Raymarine GPS Receiver ST6002 User Guide

ST6002  
SmartPilot  
Controller  
Operating Guide  
Document reference: 81269-1  
Date: December 2005  
 
i
Important Information  
About the documentation provided  
Welcome to Raymarine SmartPilot. The autopilot system that will steer your boat  
to a heading automatically, accurately, reliably and comfortably.  
SmartPilot documentation is arranged so that you can install, commission and  
quickly use your SmartPilot, keeping to hand only the information necessary.  
Installation Sheets- One per element of the system, these easy to under-  
stand sheets guide you through the installation process. These can be dis-  
carded once the installation is complete.  
SmartPilot Commissioning Guide - Describes how to connect, commis-  
sion and configure the system. Supplied with systems only.  
Quick Start Guide - Once commissioned, use your Smart Pilot right away  
with this handy guide to the main operations.  
Operating Guide - This handbook. Contains a detailed description of the  
SmartPilot’s features and functions.  
Warranty  
To register your new Raymarine product, please take a few minutes to fill out the  
warranty card. It is important that you complete the owner information and  
return the card to us to receive full warranty benefits. You can also register online  
Safety notices  
WARNING: Calibration  
We supply this product calibrated to default settings that should  
provide initial stable performance for most boats. To ensure  
optimum performance on your boat, you must complete the  
procedures in SmartPilot Commissioning Guide before use.  
WARNING: Navigation aid  
Although we have designed this product to be accurate and  
reliable, many factors can affect its performance. As a result, it  
should only be used as an aid to navigation and should never  
replace common sense and navigational judgement. Always  
maintain a permanent watch so you can respond to situations as  
they develop.  
 
ii  
ST6002 SmartPilot Controller Operating Guide  
Your Raymarine SmartPilot will add a new dimension to your boating enjoyment.  
However, it is the skipper’s responsibility to ensure the safety of the boat at all  
times by following these basic rules:  
Ensure that someone is present at the helm AT ALL TIMES, to take manual  
control in an emergency.  
Make sure that all members of crew know how to disengage the autopilot.  
Regularly check for other boats and any obstacles to navigation – no matter  
how clear the sea appears, a dangerous situation can develop rapidly.  
Maintain an accurate record of the boat’s position by using either a naviga-  
tion aid or visual bearings.  
Maintain a continuous plot of your boat’s position on a current chart. Ensure  
that the locked autopilot heading will steer the boat clear of all obstacles.  
Make proper allowance for tidal set – the autopilot cannot.  
Even when your autopilot is locked onto the desired track using a navigation  
aid, always maintain a log and make regular positional plots. Navigation sig-  
nals can produce significant errors under some circumstances and the autopi-  
lot will not be able to detect these errors.  
Product disposal  
Waste Electrical and Electronic (WEEE) Directive  
The WEEE Directive requires the recycling of waste electrical and  
electronic equipment.  
Whilst the WEEE Directive does not apply to some of Raymarine's products, we  
support its policy and ask you to be aware of how to dispose of this product.  
The crossed out wheelie bin symbol, illustrated above, and found on our products  
signifies that this product should not be disposed of in general waste or landfill.  
Please contact your local dealer, national distributor or Raymarine Technical  
Services for information on product disposal.  
EMC Conformance  
All Raymarine equipment and accessories are designed to the best industry  
standards for use in the recreational marine environment. Their design and  
manufacture conforms to the appropriate Electromagnetic Compatibility (EMC)  
standards, but correct installation is required to ensure that performance is not  
compromised.  
 
Important Information  
iii  
Handbook information  
To the best of our knowledge, the information in this handbook was correct when  
it went to press. However, Raymarine cannot accept liability for any inaccuracies  
or omissions it may contain. In addition, our policy of continuous product  
improvement may change specifications without notice. As a result, Raymarine  
cannot accept liability for any differences between the product and the  
handbook.  
 
iv  
ST6002 SmartPilot Controller Operating Guide  
 
v
Contents  
Important Information ................................................................................................. i  
About the documentation provided ........................................................................ i  
Warranty ................................................................................................................. i  
Safety notices .......................................................................................................... i  
WARNING: Calibration ................................................................................. i  
WARNING: Navigation aid .......................................................................... i  
Product disposal ..................................................................................................... ii  
EMC Conformance ................................................................................................. ii  
Handbook information .......................................................................................... iii  
Contents ................................................................................................................ v  
Chapter 1: SmartPilot Operation ............................................................................... 1  
1.1 Introduction ..................................................................................................... 1  
SmartPilot Functions ........................................................................................ 1  
Extended systems............................................................................................. 2  
1.2 Using the control unit ....................................................................................... 2  
Switching on and off......................................................................................... 2  
Start-up mode.......................................................................................... 3  
Keypad functions .............................................................................................. 3  
What does the display tell me? ......................................................................... 4  
1.3 Using the SmartPilot to steer your boat ............................................................ 4  
CAUTION: Maintain a permanent watch................................................. 4  
How do I automatically steer to a heading?...................................................... 4  
How do I return to hand steering? .................................................................... 5  
How do I change course in Auto mode?............................................................ 5  
Can I dodge an obstacle and then resume course? ........................................... 6  
1.4 How do I adjust the performance of my SmartPilot? ........................................ 6  
Off Course warning........................................................................................... 8  
1.5 Using the SmartPilot with sail boats ................................................................. 9  
Using the SmartPilot to automatically tack (AutoTack)..................................... 9  
CAUTION: Allow time for course changes .............................................. 9  
How do I prevent accidental gybes? ................................................................. 9  
Gusty conditions............................................................................................. 10  
1.6 Can I adjust the display lighting& contrast? ................................................... 10  
How do I adjust the lights? ............................................................................. 10  
How do I adjust the contrast? ......................................................................... 11  
 
vi  
ST6002 SmartPilot Controller Operating Guide  
Chapter 2: Advanced Operation ...............................................................................13  
2.1 How do I follow a route set on a Chartplotter? ...............................................13  
How do I activate Track mode?........................................................................13  
CAUTION: Make suitable preparations for entering track mode.13  
How do I leave Track mode?............................................................................14  
What is Cross track error? ...............................................................................14  
Tidal stream compensation.............................................................................15  
How do I dodge an obstacle in Track mode?....................................................15  
What happens when I arrive at a waypoint? ...................................................16  
How do I skip a waypoint? (SeaTalk chartplotters) ................................ 16  
WARNING: Ensure navigation safety17  
What is the Waypoint Advance warning? ............................................. 17  
What happens when I get to the end of the route?..........................................17  
2.2 Using Wind Vane mode – sail boats ...............................................................18  
What is Wind Vane mode? ..............................................................................18  
Wind information............................................................................................18  
True and apparent wind......................................................................... 18  
WindTrim ............................................................................................... 18  
How do I select Wind Vane mode? ..................................................................18  
How do I leave Wind Vane mode?...................................................................19  
How do I dodge an obstacle in Wind Vane mode?...........................................19  
What is a Wind Shift warning? ........................................................................20  
How do I use AutoTack in Wind Vane mode? ..................................................20  
Operating hints for Wind Vane mode ..............................................................21  
2.3 How do I display boat data? ...........................................................................21  
Can I display Waypoint names?.......................................................................22  
Warning messages..........................................................................................22  
Shallow warning (SHALLOW).............................................................. 22  
Man Overboard warning (MOB)........................................................... 22  
2.4 User Calibration Options ................................................................................22  
How do I access User Calibration settings? .....................................................23  
User Calibration pages....................................................................................23  
AutoTack angle (SAILBOAT only) ........................................................... 23  
Gybe inhibit (SAILBOAT only)................................................................. 23  
Wind selection (SAILBOAT only)......................................................................24  
WindTrim (SAILBOAT only)..................................................................... 24  
Response level ....................................................................................... 24  
 
vii  
Chapter 3: Fault Finding & Maintenance ...............................................................27  
3.1 Fault finding ................................................................................................... 27  
SmartPilot alarm messages ............................................................................ 28  
3.2 General maintenance ..................................................................................... 30  
Routine checks................................................................................................ 30  
CAUTION: Do not dismantle SmartPilot products ............................. 30  
Cleaning the display ....................................................................................... 30  
CAUTION: Avoid damage when cleaning.............................................. 30  
EMC advice.....................................................................................................31  
Product support.............................................................................................. 31  
World wide web..................................................................................... 31  
Telephone help line................................................................................ 31  
Help us to help you ................................................................................ 32  
Product details table .............................................................................. 33  
Specifications................................................................................................................ 35  
ST6002 control unit .............................................................................................. 35  
SmartPilot computer functions ............................................................................. 35  
Glossary........................................................................................................................... 36  
Index................................................................................................................................. 39  
 
viii  
ST6002 SmartPilot Controller Operating Guide  
 
1
Chapter 1: SmartPilot Operation  
1.1 Introduction  
DIS  
P
ST  
ANDB  
-
1
Y
+
1
-
10  
TRA  
CK  
10  
AUT  
O
The SmartPilot controller is a SeaTalk® compatible autopilot control unit. It is  
designed as the main controller for the SmartPilot system.  
The SmartPilot controller operates in the following modes:  
Standby: SmartPilot off. You have manual control of the boat.  
Auto: The SmartPilot steers the boat to maintain a locked heading.  
Track: The SmartPilot steers the boat to maintain a track between two way-  
points created on a navigation aid.  
WindVane:The SmartPilotsteers the boat tomaintain a course relativeto a  
true or apparent wind angle.  
The SmartPilot controller also provides:  
automatic tack (AutoTack) in Auto and Wind Vane modes.  
waypoint advance feature in Track mode.  
SmartPilot Functions  
The functions provided with your SmartPilot system depend on whether the  
SmartPilot computer contains an internal GyroPlus yaw sensor.  
 
2
ST6002 SmartPilot Controller Operating Guide  
:
S1G, S2G and S3G systems  
(with GyroPlus)  
Non-G systems  
(without GyroPlus)  
Internal GyroPlus yaw sensor provides Fullbasicfunctionality: usesRaymarine  
enhanced course keeping using AST  
(Advanced Steering Technology)  
steering algorithm without AST  
Steering to true and apparent wind in Steering to true and apparent wind in  
Wind Vane mode  
Wind Vane mode  
Equipped with AutoLearn, Raymarine’s  
self-learning calibration system  
Extended systems  
You can connect the SmartPilot controller to other Raymarine SeaTalk equipment  
so it can send and receive SeaTalk data:  
it can use waypoint information from a SeaTalk navigation instrument to pro-  
vide track control.  
it canuse boatspeed fromaSeaTalkspeed instrument tooptimizetrack-keep-  
ing performance.  
it can use wind information from a SeaTalk wind instrument for Wind Vane  
steering.  
You can also use the SmartPilot with any navigator or wind instrument that  
transmits National Marine Electronics Association (NMEA) 0183 data.  
The SmartPilot control unit can display SeaTalk and NMEA instrument data in a  
user-defined selection of data pages.  
For further information on other connections to your system see SmartPilot  
Commissioning Guide.  
1.2 Using the control unit  
Switching on and off  
All the time that power is applied to the SmartPilot controller, you can use the  
disp button to switch the instrument off and on as follows:  
To switch the SmartPilot controller off, ensure it is in the Standby mode, then  
hold down the disp buttonfor approximately 5 seconds. After this time, a  
switch off count down of 4 seconds occurs. Keep the  
during this period, to switch off the instrument.  
disp button pressed  
To switch the instrument back on, hold down the  
imately 1 second.  
disp button for approx-  
 
Chapter 1: SmartPilot Operation  
3
When the power supply is switched off, the SmartPilot controller buttons have no  
effect.  
Notes: (1) Each time power to the SmartPilot controller is switched on, the control-  
ler is initially in the on condition. You do not need to use the  
button to switch the controller on.  
disp  
(2) When the SmartPilot controller is on, the operation of the  
will perform other operating functions, as described below.  
disp button  
Start-up mode  
The SmartPilot always powers up in Standby mode with the display showing the  
boat’s current compass heading.  
Note: You can press standby at any time to return to manual steering.  
Keypad functions  
TheSmartPilot is controlled using simplepush-button operations, all of which are  
confirmed with a short beep. In addition to the main single-button functions,  
there are several dual-button operations.  
-1 plus +1  
Press for Response level  
Press for 1 second  
for Rudder Gain  
-1 plus -10  
Press together for  
AutoTack to port  
+1 plus +10  
Press together  
for AutoTack  
to starboard  
DISP  
Press to display data  
pages  
TRACK  
Press for Track  
mode from Auto  
(if a navigator is  
connected)  
Press to accept  
waypoint advance  
Press for 1 second for  
lamp adjust  
Press for 3 seconds for  
contrast adjust  
Press for 9 seconds (in  
Standby mode) for power  
down  
Press for 1 second  
to skip waypoint  
Course change keys  
Port 1˚ Starboard 1˚  
When powered down, press  
for 1 second to power up  
Port 10˚ Starboard 10˚  
AUTO  
Press for Auto mode  
STANDBY  
Press for  
Standby mode  
Press for 2 seconds  
to enter Calibration mode  
STANDBY plus AUTO  
Press for Wind Vane mode  
(if a wind vane is connected)  
D5449-3  
 
4
ST6002 SmartPilot Controller Operating Guide  
What does the display tell me?  
The SmartPilot display screen provides the following information:  
Variable text region (up to 9 characters/digits)  
Distance units:  
• no units = kilometres  
• nm = nautical miles  
• SM = statute miles  
nm  
S
M
MAG  
TRUE  
Heading indicators  
Port and Starboard  
direction-to-steer  
indicators  
Rudder position indicator  
D5457-3  
The bar graph at the bottom of the screen indicates the current position of the  
rudder, as measured by the rudder position sensor.  
1.3 Using the SmartPilot to steer your boat  
CAUTION: Maintain a permanent watch  
Automatic course control makes it easier to sail a boat, but it is  
NOT a substitute for good seamanship. ALWAYS maintain a  
permanent watch by the helm.  
How do I automatically steer to a heading?  
1. Steady the boat on the required heading.  
2. Press auto.  
The SmartPilot is now in AUTO mode and will steer to the chosen heading,  
shown on the display. This mode is often known as “point-and-shoot”.  
 
Chapter 1: SmartPilot Operation  
5
TRUE  
D3560-6  
How do I return to hand steering?  
Press standby to disengage the SmartPilot:  
inSTANDBYmode, you have manualcontrol of theboatand thedisplay  
shows the boat’s current compass heading.  
TRUE  
D3561-6  
How do I change course in Auto mode?  
In Auto mode, use the -1 and -10 (port) and +1 and +10 (starboard) buttons to  
change the locked heading in steps of 1° or 10°. For example: press -10 three  
times for a 30° course change to port.  
Port  
Starboard  
or  
or  
D3320-3  
 
6
ST6002 SmartPilot Controller Operating Guide  
Can I dodge an obstacle and then resume course?  
Toavoid anobstaclewhenyourboatisunderautopilotcontrol, youcandodgethe  
obstacle and then resume your previous course.  
Obstacle  
Original  
course  
Dodge  
D3303-3P  
1. Select a course change in the appropriate direction. For example, press -10  
three times for a 30°dodge to port.  
2. When safely clear of the obstacle, reverse the previous course change (for  
example, press +10 three times).  
1.4 How do I adjust the performance of my  
SmartPilot?  
The principal method of adjusting the performance of SmartPilot systems is by  
changing the response level. This is the only user adjustment you should need to  
make to your SmartPilot on a regular basis.  
The response level controls the relationship between the SmartPilot’s course  
keeping accuracy and the amount of helm/drive activity. When you turn on your  
SmartPilot it will always be at the default level. (This level can be adjusted in User  
Calibration see page 24)  
When you require extra tight course keeping (e.g. for pilotage in confined and  
sheltered waters), increase the setting. If you want to minimize drive activity and  
conserve battery power, decrease the setting.  
You can make temporary adjustments to the response level when using your  
SmartPilot on a day-to-day basis. By doing this you can match performance to  
conditions as they occur.  
 
Chapter 1: SmartPilot Operation  
Note: You will lose these temporary changes to response level whenever the system is  
7
poweredoff. YoucanmakepermanentadjustmentsinUserCalibration(Seepage24).This  
determines the default power-up response level.  
Adjusting performance – S1G, S2G and S3G systems  
S1G, S2G and S3G systems have 9 levels of response:  
level 9 to 7 give the tightest course keeping and greatest rudder activity  
(and powerconsumption). This can lead to arough passage inopen waters as  
the SmartPilot may ‘fight’ the sea.  
levels 6 to 4 should give good course keeping with crisp, well controlled  
turns under normal operating conditions.  
level3to1minimizestheamountofpilotactivity. Thisconservespower, but  
may compromise short-term course-keeping accuracy.  
With these points in mind, you should use the following procedure to make  
temporary adjustments to the response level when required:  
1. Display the RESPONSEscreen by pressing the -1 and +1 buttons together  
momentarily.  
Note: The RESPONSEscreen is set as a default data page (see SmartPilot Commis-  
sioning Guide) so you can also access it by pressing disp and then scrolling through the  
data pages.  
2. Press -1 or +1 to change the response level.  
Decrease  
response  
Increase  
response  
D5452-3  
3. Press disp or wait for 5 seconds to return to the previous display.  
Adjusting performance – Non-G systems  
Non-G SmartPilot systems have three different response levels:  
Response Level 1: AutoSeastate on (Automatic deadband)  
The SmartPilot will gradually ignore repetitive boat movements and only  
react to true variations in course. This provides the best compromise between  
power consumption and course keeping accuracy.  
 
8
ST6002 SmartPilot Controller Operating Guide  
Response Level 2: AutoSeastate off (Minimum deadband)  
This setting provides tighter course keeping but will lead to increased power  
consumption and drive unit activity.  
Response Level 3: AutoSeastate off + yaw damping  
This setting provides the tightest possible course keeping by introducing  
counter rudder yaw damping You can adjust the counter rudder setting in  
Dealer Calibration (see SmartPilot Commissioning Guide).  
To make a temporary change to the response setting:  
1. Display the RESPONSE screen by pressing the -1 and +1 buttons together.  
2. Press -1 or +1 to change the response between levels 1 to 3.  
3. Press disp or wait for 5 seconds to return to the previous display.  
Note: You will lose these temporary changes to response level whenever the system is  
powered off. You can make permanent adjustments in User Calibration (see page 24).  
Off Course warning  
= deviation to port  
= deviation to starboard  
D3315-5  
TheSmartPilotwarnsyouwhenyouhavebeenoffcoursefromthelockedheading  
for longer than 20 seconds. It shows whether the deviation is to port or starboard.  
Note: The default off course angle is set at 20º. You can adjust this angle in Dealer Cali-  
bration (see SmartPilot Commissioning Guide).  
1. To cancel the off course warning, press standby to return to manual steer-  
ing.  
2. Check whether your boat is carrying too much sail, or whether the sails are  
badly balanced. You can usually significantly improve course keeping by  
improving the sail balance.  
Note: The SmartPilot also clears the warning if the heading recovers or if you change  
course.  
 
Chapter 1: SmartPilot Operation  
9
1.5 Using the SmartPilot with sail boats  
Using the SmartPilot to automatically tack (Auto-  
Tack)  
CAUTION: Allow time for course changes  
When making major course changes, the trim on the boat may  
change substantially. Due to this, the SmartPilot may take some  
time to settle accurately onto the new course.  
The SmartPilot has a built in automatic tack facility (AutoTack) that turns the boat  
through 100° in the required direction. If you have set the vessel type to  
SAIL BOAT, you can adjust the default AutoTack angle in User Calibration (see  
page 23).  
to AutoTack to port: press the -1 and -10 buttons together  
to AutoTack to starboard: press the +1 and +10 buttons together  
AutoTack - Port  
AutoTack - Starboard  
Wind  
Wind  
AutoTack  
angle  
AutoTack  
angle  
D5399-1  
How do I prevent accidental gybes?  
The gybe inhibit feature stops the boat from performing an AutoTack away from  
the wind – this will prevent accidental gybes. This feature can be disabled if  
required (see page 23).  
Note: For the gybe inhibit feature to work, the SmartPilot needs suitable wind informa-  
tion.  
With gybe inhibit on:  
you will be able to perform an AutoTack into the wind.  
the autopilot will prevent the boat from performing an AutoTack away from  
the wind, to prevent accidental gybes.  
 
10  
ST6002 SmartPilot Controller Operating Guide  
With gybe inhibit off:  
you can perform an AutoTack into or away from the wind.  
Note: Gybe inhibit is switched on as a default but can be disabled in User Calibration (see  
page 34).  
Gusty conditions  
Ingustyconditions, thecoursemay tendtowanderslightly, particularly if thesails  
are badly balanced. If you take the following precautions, the SmartPilot will be  
able to maintain competent control even in gale force conditions:  
You can improve course keeping by improving the sail balance:  
do not allow the boat to heel over excessively.  
ease the mainsheet traveller to leeward to reduce heeling and weather  
helm.  
if necessary, reef the mainsail a little early.  
In very strong winds and large seas, you should avoid sailing with the wind  
dead astern:  
ideally, bring the wind at least 30° away from a dead run.  
in severe conditions, you may also need to remove the mainsail and sail  
under headsail only.  
1.6 Can I adjust the display lighting& contrast?  
How do I adjust the lights?  
You can adjust the display and keypad lighting by:  
1. Pressing disp for 1 second from any mode to access the LAMPscreen and  
turn on the lights.  
.
1 second  
D3313-5  
 
Chapter 1: SmartPilot Operation  
2. Press the disp button to cycle through the possible illumination settings:  
11  
LAMP 3 (the brightest setting), LAMP 2, LAMP 1, OFF, LAMP 1,  
LAMP 2, LAMP 3and so on:  
as you change the setting, the illumination on any other SeaTalk instru-  
ments or control units will also change.  
3. The display automatically returns to the previous mode if you do not press a  
button for 10 seconds:  
if you press another mode button within 10 seconds you will select the  
mode assigned to that button (for example: auto selects Auto mode,  
standby selects Standby mode).  
Notes: (1) You canalso adjust thelighting levelfrom anyotherSeaTalk instrument  
or control unit.  
(2) When you switch off the unit you lose any changes you have made to  
the lighting level.  
How do I adjust the contrast?  
To set the display contrast level:  
1. With the autopilot in Standby mode, press the disp button for one second to  
access the LAMPscreen.  
2. Press the disp button for one second again, to display the CONTRAST  
screen.  
3. Use the up and down arrow buttons to set the required contrast level (from  
1to 15).  
4. The display automatically returns to the previous mode if you do not press a  
button for 10 seconds:  
Note: if you press another mode button within 10 seconds you will select the mode as-  
signed to that button (for example: auto selects Auto mode, standby selects Standby  
mode).  
 
12  
ST6002 SmartPilot Controller Operating Guide  
 
13  
Chapter 2: Advanced Operation  
2.1 How do I follow a route set on a Chartplotter?  
CAUTION: Safety in Track mode  
Track mode provides accurate track keeping even in complex  
navigational situations. However, it is still the skipper’s  
responsibility to ensure the safety of their boat at all times  
through careful navigation and frequent position checks. Track  
mode assists precise navigation and removes the tasks of  
compensating for wind and tidal drift. However, you MUST still  
maintain an accurate log with regular plots.  
In Track mode, the SmartPilot maintains a route between waypoints created on a  
navigation system. It makes any course changes necessary to keep your boat on  
course, automatically compensating for tidal streams and leeway.  
Track mode is available only if you have connected the SmartPilot to a suitable  
navigation system providing SeaTalk or NMEA information. (See SmartPilot  
Commissioning Guide for connection details)  
Your SmartPilot system can receive route information from:  
a SeaTalk navigation instrument or chartplotter.  
a navigation system transmitting data in NMEA 0183 format.  
How do I activate Track mode?  
CAUTION: Make suitable preparations for entering track mode  
When you enter Track mode, the SmartPilot will bring the boat  
onto the track in a controlled way. The closerthe boatis tothecor-  
rect heading and track, the quicker it will settle the boat onto the  
new course. To avoid an unexpected turn, align the boat approxi-  
mately with the required track before entering Track mode.  
Starting with the SmartPilot in AUTO mode and your chartplotter following a  
route.  
1. Press track to enter Track mode.  
2. Wait for the warning to sound.  
The display will show the bearing to the next planned waypoint and the direc-  
tion in which the boat will turn to reach this waypoint.  
 
14  
ST6002 SmartPilot Controller Operating Guide  
3. If it is safe for the boat to turn onto the new course, press the track button:  
the SmartPilot will turn the boat onto the new course.  
the display will show the heading required to achieve the required track.  
Notes: (1) The rate of turn when in Track mode is set using the TURN RATEcali-  
bration setting. Adjust this as appropriate for optimum comfort.  
(2) If the boat is more than 0.3 nm from the track, the Large Cross Track Error  
warning will sound (see page 14).  
Automatic track acquisition  
Waypoint at 270˚  
Waypoint at 270˚  
Current  
heading  
Previous  
heading  
TRUE  
TRUE  
From auto mode, press track to enter Track mode . . . . . . then press track again to turn boat to waypoint.  
How do I leave Track mode?  
You can leave Track mode at any time by:  
pressing auto to return to Auto mode.  
pressing standbyto steer manually in Standby mode.  
What is Cross track error?  
Cross track error (XTE) is the distance between the current positionand a planned  
route. The SmartPilot receives the cross track error information from the  
navigation equipment, and displays the XTE in nautical miles (nm), statute miles  
(SM) or kilometres (km).  
If the cross track error is greater than 0.3 nm, the SmartPilot will sound the Large  
Cross Track Error warning and show whether you are to the port (Pt) or starboard  
(Stb) of the planned track.  
 
Chapter 2: Advanced Operation  
15  
Waypoint 2  
Cross track error (XTE)  
more than 0.3 nm  
Actual route  
Planned route  
Waypoint 1  
Tidal stream compensation  
Under mostconditions, the SmartPilotwillholdtheselected track towithin 0.05  
nm (300 ft) or better. It takes account of the boat’s speed when computing course  
changes to ensure optimum performance.  
Waypoint 2  
Boat's speed over ground  
Tidal component  
Boat's speed through water  
Waypoint 1  
D3261-4  
How do I dodge an obstacle in Track mode?  
In Track mode you still have full control from the keypad.You can make a dodge  
maneuver by using the course change buttons (-1, +1, -10 or +10) to select the  
desired course change.  
On making a dodge maneuver, the autopilot will revert to AUTO mode. Once you  
are safely past the obstacle, reinitiate Track mode to continue on your planned  
route.  
 
16  
ST6002 SmartPilot Controller Operating Guide  
What happens when I arrive at a waypoint?  
As the boat arrives at the target waypoint the chartplotter will select the next  
target waypoint and transmit this to the SmartPilot. It will then detect the new  
target waypoint name, sound a Waypoint Advance warning and display the  
Waypoint Advance (NEXT WPT) screen. This shows the new bearing to the next  
waypoint and the direction the boat will turn to acquire the new track.  
Waypoint arrival and advance  
Next target  
Waypoint at 270˚  
New target  
waypoint at 270˚  
Target  
Waypoint  
Old target  
Waypoint  
TRUE  
TRUE  
Waypoint arrival  
Waypoint advance  
How do I get to the next waypoint in a route?  
When the Waypoint Advance warning sounds, the SmartPilot suspends Track  
mode and maintains the current boat heading.To advance to the next waypoint:  
1. Check that it is safe to turn onto the new track.  
2. Press the track button. This will cancel the Waypoint Advance warning and  
turn the boat towards the next waypoint.  
Note: If you do not press track to accept the Waypoint Advance, the SmartPilot will  
maintain the current heading and continue sounding the warning.  
How do I skip a waypoint? (SeaTalk chartplotters)  
If you want to advance to the next waypoint before you have arrived at the  
target waypoint, you can skip a waypoint by pressing track for 1 second. The  
displaywillthenshowtheWaypointAdvancescreenforthenextwaypoint. Check  
it is safe to turn, then press track to turn the boat towards the next waypoint.  
 
Chapter 2: Advanced Operation  
WARNING: Ensure navigation safety  
17  
Skipping a waypoint will take you straight to the next waypoint.  
Check your navigation before making the turn.  
What is the Waypoint Advance warning?  
The SmartPilot activates the Waypoint Advance warning (NEXT WPT?) in Track  
mode whenever the target waypoint name changes. This occurs when:  
you select automatic acquisition by pressing track from Auto  
you request waypoint advance by pressing track for 1 second in Track mode  
(with SeaTalk navigators only)  
the boat arrives at the target and the navigator accepts the next waypoint  
you activate the Man Overboard (MOB) function (see page 22)  
When the warning sounds, the SmartPilot continues on its current heading but  
displays:  
the bearing to the next waypoint  
the direction the boat will turn to take up that bearing  
How do I respond to a Waypoint Advance warning?  
To respond to a Waypoint Advance warning:  
check that it is safe to turn onto the new track, then press track to accept the  
waypoint advance  
alternatively, you can cancel the warning without accepting the waypoint  
advance by pressing:  
auto to continue on the same heading, or  
standby to return to manual control  
What happens when I get to the end of the route?  
The SmartPilot displays the ROUTE COMPLETED warning when you have  
reached the last waypoint on a route in Track mode.  
press auto to continue on the same heading.  
or press standbyto return to manual control.  
 
18  
ST6002 SmartPilot Controller Operating Guide  
2.2 Using Wind Vane mode – sail boats  
Note: You can only select Wind Vane mode if the SmartPilot is receiving suitable SeaTalk  
or NMEA wind direction information.  
What is Wind Vane mode?  
When the SmartPilot is in Wind Vane mode it uses the fluxgate compass as the  
primary heading reference. As changes in the true or apparent wind angle occur,  
it adjusts the locked heading to maintain the original wind angle.  
Wind information  
To use Wind Vane mode, the SmartPilot must receive wind information from one  
of the following sources:  
SeaTalk wind instrument connected to the autopilot via SeaTalk  
NMEA wind instrument  
Raymarine pushpit wind vane connected via a SeaTalk interface  
True and apparent wind  
SmartPilots can maintain a course relative to either an apparent or true wind  
angle in Wind Vane mode  
The default setting is apparent wind. If required, you can change this to true wind  
in User Calibration (see page 24).  
WindTrim  
In Wind Vane mode the SmartPilot uses WindTrim to eliminate the effects of  
turbulence and short term wind variations. This provides smooth and precise  
performance with minimal power consumption. You can adjust the wind  
response(WindTrim)levelinUserCalibration(seepage24)tocontrolhowquickly  
the SmartPilot responds to changes in the wind direction. Higher wind trim  
settings will result in a pilot that is more responsive to wind changes.  
How do I select Wind Vane mode?  
You can select Wind Vane mode from either Standby or Auto mode:  
1. Steady the boat onto the required wind angle.  
2. Press standby and auto together to select Wind Vane mode and lock the  
current wind angle:  
the display shows the locked heading (e.g. 128°) and the wind angle  
(e.g. WIND 145P indicates an wind angle of 145° to port)  
 
Chapter 2: Advanced Operation  
19  
if the SmartPilot does not enter Wind Vane mode, it is not receiving wind  
data - check the instrument and connections  
+
MAG  
D3565-6  
3. In Wind Vane mode, the SmartPilot will then adjust the boat’s heading to  
maintain the locked wind angle.  
How do I leave Wind Vane mode?  
You can leave Wind Vane mode by:  
pressing auto to return to Auto mode.  
pressing standby to return to manual control.  
How do I adjust the locked wind angle  
You can adjust the locked wind angle by using the -1, +1, -10 and +10 buttons to  
change course. For example, to bear away by 10° when the boat is on a starboard  
tack:  
press -10 to turn the boat 10° to port – the locked wind angle and locked  
heading will both change by 10°.  
the autopilot will then adjust the locked heading as required to maintain the  
new wind angle.  
Note: Because turning the boat affects the relationship between the true and apparent  
wind angles, you should only use this method to make minor adjustments to the wind an-  
gle. For major changes, return to Standby mode, steer onto the new heading, then reselect  
Wind Vane mode.  
How do I dodge an obstacle in Wind Vane mode?  
In Wind Vane mode you still have full control from the keypad. You can make a  
dodge maneuver by using the course change buttons (-1, +1, -10 or +10) to  
select the desired course change.  
After you have avoided the hazard, you can cancel the dodge course change by  
making an equal course change in the opposite direction.  
 
20  
ST6002 SmartPilot Controller Operating Guide  
What is a Wind Shift warning?  
If the autopilot detects a wind shift of more than 15° it will sound the wind shift  
warning and display the WIND SHIFT message:  
To cancel the warning, and retain the existing wind angle and new heading,  
press standby and auto together.  
Alternatively, to cancel the warning and return to the previous heading:  
adjust the locked wind angle using the -1, +1, -10 and +10 buttons.  
press standby to return to hand steering, steer onto the required head-  
ing, and press standby and auto together to return to Wind Vane mode  
with the new wind angle.  
How do I use AutoTack in Wind Vane mode?  
Note: If you use the AutoTack function in Wind Vane mode, make sure the wind vane has  
been centered accurately.  
The SmartPilot has a built inautomatic tack facility (AutoTack) that turns the boat  
through 100° in the required direction:  
to AutoTack to port: press the -1 and -10 buttons together.  
to AutoTack to starboard: press the +1 and +10 buttons together.  
AutoTack - Port  
AutoTack - Starboard  
Wind  
Wind  
AutoTack  
angle  
AutoTack  
angle  
D5399-2  
Note: If you have set the vessel type to SAIL BOAT, you can adjust the default Auto-  
Tack angle in User Calibration (see page 23).  
When you AutoTack in Wind Vane mode, the boat turns through the AutoTack  
angle. The SmartPilot will then trim the heading to mirror the locked wind angle  
from the previous tack.  
 
Chapter 2: Advanced Operation  
21  
Operating hints for Wind Vane mode  
Always trim your sails carefully to minimize the amount of standing helm.  
Reef the headsail and mainsail a little early rather than too late.  
In Wind Vane mode the SmartPilot will react to long-term wind shifts, but will  
not correct for short-term changes such as gusts.  
In gusty and unsteady inshore conditions, it is best to sail a few degrees fur-  
ther off the wind so that changes in wind direction can be tolerated.  
2.3 How do I display boat data?  
Use the disp button to show ‘data pages’ of SeaTalk or NMEA data:  
1. Press disp to access the first data page, and press it again to cycle through  
each data page in turn:  
when you cycle past the last data page, the display returns to the current  
SmartPilot mode screen (for example, AUTO).  
4 data pages are set in the factory as a default (see diagram): within User  
setup you can select up to 15 pages and control the information they dis-  
play (see SmartPilot Commissioning Guide).  
Notes: (1) If the SmartPilot system cannot obtain the required information, the data  
page will show dashes instead of a value.  
(2) The direction-to-steer arrows relate to the data page information.  
(3) Most data pages show repeated data so you cannot adjust them: the  
exceptions are the RESPONSE and RUDDER GAINdata pages,  
which you can adjust using the -1 and +1 buttons  
Default data pages  
Data page 4  
Data page 3  
Data page 1  
Data page 2  
Autopilot mode  
Press for 1 sec to  
return to previous  
data page  
D5455-3  
 
22  
ST6002 SmartPilot Controller Operating Guide  
Can I display Waypoint names?  
If waypoints have been given names, the SmartPilot controller will display them  
on the Cross Track Error (XTE), Bearing To Waypoint (BTW) and Distance To  
Waypoint (DTW) data pages:  
waypoint names of five characters or less are displayed together with the  
page name (as shown by screen A below).  
waypoint names of more than five characters alternate with the page name  
(as shown by screen Bbelow).  
if the waypoint name has more than nine characters, the display only shows  
the first nine characters.  
TRUE  
RUE  
TRUE  
A
B
D8561-1  
Warning messages  
Shallow warning (SHALLOW)  
The SmartPilot shows the Shallow warning if it receives a shallow depth message  
from an instrument on the SeaTalk system. Press standby or disp to cancel the  
warning.  
Man Overboard warning (MOB)  
The SmartPilot activates the Man Overboard warning if it receives a man  
overboard (MOB) message from another instrument on the SeaTalk system. It  
displays the text MOB instead of the waypoint number for the XTE, DTW and  
BTW data pages.  
2.4 User Calibration Options  
The calibration information in this handbook relates to only those settings that  
can be adjusted during normal operation (USER CAL). For information on all  
available calibration settings, see SmartPilot Commissioning Guide.  
Note: Many of the settings are sailboat specific and will only be displayed if your vessel  
type is set to SAILBOAT.  
 
Chapter 2: Advanced Operation  
23  
How do I access User Calibration settings?  
You can only access the calibration mode from Standby mode:  
1. WiththeSmartPilotinStandby mode, pressandholdthestandby buttonfor  
2 seconds. The display will change to show DISPLAY CAL.  
2. Press the disp button once, the display will now show USER CAL.  
3. Press auto to enter User Calibration.  
The first page of User Calibration will now be displayed.  
4. To access other User Calibration pages, press disptoscrolldownthroughthe  
items within that grouping:  
5. When you reach an item you wish to adjust, use the -1, +1, -10 and +10 but-  
tons (as appropriate) to change the value.  
6. When you have made all the changes you want to make, press and hold  
standbyfor two seconds to exit calibration mode and save changes.  
User Calibration pages  
AutoTack angle (SAILBOAT only)  
The AutoTack angle is the angle through which the boat will turn when you select  
an automatic tack.  
Screen Text  
Options  
AUTO TACK  
40° to 125° in 1° steps  
Gybe inhibit (SAILBOAT only)  
With gybe inhibit on:  
you will be able to perform an AutoTack into the wind  
to prevent accidental gybes, the SmartPilot will prevent the boat from per-  
forming an AutoTack away from the wind  
With gybe inhibit off, you can perform an AutoTack into or away from the wind.  
Screen Text  
Options  
GYBE STOP  
ON (Default) = Gybe inhibit on (gybes prevented)  
OFF = Gybe inhibit off (gybes permitted)  
 
24  
ST6002 SmartPilot Controller Operating Guide  
Wind selection (SAILBOAT only)  
This screen determines whether the boat steers to apparent or true wind in Wind  
Vane mode.  
Options  
WIND APP (Default)  
WIND TRUE  
SmartPilot steers to apparent wind angle  
SmartPilot steers to true wind angle  
WindTrim (SAILBOAT only)  
WindTrim controls how quickly the SmartPilot responds to changes in the wind  
direction. Higher wind trim settings will result in a system that is more responsive  
to wind changes.  
Screen Text  
Options  
WIND TRIM  
Range = 1 to 9  
1 to 3 - Least responsive to wind changes (less system  
activity)  
4 to 6 - Moderate response to wind changes  
7 to 9 - Most responsive to wind changes (more system  
activity)  
Response level  
This sets the default SmartPilot response level setting. The response level controls  
the relationship between course keeping accuracy and the amount of helm/drive  
activity. You can make temporary changes to response during normal operation,  
as described in Chapter 1, SmartPilot Operation.  
S1G, S2G and S3G systems  
Screen Text  
Options  
Range = 1 to 9  
RESPONSE  
levels9 to 7 gives thetightest course keeping and great-  
estrudderactivity(andpowerconsumption). Thiscanlead  
to a rough passage in open waters as the SmartPilot may  
‘fight’ the sea.  
levels6 to4should give good course keeping with crisp,  
well controlled turns under normal operating conditions.  
levels 3 to 1 minimizes the amount of pilot activity. This  
conserves power, but may compromise short-term course-  
keeping accuracy.  
 
Chapter 2: Advanced Operation  
Non-G SmartPilot systems  
25  
Screen Text  
Options  
AutoSeastate on (Automatic deadband).  
RESPONSE 1  
The SmartPilot will gradually ignore repetitive boat move-  
ments and only react to true variations in course. This pro-  
vides the best compromise between power consumption  
and course keeping accuracy.  
AutoSeastate off (minimum deadband).  
Thissettingprovidestightercoursekeepingbutwillleadto  
increased power consumption and drive unit activity.  
RESPONSE 2  
RESPONSE 3  
AutoSeastate off + counter rudder yaw damping.  
This setting provides the tightest possible course keeping  
by introducing counter rudder yaw damping.  
 
26  
ST6002 SmartPilot Controller Operating Guide  
 
27  
Chapter 3: Fault Finding & Maintenance  
All Raymarine products are designed to provide many years of trouble-free  
operation. We also put them through comprehensive testing and quality  
assurance procedures before shipping.  
This chapter provides information about identifying problems, interpreting alarm  
messages, maintaining your SmartPilot and obtaining product support.  
If a fault occurs with your SmartPilot, use the fault finding tables in this section to  
help identify the problem and provide a solution. If you cannot resolve the  
problem yourself, refer to the product support information.  
3.1 Fault finding  
SYMPTOM  
POSSIBLE CAUSE and SOLUTION  
Display is blank  
No power – check the power and SeaTalk fuses on  
course computer, then check main fuse/circuit  
breaker.  
Data page display shows  
stationary dashes  
The control unit is not receiving necessary data from  
other instruments – check cabling.  
Displayshows rotating dashes Compass calibration in progress (see SmartPilot  
Commissioning Guide).  
Displayed compass heading  
doesnotagreewiththe boat’s deviation and alignment procedures (see SmartPilot  
compass Commissioning Guide).  
You have not calibrated the compass. Carry out the  
No display bar on the display Rudder bar switched off in Display Calibration –  
select RUDD BARor STEER BAR.  
Rudder bar display moves in  
Reverse the red and green rudder position sensor  
opposite direction to rudder connections at the course computer.  
Boat turns slowly and takes a Ruddergaintoolow. CompleteAutoLearnorincrease  
long time to come onto course gain setting.  
Boatovershootswhenturning Rudder gain too high. Complete AutoLearn or  
onto a new course  
decrease gain setting.  
The SmartPilot ‘hunts’ when  
trying to position the rudder  
Adjust the RUDD DAMPsetting (see SmartPilot  
Commissioning Guide). Increase the damping one  
level at a time until the autopilot stops hunting, and  
always use the lowest acceptable value.  
 
28  
ST6002 SmartPilot Controller Operating Guide  
SYMPTOM  
POSSIBLE CAUSE and SOLUTION  
The SmartPilot appears to be Northerly/Southerly heading correction (AutoAdapt)  
unstable on Northerly  
headings in the Northern  
hemisphere (or Southerly  
headings in the Southern  
hemisphere)  
is not set up (see SmartPilot Commissioning Guide).  
[Does not apply to S1G, S2G and S3G systems.]  
You cannot enter Seatrial  
Calibration  
Seatrialcalibrationlockisonturnoff thecalibration  
protection feature in Dealer Calibration (see SmartPi-  
lot Commissioning Guide).  
The SmartPilot will not ‘talk’ Cabling problem – make sure all the cables are con-  
to other SeaTalk instruments nected properly.  
Position information not  
received  
Navigator not transmitting the correct position data.  
No bearing to waypoint information received from  
The SmartPilot will not auto  
advance to the next waypoint the navigator.  
Non-Raymarine 24 V  
autopilots clutch slipping  
Check that the clutch fuse is in the correct position.  
E.g. 24 V position for 24 V clutches.  
When holding a constant  
The Autopilot is connected to a Raymarine Pathfinder  
course in STANDBY mode, the unit with the “Bridge NMEA Heading” option  
heading continuously changes switched on. Disable this feature on the Pathfinder  
unit.  
SmartPilot alarm messages  
When the SmartPilot detects a fault or failure on the system, it will activate one of  
the alarm messages listed in the following table.  
Unless otherwise stated, you should respond to the alarm by pressing  
standbytoclearthealarmandreturntomanualcontrol,beforeyouattempt  
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.  
 
Chapter 3: Fault Finding & Maintenance  
29  
ALARM MESSAGE  
POSSIBLE CAUSE and SOLUTION  
Possible fault with rudder position sensor – check connections.  
OR  
AUTO RELEASE  
Stern (I/O) drives only – you have taken manual control of steering  
withAutoReleaseon. Thealarmcancels automatically after10sec-  
onds.  
Serious drive failure – the drive is taking too much current due to  
short-circuit or jamming. Check the drive unit.  
CURRENT LIMIT  
DRIVE STOPPED  
Theautopilotisunabletoturntherudder(thisoccursiftheweather  
loadonhelmistoohigh, or iftherudderposition sensorhaspassed  
beyond the preset rudder limits or rudder end-stops).  
Check drive and rudder position sensor.  
Supply voltage has dropped below acceptable limits.  
To respond to a Low Battery alarm:  
LOW BATTERY  
• press standby to clear the alarm and return to hand steering  
• start the engine to recharge the battery  
AutoLearn not completed successfully.  
Failure codes:  
LRN FAIL 1, 2or 4  
1= AutoLearn has not been carried out (default setting)  
2= AutoLearn failed, usually due to manual interruption  
4= AutoLearn failed, probably due to drive or compass failure  
Repeat the AutoLearn procedure.  
Motor cables are connected to power terminals (and power cables  
are connected to motor terminals) at course computer. Turn off  
power and swap over connections.  
MOT POW  
SWAPPED  
Caused by any of the following situations:  
• the compass is not connected  
NO DATA  
• the autopilot is in Wind Vane mode and it has not received wind  
angle data for 30 seconds  
• the autopilot is in Track mode and:  
• the autopilot is not receiving SeaTalk navigation data, or  
• the position sensor (GPS, Loran, Decca) is receiving a low  
strength signal – this will clear when the signal improves  
Check connections to the compass, wind instrument and naviga-  
tor.  
Note: The autopilot stops adjustingthe heading as soon as it loses  
data.  
The controller is not receiving data from the SmartPilot computer.  
Check connections and check course computer is switched on.  
NO PILOT  
 
30  
ST6002 SmartPilot Controller Operating Guide  
ALARM MESSAGE  
POSSIBLE CAUSE and SOLUTION  
GyroPlus yaw sensor has failed:  
RG FAIL  
• If you have a S1G, S2G or S3G course computer with internal  
GyroPlus sensor – call a Raymarine service agent.  
• If you have a Non-Gscourse computer with external GyroPlus  
yaw sensor – check the sensor and connections, then call a Ray-  
marine service agent.  
SeaTalk data problem on one of the SeaTalk lines – check connec-  
tions.  
SEATALKand  
FAIL 1 or 2  
The control unit cannot transmit data to the SeaTalk system. Make  
sure all SeaTalk cables are connected properly.  
SEATALKand FAIL  
3.2 General maintenance  
Routine checks  
CAUTION: Do not dismantle SmartPilot products  
The SmartPilot computer and controller should be serviced only  
by authorized Raymarine service technicians. These products do  
not contain any user serviceable parts.  
The SmartPilot computer does NOT contain user-serviceable parts. If you remove  
the main cover you will invalidate the warranty. The controller is also a sealed  
unit, so user maintenance is limited to the following checks  
make sure all cable connectors are firmly attached  
examine for signs of wear or damage – replace any damaged cables  
Note: Do not use chemical or abrasive materials to clean the SmartPilot computer. If the  
case is dirty, wipe it with a clean, damp cloth.  
Cleaning the display  
CAUTION: Avoid damage when cleaning  
Take care when cleaning the display. Avoid wiping the display  
screen with a dry cloth as this could scratch the screen coating. If  
necessary, use only a mild detergent.  
Never use chemical or abrasive materials to clean the controller. If it is dirty,  
wipe it with a clean, damp cloth.  
In certainconditions, condensationmay appearinside the display screen. This  
willnotharm the unit, and youcanclearitbyswitchingontheilluminationfor  
a short time.  
 
Chapter 3: Fault Finding & Maintenance  
31  
EMC advice  
When powered up, all electrical equipment produces electromagnetic fields.  
These can cause adjacent pieces of electrical equipment to interact with one  
another, with a consequent adverse effect on operation.  
To minimize these effects and enable you to get the best possible perfor-  
mance from your Raymarine equipment, guidelines are given in the installa-  
tion instructions, to enable you to ensure minimum interaction between  
different items of equipment, i.e. ensure optimum Electromagnetic Compati-  
bility (EMC).  
Always report any EMC-related problems to your nearest Raymarine dealer.  
We use such information to improve our quality standards.  
In some installations, it may not be possible to prevent the equipment from  
being affected by external influences. In general this will not damage the  
equipment but it can lead to spurious resetting action, or momentarily may  
result in faulty operation.  
Product support  
Raymarine provides a comprehensive customer support service, on the world  
wide web and by telephone help line. Please use either of these facilities ifyou are  
unable to rectify a problem.  
World wide web  
Please visit the Customer Support area of our web site at:  
As well as providing a comprehensive Frequently Asked Questions section and  
servicinginformation,thewebsitegivese-mailaccesstotheRaymarineTechnical  
Support Department and a details of the locations of Raymarine agents,  
worldwide.  
Telephone help line  
If you do not have access to the world wide web, please call our help line.  
In the USA, call:  
+1 800 539 5539, extension 2444 or  
+1 603 881 5200 extension 2444  
In the UK, Europe the Middle East or the Far East, call:  
+44 (0) 23 9271 4713 (voice)  
+44 (0) 23 9266 1228 (fax)  
 
32  
ST6002 SmartPilot Controller Operating Guide  
Help us to help you  
When requesting service, please quote the following product information:  
Equipment type.  
Model number.  
Serial number.  
Software issue number.  
The following illustration shows how to display the software information:  
press and hold standby for 4 seconds:  
after 2 seconds you will see the DISPLAY CAL screen  
then after another 2 seconds you see controller software version  
press disp to display the computer software version  
press dispagaintodisplay the total numberofhours the SmartPilot hasbeen  
used in Auto mode.  
Software information  
TRUE  
4 seconds  
Control unit  
software version  
1 second  
1 second  
Course computer  
software version  
Time autopilot  
used in Auto  
1 second  
D5493-3  
 
Chapter 3: Fault Finding & Maintenance  
33  
Product details table  
For future reference, you may want to use this table to record serial and software  
information for your SmartPilot:  
Serial Number  
Software Version  
SmartPilot Controller  
SmartPilot Computer  
Hours Used  
hours  
 
34  
ST6002 SmartPilot Controller Operating Guide  
 
35  
Specifications  
ST6002 control unit  
Nominal supply voltage:  
Operating voltage range:  
12 V DC via SeaTalk  
10 V to 15 V DC  
Current consumption (in Standby mode) 60 mA (less than 200 mA with full lighting)  
Operating temperature:  
Water protection:  
0 °C to +70 °C (32 °F to 158 °F)  
waterproof to CFR46  
Overall dimensions:  
width  
110 mm (4.33 in)  
115 mm (4.53 in)  
41 mm (1.62 in)  
height  
depth  
Keypad:  
8 button illuminated keypad  
Liquid Crystal Display (LCD):  
showsheading, locked courseand navigationaldata, and  
up to 7 data pages  
LCD illumination:  
Input connections:  
Output connections:  
CE approvals:  
3 brightness levels + off  
SeaTalk (x2) and NMEA 0183  
SeaTalk (x2)  
conforms to: 89/336/EC (EMC), EN60945:1997  
SmartPilot computer functions  
SmartPilot computer  
S1G, S2G and S3G systems  
Non-G systems  
• Internal GyroPlus yaw sensor  
Enhanced course keeping using AST  
FastTrim  
• Full access to AutoLearn, providing  
automatic steering calibration  
• Improved track-keeping  
Full basic functionality  
Improved track-keeping  
Steers to true and apparent wind in Wind Vane  
mode  
Improved calibration access, but without  
AutoLearn  
• Steers to true and apparent wind in Wind  
Vane mode  
• Improved calibration access  
Uses Raymarine steering algorithm without AST  
No FastTrim  
 
36  
ST6002 SmartPilot Controller Operating Guide  
Glossary  
Meaning  
Term  
AST  
Advanced Steering Technology(AST) isRaymarine’sunique 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  
AutoTrim  
Self-learning calibration feature available on S1G, S2G and S3G autopilot sys-  
tems.  
TheAutoTrimsettingdetermines therateatwhichtheautopilotappliesstand-  
ing helm’ to correct for trim changes caused by varying wind loadson the sails  
or superstructure.  
AWG  
CE  
American Wire Gauge.  
Marked on Raymarine products that comply with defined European Commu-  
nity standards.  
counter rudder  
Counter rudder is the amount of rudder the autopilot applies to try to prevent  
the boat from yawing off course. Higher counter rudder settings result in more  
rudder being applied.  
CR pump  
DC  
Constant Running hydraulic pump.  
Direct current.  
EMC  
(Electromagnetic  
Compatibility)  
When powered up, all electrical equipment produces electromagnetic fields.  
These can cause adjacent pieces of electrical equipment to interact with one  
another, and this can degrade their performance. By following the EMC guide-  
lines in this handbook, you can minimize these effects by ensuring optimum  
Electromagnetic Compatibility (EMC) between equipment.  
Fluxgate  
GPS  
Standard Raymarine compass supplied with course computer core pack.  
Global Positioning System.  
GyroPlus  
Raymarine’s GyroPlus yaw sensor that measures the boat’s rate of turn. It is  
built into the S1G, S2G and S3G course computers.  
I/O drive  
MOB  
nm  
Inboard/Outboard or stern drive.  
Man overboard.  
Nautical mile.  
 
Glossary  
37  
Meaning  
Term  
NMEA  
The NMEA (National Maritime Electronics Association) protocol is an interna-  
tionally accepted serial communication interface standard for sharing data  
between electronic equipment. Raymarine products can share information  
with non-SeaTalk equipment using the NMEA 0183 protocol.  
response  
The autopilotresponse level controls the relationshipbetween course keeping  
accuracy and the amount of helm/drive activity.  
rudder gain  
SeaTalk  
Rudder gain is a measure of how much helm the autopilot will apply to correct  
course errors. The higher the setting the more rudder will be applied.  
SeaTalk is Raymarine’s proprietary communication system. It links the prod-  
ucts to provide a single, integrated system sharing power and data.  
SeaTalk bus  
This refers to the continuous SeaTalk system connecting together a series of  
Raymarine units.  
SM  
Statute (land) mile.  
VHF  
Very High Frequency (radio).  
WindTrim  
WindTrim (wind response) controls how quickly the autopilot responds to  
changes in the wind direction. Higher wind trim settings will result in a pilot  
that is more responsive to wind changes.  
XTE  
Yaw  
Cross track error.  
The boat’s rate of turn (°/sec).  
 
38  
ST6002 SmartPilot Controller Operating Guide  
 
39  
Index  
D
A
Data pages, 21  
Alarms, 28  
Display  
AUTO RELEASE, 29  
Contrast, 11  
CURRENT LIMIT, 29  
DRIVE STOPPED, 29  
LARGE XTE, 14  
LOW BATT, 29  
Illumination, 10  
Dodging obstacles, 6  
Drive stopped alarm, 29  
LRN FAIL, 29  
F
MOB, 22  
Fault finding, 27  
MOT POW SWAPPED, 29  
NEXT WPT, 17  
Following a route, 13  
G
NO DATA, 29  
Glossary, 3637  
Gybe inhibit, 9, 23  
GyroPlus fail alarm, 30  
NO PILOT, 29  
OFF COURSE, 8  
RG FAIL, 30  
SEATALK FAIL 1 or 2, 30  
SEATALK/STLK FAIL, 30  
SHALLOW, 22  
H
Help lines, 31  
I
WINDSHIFT, 20  
Auto mode, 4  
Illumination, 10  
AutoTack, 9  
K
Keypad  
Changing course, 5  
Dodging obstacles, 6  
Off course warning, 8  
AutoRelease  
Illumination, 10  
Keypad functions, 3  
Alarm, 29  
L
AutoTack, 9, 23  
in wind vane mode, 20  
Learn fail alarm, 29  
Lighting, 10  
Low battery alarm, 29  
C
Contrast, 11  
M
Controller  
Maintenance, 30  
Man Overboard alarm, 22  
Motor boats  
Specifications, 35  
Course changes, 5  
Cross track error  
Explanation, 14  
LARGE XTE warning, 14  
Current limit alarm, 29  
Power Steer, 6  
Motor/Power swapped alarm, 29  
N
Next WPT warning, 17  
No data alarm, 29  
No pilot alarm, 29  
 
40  
ST6002 SmartPilot Controller Operating Guide  
O
T
Off course warning  
Description, 8  
Technical support, 31  
Track mode, 13  
Cross track error, 14  
Dodge, 15  
P
Performance adjustment, 6  
non-G systems, 7  
S1G, S2G and S3G systems, 7  
Power steer, 6  
Next waypoint, 17  
Route completed, 17  
Safety, 13  
Tidal compensation, 15  
Waypoint names, 22  
Preventing gybes, 9  
Product support, 31  
U
R
User Calibration, 22  
Response level, 24  
RG fail alarm, 30  
Rotary Control, 3  
Route completed, 17  
W
Waypoint  
Advance, 16  
Advance warning, 17  
Arrival, 16  
S
Safety notices, i  
Track mode, 13  
Sailboats  
Skipping, 16  
Wind angle  
Adjusting, 19  
Wind type, 24  
Wind vane mode, 18  
Adjusting wind angle, 19  
Apparent wind, 18  
AutoTack, 20  
AutoTack, 9  
Preventing gybes, 9  
SeaTalk  
SeaTalk fail 1 or 2, 30  
SeaTalk fail alarm, 30  
Service, 31  
Dodge, 19  
Settings  
Enabling, 18  
AutoTack, 23  
Gybe inhibit, 23  
Response level, 24  
User calibration, 22  
Wind type, 24  
WindTrim, 24  
Shallow alarm, 22  
SmartPilot  
Operating hints, 21  
True wind, 18  
Wind shift warning, 20  
WindTrim, 18  
WindTrim, 18, 24  
Disengaging, 5  
Engaging, 4  
Functions, 1  
Specifications, 35  
Standby Mode, 5  
Switching on/off, 2  
 
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. Limited Warranty (hereinafter the ‘Warranty’),  
Raymarine warrants that its products, when properly installed and used, will be free from defects in material and  
workmanship for a period of twenty-four (24) months (with respect to VHF radios, a period of thirty-six (36) months),  
from the date of first purchase (the ‘Warranty Period’).  
For the purposes of this warranty, ‘date of first purchase’ means the date that the product was purchased by the first  
retail customer; or in the case of a product installed on a new vessel by a certified Raymarine original equipment  
manufacturer (a ‘Raymarine OEM’), the date that such vessel was purchased by the first retail customer.  
Raymarine will, at its sole option, repair or replace any defective products or components returned during the  
Warranty Period in accordance with the terms, conditions and limitations set forth below. Such repairs or  
replacement will be the sole remedy of the customer under this Warranty.  
Obtaining Warranty Service  
Standard Warranty Service  
To qualify for standard warranty service the product must be returned to a Raymarine-certified service agent, or  
directly to Raymarine in person, orby mail (i) within the Warranty Period, and (ii) within thirty (30)days ofthe alleged  
product failure.Any products returned by mail must be securely packaged and sent pre-paid and insured to  
Raymarine or to a Raymarine-certified service agent. All products, whether returned in person or by mail, must be  
accompanied by a copy of the original sales receipt, to be eligible for standard warranty service.  
A list of Raymarine-certified service agents is available from Raymarine Technical Support or at  
‘On Board’ Warranty Service  
For any Raymarine product or system that (i) has been installed on your vessel by a Raymarine-certified service agent  
or by a Raymarine OEM, and (ii) hasa MSRP equal to orgreater than USD $2,500, you areeligible to receivewarranty  
service by a Raymarine certified service agent on-board your vessel (‘On Board Warranty Service’) for a period of 12  
months from the date of first purchase of such product or system, or the date of first purchase of the vessel on which  
such product or system has been installed (the ‘On Board Warranty Period’). In order to obtain On Board Warranty  
Service eligible customers MUST:  
(i) within the On Board Warranty Period, and (ii) within thirty (30) days from the date of the alleged failure  
giving rise to the warranty claim for which you are requesting On Board Warranty Service, contact a local  
Raymarine-certified service agent and request On Board Warranty Service.  
Present to the Raymarine-certified service agent a copy of the original sales receipt for the product,  
together with proof of the date of installation of the product by a Raymarine-certified service agent. The  
service agent may at its sole option, accept or deny such proof of purchase and proof of installation as suf-  
ficient to qualify you for On Board Warranty Service.  
Costs associated with travel, mileage, taxi fares, launch or docking fees, aircraft or vehicle rental, meals, customs,  
shipping, communication charges, and service agent travel costs are specifically excluded from coverage under this  
Warranty and are your responsibility. In addition, this Warranty does not cover fees associated with hauling,  
shipping or towing your vessel to a Raymarine-certified agent.  
 
II  
UpontheexpirationoftheOn BoardWarrantyPeriod, youarestilleligibleto receivestandardwarranty serviceforthe  
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 exclusions set forth herein, Raymarine is not responsible for, and this  
Warranty does not cover:  
failures dueto abuse, misuse, accident, unauthorized alteration or repair, improper installation (whether or  
not by a Raymarine-certified service agent), shipping damage or corrosion;  
Costs associated with routine system checkouts, alignment/calibration, seatrials or commissioning;  
repair or replacement ofconsumableitems, including, without limitation, fuses, batteries, drive belts, radar  
mixer diodes, snap-in impeller carriers, impellers, impeller bearings and impeller shafts;  
costs associated with overtime or premium labor costs;  
differences in material, coloring or size that may exist between actual products and the pictures or descrip-  
tions of such products in our advertising, advertising literature or on the Internet;  
products purchased by a customer from a United States dealer via the Internet if such products were not  
delivered and installed within the United States; or  
the replacement of missing components from the package of any product purchased through an online  
auction site.  
Other conditions  
ThisWarranty isfullytransferableprovidedthatyou furnish theoriginalproofofpurchasetoRaymarineor, in thecase  
of On Board Warranty Service, to a Raymarine-certified service agent. This Warranty is void if the label bearing the  
serial number has been removed or defaced.  
TO THE EXTENT CONSISTENT WITH STATE AND FEDERAL LAW, THE FOREGOING WARRANTY IS  
RAYMARINE’S SOLE WARRANTY AND IS APPLICABLE ONLY TO NEW PRODUCTS PURCHASED IN THE  
UNITED STATES OF AMERICA. THE PROVISIONS OF THIS WARRANTY ARE IN LIEU OF ANY OTHER WRITTEN  
WARRANTY, WHETHER EXPRESSED OR IMPLIED, WRITTEN OR ORAL, INCLUDING ANY WARRANTY OF  
MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE.  
THE LIABILITY OF RAYMARINE TO A CUSTOMER UNDER THIS WARRANTY, WHETHER FOR BREACH OF CONTRACT,  
TORT, BREACHOFSTATUTORY DUTY OR OTHERWISE SHALLIN NO EVENTEXCEED AN AMOUNT EQUALTO TEN (10)  
TIMES THE MANUFACTURER’S SUGGESTED RETAIL PRICE OF THE PRODUCT GIVING RISE TO SUCH LIABILITY AND  
IN NO EVENT SHALL RAYMARINE BE LIABLE FOR SPECIAL, INCIDENTAL, CONSEQUENTIAL OR INDIRECT DAMAGES.  
SOME JURISDICTIONS DO NOT ALLOW EXCLUSION OR LIMITATION OF INCIDENTAL OR CONSEQUENTIAL  
DAMAGES SO THE ABOVE LIMITATIONS OR EXCLUSIONS MAY NOT APPLY TO YOU. THIS WARRANTY GIVES YOU  
SPECIFIC LEGAL RIGHTS AND YOU MAY ALSO HAVE OTHER RIGHTS, WHICH VARY FROM JURISDICTION TO  
JURISDICTION.  
This Warranty supersedes and replaces all previous Warranties.  
January 2005  
 
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 not affect the customers legal rights and  
complies with EU Directive 1999/44/EC.  
In order to ensurethat the productcontinues to operate efficiently and reliably, we recommend that, beforeusingthe  
product, the customer carefully reads the Owner’s Handbook and follows the advice on the safe and correct  
operation and use of the product. We recommend that the Raymarine product is installed by a Raymarine certified  
installer. Installation by persons other than a Raymarine certified installer may invalidate the warranty.  
1. Product warranty  
1.1 Raymarine warrants each new product to be of good materials and workmanship. Raymarine, or its approved  
agents, will repair or exchange under warranty any parts or product proven to be defective in material or  
workmanship under normal use, for a period of2 years (24 months) from dateof sale to end user, subject to the limits  
contained in this warranty document.  
1.2 The Raymarine warranty covers the parts and labour associated with any warranty repair as described above,  
provided that the product is returned to Raymarine or one of its approved agents.  
1.3 Raymarine reserve the right to replace under warranty, not repair, certain Raymarine products subject to the  
limitations below, provided that they are returned to the nearest Raymarine National Distributor. For details of such  
products refer to the internet at www.raymarine.com or contact your nearest Raymarine National Distributor.  
2. Onboard warranty  
2.1Inadditionto theProductwarrantycoverasdescribedabove, Raymarinewill, authorizeonboardwarrantyservice  
by the nearest Raymarine approved service agent, subject to the maximum mileage and other limits referred to in  
paragraph 4.12 below, on products, where proof of installation, or commission by Raymarine certified installers, can  
be shown.  
2.2 The warranty provides for onboard repair or exchange of the product, by Raymarine or its approved service  
agents, for a period of 2 years (24 months), subject to the limits contained in this warranty document. In the case of a  
productinstalled, bya Raymarine certifiedOEMinstaller, on anewboatpriorto thesaleoftheboat toa customer, the  
2-year period will begin on the date of the sale of the boat to the customer. In the case of a product installed, by a  
Raymarine certified installer, on a boat already in the possession of the customer, the 2-year period will begin on the  
date of the commissioning of the installed product.  
2.3 Certain Raymarine products are not covered by onboard warranty unless the products are pre-registered and on  
board warranty is purchased from theRaymarinecertified installer. For details ofsuch productsreferto the internetat  
www.raymarine.com or contact your nearest Raymarine National Distributor.  
2.4 The Purchaseable onboard warranty is subject to the limitations below.  
3.Obtaining warranty service  
3.1 In the event of warranty service being required, the customer should contact Raymarine Technical Support or the  
nearest Raymarine approved service agent - the contact details of Raymarine Technical Support and a full list of the  
names and details of worldwide service agents are available on the internet at www.raymarine.com and in the  
Owner’s Handbook.  
 
IV  
3.2 In cases where the customer is requesting a warranty service and a Raymarine certified installer has not installed  
theproduct;i.e. Productwarranty, theaffected productmustbereturnedto thecustomer’slocal Raymarineapproved  
service agent or direct to Raymarine with:  
3.2.1 proof of purchase showing the date of purchase and the name of the supplier of the product; and  
3.2.2 the serial number of the affected product; or  
3.2.3 a warranty card completed by the product supplier (which will contain the information required by  
paragraphs 3.2.1 and 3.2.2).  
Subject to the limitations below, the product will be repaired or replaced (at the discretion of Raymarine or a  
Raymarine Service Agent) at no further cost and promptly returned to the customer.  
3.3 In cases where the customer is making a warranty claim and the product has been installed by a Raymarine  
certified installer, (boat builder, installer, dealer etc.) i.e. Onboard warranty, the nearest Raymarine approved service  
agent should becontacted and onboard servicerequested(which willbesubjectto thelimitsreferredtoin paragraph  
4.12 below). Before the onboard warranty service is performed, the customer must have available:  
3.3.1 proof of purchase showing the date of purchase and the name of the supplier of the product; and  
3.3.2 the serial number of the affected product; or  
3.3.3 proof of installation of the product by a Raymarine certified installer; or  
3.3.4 a warranty card completed by the product supplier (which will contain the information required by  
paragraphs 3.3.1 and 3.3.3).  
3.4 In cases where onboard warranty has been purchased - as described in 2.3; the nearest Raymarine approved  
serviceagentshouldbecontactedandonboard servicerequested, informationdetailedin3.3.1 and 3.3.2 isrequired.  
Onboard warranty service will only be performed if the product serial number confirms that the onboard warranty  
service has been purchased and is valid.  
4. Warranty limitations  
4.1 Raymarine warranty policy does not apply to any product that has been subjected to accident, abuse or misuse,  
shipping damage, alterations, corrosion, incorrect and/or non-authorized service, or products on which the serial  
number has been altered, mutilated or removed.  
4.2 Certain productsdo not carry the onboardwarranty, as described insection 2 above, unless theonboard warranty  
cover is purchased at the time of installation. The purchaseable onboard warranty is only available on products  
purchased in specific territories, for further details refer to the internet at www.raymarine.com or contact your  
nearest Raymarine National Distributor.  
4.3 Products purchased outside the country of installation will not be covered by onboard warranty.  
4.4 Raymarine assumes no responsibility for damage incurred during installation or as a result of improper  
installation.  
4.5 Thiswarranty does notcover routine system checkouts, alignment/calibration, seatrialsorcommissioning, unless  
required by replacement of part(s) in the area being aligned.  
4.6 Raymarine assumes no responsibility for damage caused by or to other equipment, systems or components  
occasioned by improper or unauthorized connection, or use, of the product.  
4.7 Consumable items, including, but not limited to: fuses, batteries, drive belts, radar mixer diodes, snap-in impeller  
carriers, impellers, impeller bearings, and impeller shafts are specifically excluded from this warranty. A complete list  
of the consumable items relating to each product can be found in the Owner’s Handbook and/or on the internet at  
4.8 All costs associated with transducer replacement, other than the cost of the transducer itself, are specifically  
excluded from this warranty.  
4.9 Overtime/premium labour portion of services outside of normal working hours is not covered by this warranty.  
 
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 between those alluded to in  
corporate advertising, literature or published on the internet, which are not specifically objected to at the time of  
delivery.  
4.12 Travel costs other than auto mileage, tolls and two (2) hours travel time, are specifically excluded from the  
warranty on all products. Costs, which areexcluded from thecoverageofthiswarranty, include butare notlimited to;  
taxi fares, launch fees, aircraft rental, subsistence, customs, shipping, and communications charges etc.  
4.13 Neither Raymarine nor a Raymarine service agent shall be liable for any incidental, indirect, consequential or  
special (including punitive or multiple) damages, nor shall Raymarine or a Raymarine service agent be liable for any  
lossofprofit, business, contracts, opportunity, goodwillorothersimilarloss. TheliabilityofRaymarineoraRaymarine  
service agent to a customer under this warranty, whether for breach of contract, tort, breach of statutory duty or  
otherwise, shall not exceed US$1,000,000. Nothing in this paragraph 4.13 shall limit the liability of Raymarine or a  
Raymarine service agent in respect of death or personal injury caused by its negligence, fraud or any other liability  
which by law, cannot be excluded or limited.  
4.14 All Raymarine products sold or provided hereunder are merely aids to navigation. It is the responsibility of the  
user to exercise discretion and proper navigational skill independent of any Raymarine product.  
Document Number 80009_1  
January 2005  
 
VI  
Raymarine Service Centers  
Complete product information and interactive help is available at:  
Europe, Middle East, Africa  
and Australasia  
North and South America  
Raymarine Technical Support  
+44 (0) 23 9271 4713  
Raymarine Technical Support  
1-800-539-5539  
or, +1 603-881-5200  
Product Repair and Service  
Raymarine plc  
Anchorage Park  
Portsmouth  
Product Repair and Service  
Raymarine Product Repair Center  
21 Manchester Street,  
Merrimack,  
PO3 5TD  
NH 03054-4801  
England  
USA  
Help us to help you  
To allow us to respond to your needs faster, please quote the Equipment type,  
Model number and Serial number when requesting service  
Stick barcode label here  
Purchased from  
Purchase date  
Dealer address  
Installed by  
Installation date  
Commissioned by  
Commissioning date  
Owners name  
Mailing address  
 

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