sides of the cover until you hear it clickreplace the coverturn the catch so the slot is verticalpush in the catch until you hear it click To openTo openTo closeTo Page 3 Monday April 3 2006 347 Series Commissioning GuideComputer inputs outputs and fusesS1 Systems S2 and S3 Systems fusePower fuseNote Spare fuses locatedSeaTalk fusePower fuseS2 30 AS3 40 ASeaTalkPower inputsS2 12 VS3 12 V or 24 VS3 12 V or 24 V812732book Page 4 Monday April 3 2006 347 PMRRChapter 1 System the Power and the Drive unitCAUTION 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 For Volvo Penta IPS autopilot systems a motor connection is not required For more information please refer to the Connections guide supplied with the DPUTo connect the power and motor connections follow the steps below1Measure the total length of cable run from the boats distribution panel to the SmartPilot computer 2Select the appropriate size cable distribution panel to SmartPilot computer Note These specifications apply to the cabling for CR solenoids Power the CR pumpmotor separately as specified in the CR pump installation guideCable lengthS1S2 Cable gaugeCopper area Type 1 drive 1224 V IO driveVolvo Penta IPS system S3GCR pump solenoidsup to 3m 10ftup to 5m 16ftup to 7m 23ftup to 10m 32ft14 AWG12 AWG10 AWG25 mm4 mm6 mm10 mmType 2 drive 12 Vup to 5m 16ftup to 7m 23ft10 AWG6 mm10 mmType 2 drive 24 Vup to 3m 10ftup to 5m 16ftup to 10m 32ft12 AWG10 AWG4 mm6 mm10 mmType 3 drive 12 Vup to 5m 16ft10 mmType 3 drive 24 Vup to 5m 16ftup to 7m 23ft10 AWG6 mm10 mm812732book Page 5 Monday April 3 2006 347 PM6SmartPilot Series Commissioning Guide3Select the appropriate circuit breaker or fuse 4Route the cables back to the SmartPilot the cables to the POWER inputs Drive unitS1S2 Fuse Thermal overcurrent circuit breaker Rotary linear hydraulic pumphydraulic linearType 1 12 VType 1 24 VType 2 12 VType 2 24 VType 3 12 V and 24 V20 A20 A30 A30 A30 AIO drive15 A10 ACR pump solenoidsVolvo Penta IPS system S3G10 A10 AS1 SystemsS2 S3 SystemsStrip 810 mm inof insulation from the end of each cableUse a small screwdriver to loosen the screw on the terminal blockInsert the stripped cable into the terminal and tighten the screw Strip 810 mm inf insulation from the end of each cableFor the POWER connection Attach the suppression ferrite suppliedaround both the positive and negative power cables between the cable clamp and SmartPilot computerWhen you attach the ferrite you must loop both power cables so that the ferrite encloses two passes of each cableSecure the ferrite with the small tiewrapUse a small screwdriver to loosen the screw on the terminal blockInsert the stripped cable into the terminal and tighten the screw 812732book Page 6 Monday April 3 2006 347 PMRRChapter 1 System the drive cables to the MOTOR inputs These cables can be connected any way round as their orientation is verified later in the process Grounding the SmartPilot S1 SystemsS2 S3 systems MUST be connected to ships ground Failure to connect the SmartPilot to ships ground may cause it or other onboard electronics to function incorrectlyUse flat tinned copper braid 30 A rating in or greater Equivalent stranded wire diameter 4mm or greater Using the supplied yellow inmale spade connector connect the braid to RFGND on the SmartPilot computerThe other 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 negative pole of the battery ideally at the battery itselfKeep the length of the earth strap as short as S3 systems MUST NOT be connected to ships groundIf the installed location has a metallic surface you must insulate the base of the computer so it is not Page 7 Monday April 3 2006 347 Series Commissioning Guide15Fuse ProtectionThe POWER and SeaTalk terminals are fuse protected against shortcircuits and misconnections Your SmartPilot computer is supplied with spare fuses The fuses used in the computer are standard automotive blade fuses so replacements are easily available Your Raymarine dealer can also provide a replacement fuse pack 16How to connect SmartPilot system elementsAll SmartPilot computer terminals will accept stranded cable up to the following elements as shown in the Controller via SeaTalkNote For Volvo Penta IPS autopilot systems a rudder sensor is not required For more information please refer to the Connections guide supplied with the DPU Page 8 Monday April 3 2006 347 PMRChapter 1 System the Cables1Strip at least 5 mm inf insulation from the end of each cable2Use a small screwdriver to push the small plastic lever on top of the terminal and release the cable clamp3Insert the stripped cable and release the lever to grip the cable 17How to connect SeaTalk equipmentNote For Volvo Penta IPS autopilot systems please refer to the Connections guide supplied with the DPUYou can use SeaTalk to connect your SmartPilot toadditional SeaTalk controllers you can use any controller to operate the SmartPilot and view autopilot equipment such as instruments chartplotters radar and GPSthe SmartPilot can use information from this equipment to enhance course keeping and provide additional featuresyou can also display information from the SeaTalk equipment on the SmartPilot controllerThe following illustrations show some typical ways to connect simple SeaTalk systems Single control unit single power supplyThe simplest type of system has the SmartPilot computer providing power to a single SeaTalk bus that includes a single controller and several instruments 812732book Page 9 Monday April 3 2006 347 Series Commissioning GuideIsolated control unit single power supply S2 and S3 computers onlyIf 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 systemone control unit is connected on its own to SeaTalk A so it is isolated against any possible failure of SeaTalk BIf the SeaTalk B line fails the isolated control unit will switch to Standby mode as a safety measure By pressing auto on the isolated control unit you can regain full autopilot control Note Depending on the number of SeaTalk units and the total length of SeaTalk cabling you may need to provide12 V power supply to each end of the SeaTalk bus ringmain stylefer to the instrument handbook for more SmartPilot computer and instrument powerAnother option is to provide separate power supplies to the SmartPilot computer and SeaTalk system so you can have independent switched instrument and pilot systems Note DO NOT connect the SeaTalk RED wire at the SmartPilot Use correct fuseThe fuse supplying the instrument system MUST be rated at 5A or lessThe behavior of the computer and the instruments now depend on where power is applied to the Page 10 Monday April 3 2006 347 PMRTMChapter 1 System AND instrument power supplies ON The system will function normallyOnly computer power supply ON The controller and instruments do not power upOnly instrument power supply ON The controller shows a PILOT OFF or NO LINK message Connecting SeaTalk or NMEA compassesYou can connect SeaTalk or NMEA compasses to the SmartPilot computer either to replace the fluxgate compass or provide supplementary compass signalsWhen you connect more than one compass to the autopilot system the computer processes their signals in this order of compass2NMEA compassThis means that if you want to use a NMEA compass as the primary compass you need to disconnect the fluxgate compass To connect a SeaTalk or NMEA compass to the autopilot systemNMEA compass connect it to a NMEA input on the compass connect it to the SeaTalk bus or the SeaTalk Page 11 Monday April 3 2006 347 Series Commissioning Guide18How to connect NMEA equipmentIf you have equipment on your boat that transmits or receives NMEA 0183 data eg GPS you can connect this equipment to the SmartPilot NMEA equipment can be connected in any combination of these waysusing the SmartPilot computer NMEA the NMEA input on the back of the SmartPilot controller Refer to the Controller handbook for NMEA data detailsusing the SeaTalkNMEA interface part number E85001 to convert the NMEA data to SeaTalk dataWARNING Connections to other equipmentIf you are connecting Raymarine equipment to other equipment using a nonRaymarine cable you MUST attach an appropriate suppression ferrite to the cable near to the Raymarine unit Page 12 Monday April 3 2006 347 PMTMRChapter 1 System computer NMEA Do NOT connect more than one piece of equipment to each SmartPilot computer NMEA inputNMEA connectivity overview Note When connected to a NMEA navigator S2 S3 systems look at NMEA1 first If NMEA1 has no data it then looks at NMEA2 Ifboth channels have the same type of navigation data NMEA1 is usedS1 SystemsS2 S3 SystemsThe S1 has a single NMEA inputoutput to receive and transmit information from NMEA equipmentS2 and S3 systems have two sets of NMEA inputsoutputs to receive and transmit information from NMEA equipment SmartPilot computer NMEA inputsNMEA 0183 receivedS1S2 Information track error bearing to waypoint waypoint numberbearing to waypoint distance to waypoint waypoint number wind angle apparent wind speedRMAcourse over ground COGpeed over ground track error bearing to waypoint distance to waypoint waypoint over ground COGpeed over ground time through water over ground COGpeed over ground SOGVWRrelative apparent wind angle relative apparent wind speedXTEcross track errorZDAtime date812732book Page 13 Monday April 3 2006 347 PM14SmartPilot Series Commissioning Guide Notes1 S1G systems provide fast heading HDMutput at 5Hz 01 resolutionS2G S3G computers provide fast heading HDMput at 10Hz 01 resolution This fast heading data is suitable for use with the MARPA function on radar equipmentIn Volvo Penta IPS systems NMEA port 1 is reserved for connection to the DPU NMEA port 2 remains available for general purpose NMEA connections For more information please refer to the Connections guide supplied with the DPU19How to connect optional componentsNote For installation refer to the guide supplied with the component GyroPlus yaw sensorNonG SmartPilots do not contain a builtin Gyro but you have the option of adding an external GyroPlus part number E12101or a dealerfitted internal GyroPlus part number A18069Handheld remotesTwo wireless Raymarine handheld remote control systems are available the Smart Controller system can act as the sole pilot controller in your system or as a fullfunction remote for systems with other fixed pilot controllersthe compact S100 Controller system gives you full course control away from the main steering position SmartPilot computer NMEA outputsNMEA 0183 sentS1S2 to waypoint distance to waypoint waypoint number timeheadingVTG 2course over ground COG speed over ground SOG Note The computer will only transmit these items if it has received the appropriate 812732book Page 14 Monday April 3 2006 347 PMChapter 1 System 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 boatsThe SmartPilot computer can use wind angle information from a wind vane or instrument to maintain a course relative to the wind You can provide wind angle information to the autopilot system by connecting it to a suitable SeaTalk or NMEA instrument providing wind angle and speed informationOff switch S2 and S3 onlyThe SmartPilot computer has inputs so you can fit an off switch if required By closing a circuit this switch will turn off the computer power supplyConnect a suitable off switch to the OFF SWITCH inputs on the computer Other manufacturers drive units S2 and S3 onlyIf you are connecting another manufacturers drive unit refer to the specifications see page 65 for information on the SmartPilot computers drive motor drive clutch and drive solenoid terminals Connect the drive unit to these terminals as necessary For more information contact the drive unit spool valves S2 and S3 onlyIf the drive has spool valves connect them to the motor and solenoid terminals on the computer as shown below The computer provides a negative ground for the spool valves even when it is switched off812732book Page 15 Monday April 3 2006 347 Series Commissioning GuideCAUTION Do NOT connect the solenoid return cables to boats negative ground as this will bypass the current protection devices inside the SmartPilot computer Selecting clutch voltage S3 S3G onlyYou can use the S3 and S3G SmartPilot computers with other manufacturers drives that have either 12 V or 24 V clutches If you do this you may have to reposition the clutch fuseImportant All Raymarine 12V and 24V drive units with a clutch have a 12V clutch so you do NOT need to reposition the clutch fuse If you are using another manufacturers drive ascertain the operating voltage oftheCLUTCH Ensure the clutch fuse is set to the correct voltage ie to the left for a 12V clutch or right for a 24 V clutch If necessary select the appropriate clutch voltage by repositioning the clutch fuse It is important to appreciate that the fuse position does NOT depend on the voltage used on your boat but on the operating voltage of the CLUTCH spool valvesused on the same solenoids fit diodes suggested type the course computerFuse position 12 V CLUTCHFuse position 24 V Page 16 Monday April 3 2006 347 PMRRChapter 1 System the cablesS1 systemsTo 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 cable clamp to relieve any strain on the cable connections Referring to the illustrations below secure the cables with the cable clamp as follows 1Hold the cable clamp in place below the computer making sureits center hole is below the center of the computer ie in line with the connector cover catchit is at least 50 mm 2 in from the bottom of the computerthe hole locations are clear of any cables2Mark the position of the three holes then remove the cable clamp 3Drill the three pilot holes using a 3 mm in drill bit812732book Page 17 Monday April 3 2006 347 Series Commissioning Guide 4Secure the cable clamp using the selftapping screws suppliedNo8xin panhead making surethe tiewrap securing loops are on the right below the and MOTOR terminals on the computerthe clamp securely holds all cablesthe legs on cable clamp do not pinch any of the cables Note If the power andor motor cables are larger than 5 mm in diameter secure them on top of the cable clamp with the tiewrap supplied Make sure the tiewrap sits above the cables as shown below so it pulls the cables against the clamp when Page 18 Monday April 3 2006 347 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 requirementAll autopilot systems must be calibrated before useSmartPilot Controller SmartPilot system can be commissioned using any of the available SmartPilot controllers There are some differences in the method of control and these are defined in the table below 21Dockside ChecksWARNING Ensure safe controlFor safe control of your boat you MUST complete the dockside checks before starting the initial seatrial With the boat safely tied up complete the following dockside checksST6001 ST6002 ST7002 ST8002 Controller standby autofunction keys1 1 10 course change keysdisp track extended function keysstandby autofunction keys1 1 10 course change keysresp track mode resm dispdown extended function keysstandby autofunction keysRotary course change controlresp track mode resm dispextended function keys812732book Page 19 Monday April 3 2006 347 Series Commissioning GuideStep 1 Switch on1When you have installed your SmartPilot system switch on the main power breaker 2If the SmartPilot controller and computer are active the controller will beep show the controller type for a few seconds will show the may see a CALIBRATE REQUIRED message This is displayed for a short time ifeitherthe vessel type is not selectedthe compass is not will be calibrated later in this chapter3Check that the STANDBY screen displays a live compass heading and a rudder angle the SmartPilot controller does not beep or the display is blank check the fusecircuit breaker and the SeaTalk fuse in the SmartPilot computer If the display shows the SEATALK FAIL or NO DATA alarm message check the SeaTalk connectionsIf the STANDBY screen does not display a live compass heading or a rudder angle check the sensor connections Step 2 Check the SeaTalk and NMEA connectionsIf you have connected the SmartPilot controller to other existing SeaTalk instruments or controllers check the links as follows1Select display lighting level 3 LAMP 3 on one of the other SeaTalk instruments or SmartPilot should immediately switch on its display lightingif the lighting does not switch on check the SeaTalk cabling between the SmartPilot and the other Page 20 Monday April 3 2006 347 PMRChapter2 SmartPilot 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 disp to display the first data page XTE and check that this page shows the expected datapress disp again to check each successive data page BTWDTW etcIf the display shows dashes instead of data values check for the followingthe navigator is not switched on or not transmitting an active waypointa cabling error Check for open circuit short circuit or reversed wiresthe navigator is not configured to transmit the required data formatWind instrument connectionsIf you have connected the SmartPilot to a NMEA or SeaTalk wind instrument check the links by pressing standby and auto togetherthe SmartPilot should display the Wind Vane mode screen with the locked wind angle and locked heading if the controller does not display WIND mode the SmartPilot is not receiving wind data Check the wind instrument and 3 Check the autopilot operating senseCheck the rudder position sensor1Turn the wheel manually to that the rudder bar on the controller moves to starboard If the rudder bar display moves the wrong wayiturn off the power iireverse the red and green wires connected to the RUDDER inputs on the SmartPilot on the power and Page 21 Monday April 3 2006 347 Series Commissioning GuideCheck the autopilot steering sense1Manually center the wheel then press the auto key so the SmartPilot is in Auto modeCheck that the display shows AUTOBe ready to press standby if the rudder moves hardover 2Press the key once or turn the rotary control turn clockwise 3Check that the rudder moves to starboard a few degrees and then stopsif the rudder drives hardover immediately press standby to prevent further rudder movement4If the rudder moves to port or the rudder drives hardoveripress standbyiiturn off the the motor wires connected to the SmartPilot on the power and recheckNote If the rudder overshoots and has to drive back or starts to hunt back and forth you will need to increase the rudder damping level manually Seepage50Step 4 Adjust key SmartPilot settingsThe next step in the commissioning process requires the adjustment of some key settings To achieve this you will need to enter one of the four calibration modes Dealer Calibration For more information on the various calibration modes and their uses see Chapter3 Adjusting Page 22 Monday April 3 2006 347 PMRChapter2 SmartPilot Dealer Calibration modeAs 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 with the SmartPilot in STANDBY mode2Enter DEALER CAL as follows Note For more information on SmartPilot settings refer to Chapter3 Set the vessel typeWhen you select a vessel type the SmartPilot automatically selects appropriate default values for various other calibration settings Some of these settings will be checked later in this procedure and the remained should not require any adjustment The default values for each vessel type are listed on ST7002 and ST8001ST8002 and hold the standby key for two seconds to enter the Calibration modewhen the screen shows the disp key until you see the DEALERCAL screen press the auto key the display will change to press and together to enter Dealer Calibration modepress and hold the standby key for two seconds to enter the Calibration modewhen the screen shows the disp up or down arrow until you see the press the auto key the display will change to press and together ST7001ST7002 or press up and down arrow together ST8001ST8002to enter Dealer Calibration modeAt the CAL screen press together to enter DEALER CAL812732book Page 23 Monday April 3 2006 347 Series Commissioning GuideTo set the vessel type1Use the disp key to scroll through the Dealer Calibration pages until the display shows either VESSEL or one of the vessel types eg DISPLACE2Use the or keys or the rotary control to select your vessel type 3Press disp to select the new type of boat and move to the next calibration boats which do not planeTypically below 15 kts top speedSEMI DISPLACEFaster powerdriven boats which do not planeTypically 1520 kts top boats with inboard engines shaft drivesNOT boats with outdrivesSTERN DRVBoats with outdrives or outboard enginesWORK BOATCommercial tugs fishing vessels etcSAIL BOATSailing boat812732book Page 24 Monday April 3 2006 347 PMChapter2 SmartPilot the drive typeSmartPilot systems are designed to operate with a wide range of steering drives Use this calibration setting to select the fitted drive type1With the SmartPilot still in Dealer Calibration use the disp key to scroll through the calibration pages until you reach the DRIVETYP page2Use the or keys or the rotary control to select the appropriate drive type 3Press disp to select the drive type and move to the next calibration Type Setting Drive Type 3LinearRotary Typically found on yachtsIO stern Found on Powerboats Drive Type 4 Hydraulic reversing pumpUsed on yachts and powerboats with hydraulic steering Drive Type 5Constant running hydraulic pumps Controlled by solenoid valvesFound on light commercial and larger boatsS2 and S3 systems only812732book Page 25 Monday April 3 2006 347 Series Commissioning GuideAlign the rudder position sensor1With the SmartPilot still in Dealer Calibration press the disp key to scroll through the calibration pages until you reach the ALIGNRUD page2Center the rudder using the wheel3Use the 1 and keys or the rotary control to adjust the rudder bar so it reads at centerthe maximum adjustment available is 9 for S1 systems and 7 for S2 S3 systems If the offset is beyond these limits you will need to physically adjust the alignment of the sensor4Press disp to select the correct alignment and move to the next calibration optionNote Alternatively you can zero the rudder bar with the boat underway during the initial seatrial by manually steering a straight course then accessing the ALIGNRUD screen in Seatrial Calibration to adjust the offset Set the rudder limits1With the SmartPilot still in Dealer Calibration press the disp key to scroll through the calibration pages until you reach the RUDLIMIT page2Turn the wheel to move the rudderto the port end stop and note the angle on the rudder barto the starboard end stop and note the angle on the rudder bar3Use the 1 1 10 and 10 keys or the rotary control to set the rudder limit to 5 less than the lowest angle you have noted 4Press disp to select the new value and move to the next calibration optionSave the new settingsWhen you have adjusted these basic settings in Dealer and hold standby for two seconds your changes will be savedonce saved the controller will return to the STANDBY Page 26 Monday April 3 2006 347 PMChapter2 SmartPilot you have completed the dockside calibration you must complete SmartPilot setup by taking the boat on a short seatrial to1Calibrate the the automatic deviation the compass heading2Adjust SmartPilot settings to suit your on S1G S2G and S3G on NonG systemsTo achieve this you will need to enter another of the four calibration modes Seatrial Calibration For more information on the various calibration modes and their uses see page39Seatrial safetyCAUTION EMC check the installation before going to sea to make sure that it is not affected by radio transmissions engine starting can return to manual steering at any time during the seatrial by pressing the standby keyYou should only perform the initial seatrialwhen you have successfully completed the dockside calibrationin conditions of light wind and calm water so you can assess SmartPilot performance without the influence of strong winds or large wavesin waters that are clear of any obstructions so the boat has plenty of clear space to maneuverNote Before you start your seatrial make sure you have switched on any ancillary equipment such as a GPS providing course over ground COGpeed over ground SOGnd latitude LAT data a speed log providing speed through the waterhis information will help the SmartPilot achieve best Page 27 Monday April 3 2006 347 PM28SmartPilot Series Commissioning the compassNote This section does not apply if you have connected an NMEA compass to your SmartPilot Refer to the handbook supplied with the NMEA compass for information about calibration Deviating magnetic fields can cause significant compass errors on your boat The correction procedure reduces these errors to a few degrees so you MUSTperform this procedure as the first item in your initial seatrial The SmartPilot will then automatically correct the compass CAUTION Failure to complete the deviation correction will impair your SmartPilots performance on some compass headingsThe deviation correction procedure commonly called swinging the compass involves turning your boat in slow circles so the SmartPilot can determine the deviation and calculate any correction required You must carry out this procedure in calm conditions and preferably on flat waterInitial compass deviation the pilot in Standby mode enter Seatrial Calibration as follows see the following and hold standby for two seconds to enter Calibration modewhen you see the DISPLAYCAL screen press disp until you see the SEATRIALCAL screenpress auto to enter Seatrial Calibration Note If you cannot access Seatrial Calibration you need to disable the calibration lock This can be found in Dealer Calibration see page472The first page in Seatrial Calibration should be the If this is not the case use the disp key to page through the Seatrial Calibration items until you see Page 28 Monday April 3 2006 347 PMRChapter2 SmartPilot 3When you are ready to start press or turn the rotary control clockwise to select SWINGCOMPASSON On ST8001 ST8002 systems you must then press auto to start the compass swingThe controller will display TURN BOAT indicating the start of the calibration process 4Start turning the boat in slow circles with the boats speed below 2knots You will need to complete at least two circles taking at least 2minutes to complete each 360the display will show a TOO FAST message if you turn the boat too quickly for the SmartPilot computer to correct the compassApply less helm to turn in a larger circleNote If necessary you can quit the correction process by pressing the standbydispIf you then want to repeat the deviation correction return to the 5Continue slowly turning the boat until the controller beeps and displays the DEVIATION screen This indicates that the SmartPilot has completed the deviation correctionNote This screen shows the maximum deviation encountered over 360 not as an eastwest valueIf the deviation figure exceeds 15 or the display shows no deviation value the compass is being affected by ferrous objects on your boat You should move the compass to a better location Higher deviation figures are acceptable on steel boats 812732book Page 29 Monday April 3 2006 347 Series Commissioning GuideAligning the compass heading1Once the deviation is displayed press disp to move to the Heading Alignment page ALIGN HDG2Manually steer the boat on a steady course at a speed which enables you to hold that course 3If you have a GPS connected to your SmartPilot increase the boat speed to more than 3 knotspress auto the SmartPilot will then set the heading to agree with the COG course over groundeading received from the GPSas many factors can cause a difference between heading and COG such as tides and leeway affecting the boat you must then finetune the heading alignment so it matches the boats steering compass or a known transit bearing4Use 1 1 10 and 10 keys or the rotary control to adjust the displayed heading until it matches boats steering compass or a known transit bearing5Press and hold standby for 2 seconds to exit Seatrial Calibration and save the new compass settings If COG is available from GPS press to set autopilot heading to COG value then fine tune manually see below If COG is not available or after setting heading to COG align autopilot heading manuallyST6001 ST7001 ST6002 Page 30 Monday April 3 2006 347 PMRChapter2 SmartPilot the heading alignmentAfter completing the initial compass calibration you can make further adjustments to the alignment without having to swing the compass againAlthough the compass calibration removes most of the alignment error small errors a few degrees will probably remainIdeally you should check the heading reading against a number of known headings plot a deviation curve and determine the heading alignment value that will give the lowest average alignment error You can then enter this value on the Heading Alignment screen as described aboveIf the average heading error is more than 5 you should perform the compass deviation correction procedure again circling more slowly and in more favorable SmartPilot steering settingsThe next stage of the seatrial is to set key parameters that affect the SmartPilots steering using AutoLearn S1G S2G and S3G systems use AutoLearn a selflearning calibration feature that automatically adjusts rudder gain counter rudder and AutoTrim to suit your boatmanual setup NonG systems will require manual adjustment see page34 for AutoLearn safetyThe AutoLearn process requires a significant amount of CLEAR SEA SPACE in front of the boat The SmartPilot will take the boat through a number of zigzag maneuvers until it has acquired enough data These actions can result in sudden sharp turns especially when the AutoLearn function is run on more maneuverable boats Press the standby key at any time to cancel the AutoLearn and regain manual control of the boatNote For optimum AutoLearn results please ensure that your boats rudder is aligned correctly See page26 for more Page 31 Monday April 3 2006 347 Series Commissioning Guide 1Access the AUTOLEARN screen in Seatrial Standby mode press standby for 2 seconds then disp twice to see the SEATRIAL CAL screen iithen press auto to enter Seatrial Calibration and disp 4 times until you see the AUTOLEARN page 2Prepare to start the AutoLearn power boats steer straight ahead rudder centeredor nonplaning boats set a comfortable cruising speed For planing boats set the speed so the boat is just Page 32 Monday April 3 2006 347 PMTMRChapter2 SmartPilot boats with the sails down steer straight ahead rudder centeredand motor the boat at typical cruising speedif conditions are not calm head into the wind and waves3When you are ready to proceed press or turn the rotary control clockwiseOn ST8001 ST8002 systems you must also then press auto4The screen will then show the CLEAR TO MANEUVER message If it is safe to continue press auto to start the AutoLearn maneuversthe boat will start a series of zigzag turns and the display will show LEARNING with a number to indicate the current AutoLearn stagethis number will increase as AutoLearn the AutoLearn will be complete within 7 to 27 steps depending on boat and sea conditionsNote If you need to cancel the AutoLearn press the standby or disp key 5When the SmartPilot has finished learning the controller will beep and will display either LRN PASS or LRN FAILLRN PASS AutoLearn completed FAIL AutoLearn was not successful so should be repeated A failure code will also be displayed AutoLearn has not been carried out AutoLearn failed due to manual interruption AutoLearn failed probably due to drive or compass failure6Press and hold the standby key for two seconds to store the new settings 812732book Page 33 Monday April 3 2006 347 Series Commissioning GuideYour 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 setup NonG SystemsIf you have a NonG system you need to manually adjust the rudder gain counter rudder and AutoTrim settings based on your observations of the boats performance under SmartPilot control Adjust these settings when motoring your boat at cruising speed On sail boats repeat if necessary under sail to optimize the SmartPilot manually adjusting any of these settings familiarize yourself with basic SmartPilot onto a compass heading and hold the course steady If necessary steer the boat manually for a short time to check how the boat steers2Press auto to lock onto the current heading The SmartPilot should hold a constant heading in calm sea conditions3Use the 1 1 10 and 10 keys or the rotary control to see how the SmartPilot alters the course to port and standby to return to manual levelThe 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 the SmartPilot on a regular basis This controls the relationship between the SmartPilots course keeping accuracy and the amount of helmdrive activityWhilst it is not necessary to set the response level at this stage the testing of other parameters requires the temporary adjustment of response settings 812732book Page 34 Monday April 3 2006 347 PMChapter2 SmartPilot To temporarily change the response level1press and or resp to access the RESPONSE screen2use the or key or the up and down arrow keys to adjust the setting3press disp to confirm the the rudder gainBoats can vary widely in their response to helm and by adjusting the rudder gain you can change the SmartPilots steering Rudder gain is a measure of how much helm the SmartPilot applies to correct course errors higher settings mean more rudder is applied Complete the following test to determine whether the rudder gain is set correctly1Set RESPONSE to level 2 see above2Sail your boat at cruising speed in clear wateryou will find it easier to recognize the steering response in calm sea conditions where wave action does not mask steering auto to enter Auto mode then alter course by 40if the rudder gain is adjusted correctly the 40 course change should result in a crisp turn followed by an overshoot of no more than 5if the rudder gain setting is too high the 40 course change will result in a distinct overshoot of more than 5 and there may be a distinct S in the course ACorrect this oversteer by reducing the rudder gain settingif the rudder gain is too low the boats performance will be sluggish it will take a long time to make the 40 turn and there will be no overshoot BCorrect this understeer by increasing the rudder gain setting Screen TextEffect on 1The SmartPilot will gradually ignore repetitive boat movements and only react to true variations in course This gives the best compromise between power use and course 2This setting provides tighter course keeping but will lead to increased power consumption and drive unit 3This setting provides the tightest possible course Page 35 Monday April 3 2006 347 PM36SmartPilot Series Commissioning Guide To adjust the rudder gain1Access the RUDD GAIN screen in Dealer the or keys or the rotary control to adjust the rudder gain 3Press and hold standby for 2 seconds to save the changes4Press auto to check SmartPilot performance in Auto mode Adjusting the counter rudder If you intend to use RESPONSE level 3 the tightest possible coursekeeping on a NonG system you will need to adjust the counter rudder Counter rudder is the amount of rudder the SmartPilot applies to try to prevent the boat from yawing off course Higher counter rudder settings result in more rudder being appliedTo check the counter rudder setting 1Set RESPONSE to level 3 see page352Sail your boat at cruising speed in clear water3Press auto to switch the SmartPilot to Auto mode then make a 90 course changewhen gain and counter rudder are both set correctly the boat performs a smooth continuous turn with minimal overshootif the counter rudder is too low the boat will still overshootif counter rudder is too high the boat will fight the turn and make a series of short sharp turns this results in a very mechanical feel as the boat changes Page 36 Monday April 3 2006 347 PMTMChapter2 SmartPilot adjust the counter rudder1Access the COUNT RUD screen in Dealer Calibration see page232Use the or keys or the rotary control to adjust the counter rudder 3Press and hold standby for 2 seconds to save the changes4Press auto to check the SmartPilot performance in Auto mode Your SmartPilot is now calibrated and ready for use The only additional setting you may need to adjust is the response level see SmartPilot Operating Guide for more adjustments NonGOver time you may need to repeat these adjustments using a range of sea conditions and headings to achieve good overall performance You may also need to adjust the AutoTrim setting AutoTrim determines how quickly the SmartPilot applies standing helm to correct for trim changes caused for example by changes in the wind load on the sails or superstructure or an imbalance of engines Gain experience with your SmartPilot before attempting to adjust the AutoTrim setting On sail boats you can only evaluate the effect of AutoTrim while under sailIncreasing the AutoTrim level reduces the time the SmartPilot takes to get back onto the correct course but makes the boat less stableif the SmartPilot gives unstable course keeping and the boat snakes around the desired course decrease the AutoTrim levelif the SmartPilot hangs off course for excessive periods of time increase the AutoTrim levelIf you need to adjust AutoTrim go up one level at a time and use the lowest acceptable value The possible settings range from OFF no trim correction to 4 fastest trim correction To adjust the AutoTrimAccess the AUTOTRIM screen in Dealer CalibrationUse the or keys or the rotary control to adjust the AutoTrim level Press and hold standby for 2 seconds to save the changes Press auto to check the SmartPilot performance in Auto mode812732book Page 37 Monday April 3 2006 347 PM38SmartPilot Series Commissioning Page 38 Monday April 3 2006 347 SmartPilot SettingsThis 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 Chapter 2 before adjusting any calibration groupsThe Calibration mode has 4 main calibration groupsDisplay Calibration DISPLAY CALThe items in Display Calibration affect the individual controller They are stored in the controller and do not affect any other controllers connected through SeaTalkYou can adjust the Display Calibration settings as often as necessary for example to add or change information displayed on data pagesUser Calibration USER CALThe items in User Calibration vary according to the Vessel Type you have selected in Dealer Calibration You will probably need to access User Calibration on a fairly regular basis to adjust SmartPilot settings in response to changing on User Calibration can be found in the SmartPilot Controller Operation ManualSeatrial Calibration SEATRIAL CALThe Seatrial Calibration group is specifically designed for use during the initial seatrial see page27 of Chapter 2 for full detailsYou should not need to access Seatrial Calibration during normal Calibration DEALER CALThe Dealer Calibration group includes items that have a significant impact on operation and can affect your boats safety After you have completed the initial installation and seatrial you should not normally need to alter the Dealer Calibration values The items in Dealer Calibration vary according to the Vessel Type you have selected 812732book Page 39 Monday April 3 2006 347 PM40SmartPilot Series Commissioning GuideAccessing the Calibration modes You can only access Calibration mode from Standby mode1With the SmartPilot in Standby mode press and hold the standby key for 2 seconds The display will change to show DISPLAY CAL2Press the disp key to scroll through the 4 calibration Calibration DISPLAY CALUser Calibration USER CALSeatrial Calibration SEATRIAL CALDealer Calibration DEALER CALNote You can go backwards through the groups by pressing and holding the disp key for one second3When you reach the Calibration group you want to access press auto to enter that groupTo prevent accidental access we have made entry to Dealer Calibration more 812732book Page 40 Monday April 3 2006 347 PMRChapter3 Adjusting SmartPilot than the other groups After pressing auto the display will show CAL When you see this press the and keys or the up and down arrow keys together to enter Dealer you have entered one of the Calibration groupings press disp key to scroll down through the items within that groupingNote You can go backwards through the list by pressing and holding the disp key for one second5When you reach an item you wish to adjust use the 1 1 10 and 10 keys or the rotary control as appropriate to change the value6If you then want to adjust settings in another Calibration group press standby and then repeat steps 2 to 5 as necessary7When you have made all the changes you want to make press and hold standby for two seconds to exit Calibration mode and save Calibration Display Calibration allows you to select the type of bar graph and heading shown on the SmartPilot display and set the information to be shown on the data pages ST6001 Page 41 Monday April 3 2006 347 Series Commissioning GuideDisplay Calibration screensDisplay bar selectionThis screen allows you to select what information is displayed at the bottom of the SmartPilot displayHeading selectionThis screen allows you to display any heading as either a magnetic or true value During normal SmartPilot operation the screen will indicate MAG for magnetic headings and TRUE for true headings Popup pilot timeout ST7001 ST7002 ST8001 ST8002 onlyDuring normal operation you can set the controller so it has a data page as the main display see SmartPilot Operating Guideenever there is a change in the autopilot mode a screen will popup After a short period the display reverts to the selected data page The default popup time is 5 seconds You can use this setting to adjust the popup pilot display timeout OptionsRUDD BAR Default Rudder position bar It uses the bar graph to show the true rudder angle Requires rudder position sensor for accurate rudder BARThis setting uses the bar graph to indicate different information in different operating modesSTANDBY rudder position barAUTO heading error bar in 2 cross track error XTEin 002 nm incrementsWIND VANE wind angle error bar in 2 incrementsNo bar is MAGMagnetic headingHDG TRUETrue headingScreen TIMEOUT1 seconds to 10 secondsDefault 5 Page 42 Monday April 3 2006 347 PMChapter3 Adjusting SmartPilot Settings43Data pages SmartPilot controllers have 15 pages The following screens allow you to modify the settings for the data pages These define which SeaTalkNMEA data pages will be available during normal operation see SmartPilot Operating Guide Each data page setup screen initially shows the title DATA PAGE and the page number After 1 second the text changes to the title of the data set for that pageThe default settings are Note It is good practice to keep the BTW and pages for display If your SmartPilot receives a man overboard MOB message these data pages will show the bearing and distance to the MOB locationTo change the data displayed on a data page1Press disp to move to the appropriate data page setup screen2Use the and keys or the rotary control to scroll forwards or backwards through the available data pages see following table3Then press disp to move to the next data page you want to change or press and hold standby for 2 seconds to save changes Data PageDefault Setting1XTE Cross Track Error2BTW Bearing to Waypointee Note below3DTW Distance to Waypoint see Note pagesNOT USED These pages are not displayed when you scroll through the data pages during normal Data PagesDisplayed asSpeed KnotsSPEED KTSLog XXXXXTripTRIP XXXXAverage Speed KnotsAV SPD KTSWind Directioneg WIND PORTWind SpeedWIND KTS812732book Page 43 Monday April 3 2006 347 PM44SmartPilot Series Commissioning GuideNote There are 3 depth pages meters feet and fathoms and 2 water temperature pages C and Fe SmartPilot will display the depth data or water temperature in the units defined by data page you select 33User CalibrationThe User Calibration group includes settings that you may need to adjust on a regular basis due to changing conditions The User Calibration options AUTO TACK GYBE STOP WIND TYPE WIND TRIM and RESPONSEre also available via Dealer Calibration see page45 The SmartPilot Operating Guide contains specific User Calibration MetresDEPTH M see Note belowDepth FeetDEPTH FT see Note belowDepth FathomsDEPTH FA see Note Temperature Degrees CWATER C see Note belowWater Temperature Degrees FWATER F see Note belowCourse Over GroundSpeed Over Ground KnotsSOG KTSCross Track to to GainRUDD used to control the Watch timerUniversal Time CoordinatedNOT USEDPage not displayedAny data page set to NOT USED is not displayed when you scroll through the data pages during normal Data PagesDisplayed as812732book Page 44 Monday April 3 2006 347 PMChapter3 Adjusting SmartPilot CalibrationThe Seatrial Calibration group has been designed specifically for use during the initial seatrial when commissioning your SmartPilot Refer to Commissioning for full details CAUTION You should not need to access Seatrial Calibration to adjust settings during normal CalibrationThe Dealer Calibration group includes items that have a significant impact on SmartPilot operation and can affect your boats safety Once you have commissioned the SmartPilot you should not normally need to alter the Dealer Calibration Dealer CalibrationTo prevent accidental access we have made entry to Dealer Calibration more difficult than the other calibration groupsTo access Dealer Calibration ST6001 ST6002 ST7002 ST8001 ST8002 and hold the standby key for two seconds to enter the Calibration modewhen the screen shows the disp key until you see the DEALERCAL screen press the auto key the display will change to press and together to enter Dealer Calibration modepress and hold the standby key for two seconds to enter the Calibration modewhen the screen shows the disp up or down arrow until you see the press the auto key the display will change to press up and down arrow keystogether to enter Dealer Calibration mode812732book Page 45 Monday April 3 2006 347 PM46SmartPilot Series Commissioning Guide ST6001 ST6002 ST6001 ST6002 812732book Page 46 Monday April 3 2006 347 PMRChapter3 Adjusting SmartPilot Calibration screens and settingsThe items in Dealer Calibration vary according to the vessel type you have selected See the table on page57 for default values SeaTrial Calibration lock This screen controls whether it is possible to access Seatrial Calibration Vessel type Vessel type should be set when commissioning the SmartPilot see page23 Notes1 When you select the vessel type the SmartPilot will set appropriate defaults for several other calibration settings Refer to the table on page57 for default valuesThe vessel type options will normally give optimum performance for typical vessels of each type However you may find you can improve the performance of your vessel by selecting an option for a different vessel typeOptionsCAL LOCK OFFCalibration lock off Seatrial calibration can be accessed defaultCAL LOCK ONCalibration lock on Seatrial calibration cannot be boats which do not planeTypically below 15 kts top speedSEMI DISPLACEFaster powerdriven boats which do not planeTypically 1520 kts top boats with inboard enginesaft drivesNOT boats with outdrivesSTERN DRVBoats with outdrives or outboard engines including Mercury Verado and Volvo Penta IPSWORK BOATCommercial tugs fishing vessels etcSAIL BOATSailing boat812732book Page 47 Monday April 3 2006 347 PM48SmartPilot Series Commissioning GuideDrive type The drive type setting controls how the SmartPilot drives the steering system The drive type should be set when commissioning the SmartPilot see page25 Align rudderUse this setting to calibrate the rudder bar display This is usually set as part of the commissioning process see page26his screen also appears in the Seatrial Calibration grouping DriveDrive Type Setting Drive Type 3LinearRotary Typically found on yachtsIO sternFound on Powerboats Drive Type 4 Hydraulic reversing pumpUsed on yachts and powerboats with hydraulic steering Drive Type 5Constant running hydraulic pumps Controlled by solenoid valvesFound on light commercial and larger boatsS2 and S3 systems onlyScreen TextRangeALIGN RUDDERS1 Systems S2 S3 Systems9 to 9 in 1 steps7 to 7 in 1 Page 48 Monday April 3 2006 347 Adjusting SmartPilot 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 page26 Rudder gain Rudder gain is a measure of how much helm the SmartPilot will apply to correct course errors The higher the setting the more rudder will be applied The default rudder gain is set during the initial seatrialS1G S2G and S3G systems will adjust the rudder gain automatically during AutoLearn see will require manual adjustment of rudder gain see page35You can make temporary changes to this rudder gain value during normal operation see SmartPilot Operating Guide Counter rudderCounter rudder is the amount of rudder the SmartPilot applies to try to prevent the boat from yawing off course Higher counter rudder settings result in more rudder being appliedThe default counter rudder gain is set during the initial seatrialS1G S2G and S3G systems will adjust the counter rudder setting automatically during the AutoLearn see page31NonG systems will require manual adjustment of counter rudder see page36 Screen LIMIT10 to 40 in 1 stepsScreen TextRangeRUDD GAIN1 to 9Screen TextRangeCOUNT RUD1 to 9812732book Page 49 Monday April 3 2006 347 PM50SmartPilot Series Commissioning GuideRudder dampingAdjust 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 lowest acceptable value AutoTrim The AutoTrim setting determines the rate at which the SmartPilot applies standing helm to correct for trim changes caused by varying wind loads on the sails or default AutoTrim is set during S2G and S3G systems will adjust the AutoTrim setting automatically during the AutoLearn see page31NonG systems will require manual adjustment of AutoTrim see page37after the initial seatrialIf you need to change the setting increase the AutoTrim one level at a time and use the lowest acceptable valuedecrease the AutoTrim level if the SmartPilot gives unstable course keeping or excessive drive activity with a change in the heel angleincrease the AutoTrim level if the SmartPilot reacts slowly to a heading change due to a change in the heel angleif the AutoTrim level is too high the boat will be less stable and snake around the desired courseNote S1G S2G and S3G systems have a FastTrim feature within AutoTrim Select AUTO TRIM OFF to turn off FastTrim as well as AutoTrim Screen TextRangeRUDD DAMP1 to TRIM OFFNo trim correctionAUTO TRIM 1Slow trim correctionAUTO TRIM 2Medium trim correctionAUTO TRIM 3Rapid trim correctionAUTO TRIM 4Very rapid trim Page 50 Monday April 3 2006 347 PMChapter3 Adjusting SmartPilot level This sets the default SmartPilot response level setting The response level controls the relationship between course keeping accuracy and the amount of helmdrive activity You can make temporary changes to response during normal operationsee SmartPilot Operating Guide S1G S2G and S3G Systems NonG systems Turn rate limitNote Not available if vessel type SAIL BOATThis limits your boats rate of turn under SmartPilot control Screen 1 to 9 level 1 minimizes the amount of pilot activity This conserves power but may compromise shortterm coursekeeping accuracylevels 4 to 6 should give good course keeping with crisp well controlled turns under normal operating 9 gives the tightest course keeping and greatest rudder activity and power consumptionhis can lead to a rough passage in open waters as the SmartPilot may fight the seaScreen 1AutoSeastate on Automatic deadbandThe 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 2AutoSeastate off minimum deadbandThis setting provides tighter course keeping but will lead to increased power consumption and drive unit 3AutoSeastate off counter rudder yaw dampingThis setting provides the tightest possible course keeping by introducing counter rudder yaw dampingScreen TextRangeTURN RATE1 to 30 per second in 1 Page 51 Monday April 3 2006 347 PM52SmartPilot Series Commissioning GuideOff course warning angleThis 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 PWR STEERIf you have a joystick connected to your Smartpilot use this screen to select the required joystick mode of operation For detailed operating information refer to the guide supplied with the joystick Screen TextRangeOFF COURSE15 to 40 in 1 off Proportional power power steer applies rudder in proportion to joystick movement the further the joystick is held over the greater the applied rudder Bangbang power steerBangbang power steer applies continuous rudder in the direction of the lever movement to improve control the speed of rudder movement changes with the angle of the lever For maximum speed push the lever hardover If you return the lever to the center position the rudder will remain in its current positionLocked heading15 Page 52 Monday April 3 2006 347 PMTMChapter3 Adjusting SmartPilot IO drives onlyOnly available if vessel type provides emergency manual override in situations when you need to avoid an obstacle at the last moment If the vessel type is set to STERN DRVIO or stern driveyou will see the AutoRelease screen AUTO RELSE to as a default AutoTack angleNote Only available if vessel type SAIL BOATThe AutoTack angle is the angle through which the boat will turn when you select an automatic tack Gybe inhibitNote Only available if vessel type SAIL BOATWith gybe inhibit onyou will be able to perform an AutoTack into the windto prevent accidental gybes the SmartPilot will prevent the boat from performing an AutoTack away from the windWith gybe inhibit off you can perform an AutoTack into or away from the wind Screen TextRangeAUTO RELEASEON AutoRelease on default AutoRelease offScreen TACK40 to 125 in 1 stepsScreen STOPOn Defaultbe inhibit on gybes prevented Gybe inhibit off gybes Page 53 Monday April 3 2006 347 PM54SmartPilot Series Commissioning GuideWind selectionNote Only available if vessel type SAIL BOAT and appropriate wind data is availableThis screen determines whether the boat steers to apparent or true wind in Wind Vane mode WindTrim wind responseNote Only available if vessel type SAIL BOATWindTrim 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 Cruise speedSet the cruise speed to the boats typical cruising speed If both the boats speed through the water and speed over ground are unavailable via SeaTalk or NMEA the SmartPilot will use this default cruise speed when calculating course changes OptionsWIND APP steers to apparent wind angleWIND TRUESmartPilot steers to true wind angle Screen TRIMRange to Lower values artPilot responds to longer term wind changes less system values to Higher values to artPilot responds to shorter term wind changes more system activityScreen SP4 to Page 54 Monday April 3 2006 347 PMChapter3 Adjusting SmartPilot AutoAdapt feature allows the SmartPilot to compensate for heading errors caused by the increasing dip of the earths magnetic field at higher latitudes This increased dip has the effect of amplifying rudder response on northerly headings in the northern hemisphere and on southerly headings in the southern hemisphere If you set AUTOADAPT to nth or Sth you then need to enter your current latitude in the next screen LATITUDE If you have a GPS connected the SmartPilot will take latitude information from the GPS LatitudeThe SmartPilot only displays this screen if you have set AUTOADAPT to nth or Use the 11 10 and 10 keys or the rotary control to set the value to your boats current latitude to the nearest degreeIf valid latitude data is available via SeaTalk or NMEA the SmartPilot will use this data instead of the calibration value OFFAutoAdapt offAUTOADAPT compensation on Northern SthAutoAdapt compensation on Southern to 80 in 1 Page 55 Monday April 3 2006 347 Series Commissioning GuideSystem resetWARNING Losing settings at system resetDo 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 process Selecting System reset will reset all of the calibration valuesall of the settings in User Calibration Seatrial Calibration and Dealer Calibration will return to the factory default valuesthe settings in Display Calibration will not change as these are stored in each individual controllerTo reset the system1Select the System reset RESETscreen in Dealer Calibration 2Press the key on ST8001 ST8002 turn the rotary control clockwise and press auto3The screen will then show an ARE YOU SURE messagepress the key again to select YES and reset the SmartPiloton ST8001 ST8002 turn the rotary control clockwise and press press the disp key to cancel4You will then see the CAL LOCK screenpress standby for 2 seconds to save the new default settings then turn the SmartPilot computer power off and back on812732book Page 56 Monday April 3 2006 347 PMTMChapter3 Adjusting SmartPilot Calibration defaults Vessel Drive IOWork BoatSail DRVBOATSAIL BOATDrive Type S1S2S3Rudder GyroNonGTurn Rate Course Steer S1S2S3AutoTack TypeAPPAPPWind Trim55Cruise Reset Page 57 Monday April 3 2006 347 PM58SmartPilot Series Commissioning GuideDealer Calibration optionsThe following Dealer calibration options are available for Displacement Planing Stern Drive IO Work Boat Sail Boat vessel LockOFF ONVessel TypeDISPLACE SEMI DISPLACE PLANINGSTERN DRV WORK BOAT SAIL BOATDrive Type3 4 5 S2S3 onlyRudder AlignmentS19 to 9S2 S37 to 7Rudder Limit10 to 40Rudder Gain1 to 9Counter Rudder1 to 9Rudder Damping1 to 9AutoTrim0 to 4Response Gyro NonG1 to 91 to 3Turn Rate Limit1 to 30Off Course Angle15 to 40Power Steer JoystickOFF 1 ONAutoTack Angle40 to 125Gybe InhibitOFF ONWind TypeAPPARENT TRUEWind Trim1 to 9Cruise Speed4 to 60AutoAdaptOFF nth SthLatitude0 to 80Variation30 to 30Autopilot Reset OFF ON812732book Page 58 Monday April 3 2006 347 PMChapter 4Fault Finding MaintenanceAll Raymarine products are designed to provide many years of troublefree operation We also put them through comprehensive testing and quality assurance procedures before shippingThis chapter provides information about identifying problems interpreting alarm messages maintaining your SmartPilot and obtaining product supportIf a fault occurs with your SmartPilot use the fault finding tables in this section to help identify the problem and provide a solutionIf you cannot resolve the problem yourself refer to the product support information 41Fault finding CAUSE and is blankNo power check the power and SeaTalk fuses on the computer then check main fusecircuit breakerData page display shows stationary dashesThe control unit is not receiving necessary data from other instruments check cablingDisplay shows rotating dashesCompass calibration in compass heading does not agree with the boats compassYou have not calibrated the compass Carry out the deviation and alignment proceduresNo display bar on the displayRudder bar switched off in Display Calibration select RUDD BAR or STEER BARRudder bar display moves in opposite direction to rudderReverse the red and green rudder position sensor connections at the SmartPilot computerBoat turns slowly and takes a long time to come onto courseRudder gain too low Complete AutoLearn or increase gain settingBoat overshoots when turning onto a new courseRudder gain too high Complete AutoLearn or decrease gain settingThe SmartPilot hunts when trying to position the rudderAdjust the RUDD DAMP setting see page 50Increase the damping one level at a time until the autopilot stops hunting and always use the lowest acceptable valueYou cannot enter Seatrial calibration lock is on turn off the calibration protection feature in Dealer Page 59 Monday April 3 2006 347 PM60SmartPilot Series Commissioning alarm messagesWhen 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 The SmartPilot appears to be unstable on Northerly headings in the Northern hemisphere or Southerly headings in the Southern heading correction AutoAdaptis not set up see page 55es not apply to S1G S2G and S3G systemsThe SmartPilot will not talk to other SeaTalk problem make sure all the cables are connected information not not transmitting the correct position dataCheck navigator and cabling to the 24V autopilots clutch slippingCheck that the clutch fuse is in the correct position Eg 24 V position for 24 V clutchesWhen holding a constant course in STANDBY mode the heading continuously changesThe Autopilot is connected to a Raymarine Pathfinder unit with the Bridge NMEA Heading option switched on Disable this feature on the Pathfinder unitALARM CAUSE and SOLUTION AUTO RELEASE Possible fault with rudder position sensor check IOrives only you have taken manual control of steering with AutoRelease on The alarm cancels automatically after 10 seconds CURRENT LIMITSerious drive failure the drive is taking too much current due to shortcircuit or jamming Check the drive unit CAUSE and Page 60 Monday April 3 2006 347 PMChapter 4 Fault Finding 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 endstopsCheck drive and rudder position sensorCheck the drive wiring is correctly connectedLOW BATT 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 batteryLRN FAIL 1 2 or 4AutoLearn not completed successfully Failure codes AutoLearn has not been carried out default setting AutoLearn failed usually due to manual interruption AutoLearn failed probably due to drive or compass failureRepeat the AutoLearn procedure MOT POW SWAPPEDMotor cables are connected to power terminals and power cables are connected to motor terminals at the computer Turn off power and swap over connections NO DATACaused 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 is receiving a low strength signal this will clear when the signal improvesCheck the connections to the compass andor wind instrument andor navigator Note The autopilot stops adjusting the heading as soon as it loses dataNO PILOTThe controller is not receiving data from the SmartPilot computer Check connections and check the SmartPilot computer is switched onRG FAILGyroPlus yaw sensor has failedIf you have a S1G S2G and S3G system with internal GyroPlus sensor call a Raymarine service agentIf you have a NonG computers with external GyroPlus yaw sensor check the sensor and connections then call a Raymarine service agent ALARM CAUSE and Page 61 Monday April 3 2006 347 PM62SmartPilot Series Commissioning Raymarine products are designed to provide many years of troublefree operation We also put them through comprehensive testing and quality assurance procedures before shipping EMC servicing and safety equipment should be serviced only by authorized Raymarine service technicians They will ensure that service procedures and replacement parts used will not affect performance There are no user serviceable parts in any Raymarine productSome products generate high voltages never handle the when power is being supplied to the equipmentWhen powered up all electrical equipment produces fields These can cause adjacent pieces of electrical equipment to interact with one another with a consequent adverse effect on operation In order 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 ie ensure optimum Compatibility EMCAlways report EMCrelated problems to your nearest Raymarine dealer We use such information to improve our quality standardsIn 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 and FAIL 1 or 2SeaTalk data problem on one of the SeaTalk lines check connections STLK FAILThe control unit cannot transmit data to the SeaTalk system Make sure all SeaTalk cables are connected properlyALARM CAUSE and Page 62 Monday April 3 2006 347 PMProduct 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 problemWorld wide webPlease visit the Customer Support area of our web site well as providing a comprehensive Frequently Asked Questions section and servicing information the web site gives email access to the Raymarine Technical Support Department and a details of the locations of Raymarine agents help lineIf you do not have access to the world wide web please call our help lineIn the USA call1 800 539 5539 extension 2444 or1 603 881 5200 extension 2444In the UK Europe the Middle East or the Far East call44 03 9271 4713 voice44 03 9266 1228 faxHelp us to help youWhen requesting service please quote the following product typeModel numberSerial numberSoftware issue numberRefer to the appropriate SmartPilot Operating guide for details of how to obtain the software issue Page 63 Monday April 3 2006 347 PM64SmartPilot Series Commissioning Page 64 Monday April 3 2006 347 PMSmartPilot Specifications SmartPilot computer supply V DC fuse protected at 15A12 V DC fuse protected at 30 A12 V or 24 V DC fuse protected at 40 AOperating voltage V to 16 V DC10 V to 32 V DCPower consumption standbyS1 SystemsS2 S3 Systems200 mA300 mAGyroPlus yaw sensorS1G S2G and S3G internal GyroPlus fitted onto circuit boardNonG option of external GyroPlus or dealerfit internal humidity limitwater protection10C to 55C 14F to 131F20C to 70C 4F to 158Fdrip resistant when mounted conditions when rangerelative humidity limit5C to 50C 23F to 122FDimensions S1 SystemsS2 S3 Systemswidth height depth237 mm 9 in0 mm 6 in5 mm 9 in307 mm 121 in 195 mm 77 in 70 mm 28 inWeightS1 SystemsS2 S3 Systems535 g 1 lb 28 oz21 kg 4 lb 75 ozInputsS1 SystemsS2 S3 compass external GyroPlus yaw sensor rudder position sensor NMEA0183v23 SeaTalk x2 powerfluxgate compass external GyroPlus yaw sensor rudder position sensor NMEA0183v23 x2eaTalk x2switch power drivesolenoid Page 65 Monday April 3 2006 347 PM66SmartPilot Series Commissioning GuideWARNING Potential ignition sourceContains a possible source of ignition NOT protected for use in engine SystemsS2 S3 SystemsNMEA 0183 v23 SeaTalk x2rive motor drive clutchNMEA 0183 v23 x2eaTalk x2 drive motor drive drive Type 1 12 V drivespumps excluding CR pumpall Type 1 12 V and Type CR1 12V drivespumpsall Type 1 Type 2 and Type 3 drivespumps drive voltage must match boats supply voltageDrive motor 5 A at 12 Vcontinuous 18 A at 12 Vcontinuous 30 A at supply voltageDrive clutch at 12 V4 A at 12 V fuse protected at 4 A4 A at 1224 V selectable fuse protected at 4 ADrive solenoid return inputS2S3 only5 A at supply voltageSeaTalk outputS1 SystemsS2 S3 Systems2A at 12 V fuse protected at 2A5 A at 12 V fuse protected at 5 ANMEA 0183 v23 page 13 for information on NMEA 0183 fast heading outputS1 SystemsS2 S3 SystemsHDM5 Hz 01 resolution10 Hz 01 resolution from NMEA 1FusesPower TerminalsDrive clutch S2S3 onlyStandard automotive blade fuses to protectS1 15 AS2 30 AS340 AS1 systems 2AS2 S3 systems5 A4A CE approvals conforms to89336EC computer Page 66 Monday April 3 2006 347 PMTM Steering Technology AST Advanced Steering Technologyis Raymarines unique advanced steering algorithm It uses inputs from a wide variety of sensors to tune the autopilots operation to provide superior control of the boat in any calibration feature available on S1G S2G and S3G systems AWGAmerican Wire Gauge CEMarked on products that comply with defined European Community standardsCR pumpConstant Running hydraulic powered up all electrical equipment produces 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 Compatibility EMCetween Raymarine compass supplied with core packGPSGlobal Positioning GyroPlus yaw sensor that measures the boats rate of turn It is built into the S1G S2G and S3G systemsHzHertz cycles per secondIO or stern driveMARPAMini Automatic Radar Plotting AidNMEAThe NMEA National Maritime Electronics Association protocol is an accepted serial communication interface standard for sharing data between electronic equipment Raymarine products can share information with nonSeaTalk equipment using the NMEA 0183 protocol SeaTalkSeaTalk is Raymarines proprietary communication system It links products to provide a single integrated system sharing power and dataSeaTalk busThis refers to the continuous SeaTalk system connecting together a series of Raymarine unitsYawBoats rate of turn sec812732book Page 67 Monday April 3 2006 347 PM68SmartPilot Series Commissioning Page 68 Monday April 3 2006 347 RELEASECURRENT LIMITDRIVE STOPPEDLOW BATTLRN FAILMOT POW SWAPPEDNO DATANO PILOTRG checksHeading optional sensorSeaTalk limit alarmData pagesDealer rudderCruise typeGybe course warning angleResponse levelRudder dampingRudder gainRudder limitSeatrial calibration lockSystem resetTurn rate limitVessel typeWind stopped and safety findingFuse fail Page 69 Monday April 3 2006 347 PM70SmartPilot Series Commissioning GuideHelp linesJoystick fail alarmLow battery swapped connectionsNo data alarmNo pilot the coverReplacing the coverResetting the systemResponse levelSafety noticesSeaTalk calibration rudderCruise speedData pagesDisplay typeGybe inhibitHeading course warning anglePopup pilotResponse levelRudder BarRudder dampingRudder gainRudder limitSeatrial calibration lockTurn rate limitVessel typeWind the compassSystem resetTechnical supportUser Page 70 Monday April 3 2006 347 4 xbmob vbw n2b b
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